WO2023100259A1 - Aéronef - Google Patents

Aéronef Download PDF

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Publication number
WO2023100259A1
WO2023100259A1 PCT/JP2021/043934 JP2021043934W WO2023100259A1 WO 2023100259 A1 WO2023100259 A1 WO 2023100259A1 JP 2021043934 W JP2021043934 W JP 2021043934W WO 2023100259 A1 WO2023100259 A1 WO 2023100259A1
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WO
WIPO (PCT)
Prior art keywords
engine
generator
aircraft
control device
support
Prior art date
Application number
PCT/JP2021/043934
Other languages
English (en)
Japanese (ja)
Inventor
純 野口
京輔 塩見
Original Assignee
ヤマハ発動機株式会社
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 ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to PCT/JP2021/043934 priority Critical patent/WO2023100259A1/fr
Priority to JP2022530873A priority patent/JP7092964B1/ja
Publication of WO2023100259A1 publication Critical patent/WO2023100259A1/fr

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    • 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
    • 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 aircraft.
  • a multicopter in which a generator and an engine are mounted on an electric multicopter having multiple rotors.
  • the helicopter disclosed in Patent Document 1 is configured as an unmanned multicopter.
  • the multicopter includes an airframe, six rotors including propellers and electric motors, a battery, a generator, and an engine for the generator.
  • the fuselage is composed of a body portion on which the battery, the generator, and the engine are mounted, and six arm portions on which the rotors are mounted. The six arm portions are radially positioned on the body portion of the airframe.
  • the multicopter disclosed in Patent Document 1 above has a battery as a first power source and a generator and an engine as a second power source.
  • the multicopter drives the electric motor by power supply from the battery when the remaining amount of the battery is equal to or higher than a threshold.
  • the multicopter drives the generator with the engine to charge the battery when the remaining battery level becomes less than a threshold. By having the generator, the multicopter can achieve a long flight.
  • Such a multicopter controls the attitude, position and movement direction of the aircraft by changing the attitudes of the plurality of rotors. Also, the attitude control of the body of the multicopter is performed based on the angular velocity and acceleration measured by the inertial measurement device included in the control device. In the multicopter, when the attitude of the rotor fluctuates due to disturbance or the like, or when acceleration exceeding the allowable value is applied to the inertial measurement device, the attitude, position, and movement direction of the aircraft are affected.
  • the multicopter it is necessary to control the attitude of the airframe by adjusting the output of each rotor so that the attitude of the airframe is not affected even if the attitude of the rotor fluctuates due to the vibration of the engine. .
  • the multicopter needs to have a vibration damping mechanism for the inertial measurement device so that the vibration of the engine does not cause the inertial measurement device to experience an acceleration exceeding an allowable value.
  • the present invention provides an aircraft equipped with a generator and a generator engine, wherein a plurality of rotors are driven by electric power supplied from the generator, wherein vibrations of the generator engine affect the attitude and position of the aircraft. It is also an object of the present invention to realize a configuration that suppresses the influence on the moving direction.
  • the inventor of the present invention has found that, in an aircraft equipped with a generator and a generator engine, and in which a plurality of rotors are driven by electric power supplied from the generator, the vibration of the generator engine affects the attitude and position of the aircraft. and the configuration of the flying object that suppresses the influence on the direction of movement. As a result of intensive studies, the inventors came up with the following configuration.
  • An aircraft includes a body frame that constitutes a body, an electric motor, and a propeller that is rotationally driven by the electric motor, a plurality of rotors that generate lift, and electric power to the electric motor.
  • the aircraft includes a generator for supplying power, a generator engine that drives the generator but does not rotationally drive the propeller, and a control device that controls the electric motor and the generator engine.
  • the body frame has an engine support section that supports the generator engine, and a rotor support section that includes a plurality of support arms that respectively support the plurality of rotors.
  • the plurality of support arms are connected to the engine support.
  • the rotors are positioned at the joint portions of the plurality of support arms.
  • the body frame is vibrated by the generator engine as a vibration source while the generator engine is being driven.
  • the vibrated body frame is excited to vibrate at a predetermined natural frequency determined from the structure of the body frame.
  • the fuselage frame vibrates in an elastic vibration mode, which is a specific vibration mode.
  • the generator engine since the generator engine does not rotationally drive the propeller, it is less likely to be affected by the flight conditions of the aircraft. Further, the generator engine operates at a substantially constant engine speed. Therefore, since the engine speed of the generator engine is constant, the elastic vibration mode of the fuselage frame does not change depending on the flight conditions of the aircraft.
  • a body frame that vibrates in a predetermined elastic vibration mode has an abdomen containing an antinode with the maximum amplitude value and a node containing a node with the minimum amplitude value.
  • the rotor is located at a node including a node with a minimum amplitude value in the rotor support of the body frame that vibrates according to a predetermined elastic vibration mode. Since the elastic vibration mode of the fuselage frame does not change depending on flight conditions, the positions of the joints do not change. Therefore, the rotor can suppress posture change due to vibration of the rotor support portion. As a result, in an aircraft in which the plurality of rotors are driven by electric power supplied from the generator, it is possible to suppress the influence of the vibration of the generator engine on the attitude, position, and movement direction of the aircraft. .
  • the flying object of the present invention preferably includes the following configurations.
  • the plurality of support arms extend radially from the engine support portion, and are connected to the engine support portion by rib members at positions farther from the engine support portion than base end portions connected to the engine support portion. be.
  • the rotors are positioned at portions of the plurality of support arms to which the rib members are connected.
  • the portion where the rotor is located is connected to the engine support portion by the rib member. That is, the rotor support portion supports the rotor by the support arm and the rib member. As a result, the rotor support portion has improved rigidity in the portion from the base end portion of the support arm connected to the engine support portion to the position where the rib member is connected.
  • the position where the rib member is connected to the rotor support portion becomes a node in a predetermined elastic vibration mode because the rib member suppresses the occurrence of vibration. Since the rotor is positioned at the node, it is possible to minimize posture changes due to vibration of the rotor support. As a result, in the flying object that drives the plurality of rotors with electric power supplied from the generator, the influence of the vibration of the generator engine on the attitude, position and moving direction of the flying object can be suppressed. can.
  • the flying object of the present invention preferably includes the following configurations.
  • the fuselage frame further includes an aircraft control device support section that supports the aircraft control device.
  • the control device support is connected to the engine support.
  • the aircraft control device In a predetermined elastic vibration mode of the fuselage frame, the aircraft control device is positioned at the joint portion of the aircraft control device support.
  • the flying object control device is positioned at a node including a node with a minimum amplitude value in the flying object control device support portion of the airframe that vibrates in a predetermined elastic vibration mode. Therefore, it is possible to suppress the acceleration generated in the flying object control device due to the vibration of the flying object control device support portion.
  • the flying object control device includes an inertial measurement device for performing attitude control of the flying object
  • the flying object control device is positioned at a joint portion including a joint having a minimum amplitude value of the flying object control device support portion. Positioning improves the measurement accuracy of angular velocity and acceleration by the inertial measurement device. As a result, in an aircraft in which the plurality of rotors are driven by electric power supplied from the generator, it is possible to suppress the influence of the vibration of the generator engine on the attitude, position, and movement direction of the aircraft. .
  • the flying object of the present invention preferably includes the following configurations.
  • the aircraft control device support section has a mounting plate located at the center of the engine support section when viewed in the rotation axis direction of the rotor, and a rigidity higher than that of the plate-like member. and a plurality of support legs for supporting the plate at each point.
  • the flying body control device is attached to the mounting plate via a mounting member so that the center of the mounting plate and the center of the flying body control device are aligned.
  • the mounting plate of the aircraft control device support section is supported at a plurality of points by a plurality of support legs having higher rigidity than the mounting plate. Furthermore, the mounting plate is positioned at the center of the engine support portion when viewed in the rotation axis direction of the rotor. In the aircraft control device support portion, vibration in a predetermined elastic vibration mode is excited at the mounting plate having lower rigidity than the plurality of support legs.
  • the mounting plate When vibrations having the same wavelength, frequency, and amplitude but traveling in directions opposite to each other are transmitted through the plurality of supporting legs, the mounting plate excited by vibration in a predetermined elastic vibration mode The portion to which the support leg is connected and the center of the mounting plate vibrate as a vibration mode in which the vibration node becomes a vibration mode. Since the flying object control device is positioned through the mounting member at the joint portion of the mounting plate, the acceleration caused by the vibration of the mounting plate is suppressed. Therefore, when the flying object control device includes an inertial measurement device for controlling the attitude of the flying object, the measurement accuracy of the angular velocity and acceleration by the inertial measurement device is improved. As a result, in the flying object that drives the plurality of rotors with electric power supplied from the generator, the influence of the vibration of the generator engine on the attitude, position and moving direction of the flying object can be suppressed. can.
  • the flying object of the present invention preferably includes the following configurations.
  • the engine support portion supports the generator engine via a mount member from a point-symmetrical position with respect to the center of gravity of the generator engine as viewed from the rotation axis direction of the rotor.
  • the engine support portion supports the generator engine from a point-symmetrical position with respect to the center of gravity of the generator engine as viewed in the axial direction of the rotor. That is, the engine support portion is configured to receive the moment about the crankshaft of the generator engine that generates the largest excitation force. Further, since the engine support portion supports the generator engine via the mount member, it is possible to attenuate vibrations from the generator engine. As a result, in the flying object that drives the plurality of rotors with electric power supplied from the generator, the influence of the vibration of the generator engine on the attitude, position and moving direction of the flying object can be suppressed. can.
  • the flying object of the present invention preferably includes the following configurations.
  • the plurality of support arms extend away from the engine support beyond a position supporting the rotor from the base end coupled to the engine support.
  • a portion from the base end connected to the engine support portion to the position supporting the rotor, and a portion from the position supporting the rotor to the tip end. are located so as to sandwich the rotor.
  • the portion from the current position to the tip vibrates as the abdomen.
  • the position where the rotor is supported on the support arm vibrates as a node. Therefore, the rotor can suppress posture change due to vibration of the rotor support portion.
  • the plurality of rotors are driven by electric power supplied from the generator, it is possible to suppress the influence of the vibration of the generator engine on the attitude, position, and movement direction of the aircraft. .
  • attachment As used herein, “attached,” “connected,” “coupled,” and/or equivalents thereof are used broadly and include “direct and indirect” attachment, It includes both connection and coupling. Furthermore, “connected” and “coupled” are not limited to physical or mechanical connections or couplings, but can include direct or indirect electrical connections or couplings.
  • an aircraft means a multicopter having multiple rotors.
  • the rotation axes of the plurality of rotors are oriented vertically.
  • the plurality of rotors are driven by an electric motor.
  • the aircraft is equipped with at least a generator, and is configured to be able to supply electric power generated by the generator to the electric motor.
  • the flying object control device is a computer that controls the position, speed, attitude, moving direction, etc. of the flying object.
  • the controller includes an inertial measurement unit (IMU) for controlling the attitude of the aircraft.
  • IMU inertial measurement unit
  • Inertial measurement units detect angular velocity and acceleration.
  • the elastic vibration mode refers to a vibration form in vibration in which the positions of a plurality of points in a vibrating object are relatively displaced. That is, the elastic vibration mode refers to a change pattern in vibration in which the shape of an object changes.
  • the elastic vibration mode of the body frame is determined by the shape, mass, longitudinal elastic modulus, etc. of the body frame.
  • the elastic vibration mode of the body frame refers to a mode of vibration of the body frame when a generator engine mounted on the body frame is used as a vibration source. The machine body frame vibrates in the same vibration mode when the engine speed of the generator engine is within a predetermined range.
  • rigidity refers to the difficulty and degree of deformation of an object when an external bending or twisting force is applied to the object. That is, the stiffness is the force required for unit deformation to occur. If the force required to produce a unit deformation is large, the stiffness is described as high. When the stiffness of the object increases, it becomes difficult for the object to vibrate.
  • the mount member supports the generator engine and the aircraft controller, and attenuates the kinetic energy (vibration) transmitted from the body frame to the aircraft controller. Also, the kinetic energy (vibration) transmitted from the generator engine to the body frame is attenuated.
  • the body frame of an aircraft is a member that supports a generator engine, a generator, the plurality of rotors, the aircraft control device, and the like.
  • the body frame is configured as a rigid frame structure in which pipe members are non-rotatably combined.
  • the body frame is not limited to the compassion structure, and may be a monocoque structure that maintains strength by an outer shell member.
  • the body frame is composed of an engine support section that supports the generator engine and a rotor support section that supports the rotor.
  • the joint portion refers to a range including a portion where the amplitude value of the body frame becomes minimum when the body frame vibrates in a predetermined elastic vibration mode.
  • the body frame vibrates according to a predetermined elastic vibration mode, the body frame vibrates at a predetermined natural frequency.
  • the nodes occur at every 1/2 wavelength of the natural frequency of the body frame.
  • the knots include knots with minimum amplitude.
  • the abdomen refers to a range including a portion where the amplitude value of the body frame becomes maximum when the body frame vibrates in a predetermined elastic vibration mode.
  • phase is a variable that indicates at which stage the process of vibration of a vibrating object is at a given time.
  • the phase is a dimensionless quantity indicating the position in one cycle in the vibration phenomenon and is represented by an angle. If the phases of two vibrating bodies are the same, the positions of the two bodies in one cycle at a certain time will be the same. When the phases of a plurality of vibrating objects are opposite, the positions of the plurality of objects during one cycle at a certain time are shifted by 180 degrees.
  • the vibration of the generator engine is It is possible to realize a configuration that suppresses the influence of on the attitude, position and movement direction of the flying object.
  • FIG. 1 shows a perspective view of an aircraft according to Embodiment 1 of the present invention.
  • FIG. 2 shows a plan view of an aircraft according to Embodiment 1 of the present invention.
  • FIG. 3 shows a side view of the aircraft according to Embodiment 1 of the present invention.
  • FIG. 4 shows a partial plan view of an aircraft according to Embodiment 1 of the present invention.
  • FIG. 5 shows a partial side view of the aircraft according to Embodiment 1 of the present invention.
  • FIG. 6 shows a schematic diagram showing the vibration mode of the flying object according to Embodiment 1 of the present invention.
  • FIG. 7 shows a schematic diagram showing a node part in the vibration form of the flying object according to Embodiment 1 of the present invention.
  • FIG. 1 shows a perspective view of an aircraft according to Embodiment 1 of the present invention.
  • FIG. 2 shows a plan view of an aircraft according to Embodiment 1 of the present invention.
  • FIG. 3 shows a side view of the aircraft
  • FIG. 8 shows a partial plan view of an aircraft according to Embodiment 2 of the present invention.
  • FIG. 9 shows a partial side view of an aircraft according to Embodiment 2 of the present invention.
  • FIG. 10 shows a schematic diagram showing the vibration mode of the flying object according to Embodiment 2 of the present invention.
  • FIG. 11 shows a schematic diagram showing a node portion in a vibration form of an aircraft according to Embodiment 2 of the present invention.
  • FIG. 1 is a perspective view of an aircraft 1.
  • FIG. FIG. 2 is a plan view of the aircraft 1.
  • FIG. FIG. 3 is a side view of the aircraft 1.
  • FIG. FIG. 4 is a partial plan view showing a supporting portion of the generator engine 6 mounted on the aircraft 1.
  • FIG. 5 is a partial side view showing a supporting portion of the generator engine 6 mounted on the aircraft 1.
  • the flying object 1 according to Embodiment 1 of the present invention is a multicopter that flies with a plurality of rotors 8.
  • the aircraft 1 is configured to be capable of wireless remote control and autonomous flight using various sensors.
  • the aircraft 1 includes a body frame 2 , a generator 5 , a generator engine 6 , a battery 6 a , six rotors 8 and an aircraft controller 10 .
  • the fuselage frame 2 supports a generator 5 that constitutes the aircraft 1, a generator engine 6, a battery 6a (not shown), a rotor 8 including a propeller 8b, and an aircraft controller 10.
  • the body frame 2 includes an engine support portion 3 and a rotor support portion 4 .
  • the body frame 2 is made of, for example, an aluminum alloy pipe material.
  • the engine support portion 3 is a portion that supports the generator engine 6 .
  • the engine support portion 3 has a first annular frame 3a, a second annular frame 3b, and a plurality of struts 3c connecting the first frame 3a and the second frame 3b.
  • the first frame 3a and the second frame 3b are formed in a regular hexagon.
  • the first frame 3a and the second frame 3b are positioned such that the center, each side and each vertex overlap each other.
  • the opposing vertices of the first frame 3a and the second frame 3b are connected to each other by the struts 3c.
  • the engine support portion 3 is formed in a hexagonal prism shape.
  • the first frame 3a has six vertices, one of which is the first vertex 3a1, and the second vertex 3a2, the third vertex 3a3, .
  • the second frame 3b has six vertices, with the vertex facing the first frame 3a being the first vertex 3b1, and the second vertex 3b2, third vertex 3b3, ..., sixth vertex 3b6 counterclockwise. stipulate.
  • the first frame 3a has a first engine mount 3d connected to the first vertex 3a1 and the third vertex 3a3 of the first frame 3a. Further, the first frame 3a has a second engine mount 3f connected to the fourth vertex 3a4 and the sixth vertex 3a6 of the first frame 3a. The first engine mount 3d and the second engine mount 3f are located between the first frame 3a and the second frame 3b. Further, the first engine mounting base 3d and the second engine mounting base 3f are formed in a trapezoidal shape rising from the first frame 3a toward the second frame 3b.
  • the first engine mount 3d is connected to the first vertex 3b1 and the third vertex 3b3 of the second frame 3b by reinforcing members.
  • the second engine mount 3f is connected to the fourth vertex 3b4 and the sixth vertex 3b6 of the second frame 3b by reinforcing members.
  • the rigidity of the first engine mount 3d in the direction connecting the first vertex 3a1 and the third vertex 3a3 of the first frame 3a is improved.
  • the second engine mount 3f has improved rigidity in the direction connecting the fourth vertex 3b4 and the sixth vertex 3b6 of the first frame 3a.
  • the first engine mounting base 3d has two inclined surfaces 3e on which the generator engine 6 is mounted.
  • the two inclined surfaces 3e are formed by recessing the central portion of the first engine mount 3d toward the first frame 3a.
  • the two inclined surfaces 3e are formed so as to face each other.
  • the second engine mount 3f has two inclined surfaces 3g on which the generator engine 6 is mounted.
  • the two inclined surfaces 3g are formed by recessing the central portion of the second engine mount 3f toward the first frame 3a. 3 g of two inclined surfaces are located so that it may mutually oppose.
  • the rotor support part 4 is a part that supports the rotor 8 .
  • the rotor support portion 4 has six support arms 4a and six rib members 4b.
  • a base end portion of each support arm 4a is connected to a first vertex 3b1 to a sixth vertex 3b6 of the second frame 3b of the engine support portion 3, respectively.
  • Each support arm 4a is positioned so as to radially extend from each vertex of the second frame 3b.
  • Each support arm 4a has a portion where the rotor 8 is positioned supported from the engine support portion 3 by each rib member 4b.
  • the tip of the rib member 4b is connected to the support arm 4a.
  • the base end of the rib member 4b is connected to the vertex of the first frame 3a facing the vertex of the second frame 3b to which the support arm 4a is connected.
  • the support arm 4a connected to the first vertex 3b1 of the second frame 3b is supported by the rib member 4b connected to the first vertex 3a1 of the first frame 3a.
  • each support arm 4a has improved rigidity in the axial direction of the column 3c.
  • Each support arm 4 a has an extension 4 c that extends away from the engine support 3 beyond the position where the rotor 8 is supported from the base end connected to the engine support 3 .
  • the extension portion 4c extends in a direction away from the engine support portion 3 from the position where the rotor 8 is supported on the support arm 4a.
  • a rotor guard 4d for preventing contact between the rotor 8 and an obstacle is positioned at the tip of each support arm 4a, which is the tip of each extension 4c.
  • the generator 5 is a generator that generates power with power from the outside.
  • the generator 5 is, for example, an alternating current generator.
  • the generator 5 converts the AC current generated for charging the battery 6a into a DC current and outputs the DC current.
  • the generator 5 is connected to a generator engine 6 .
  • the generator engine 6 is a power source that drives the generator 5 .
  • the generator engine 6 has a piston (not shown) connected to a crankshaft (not shown) via a connecting rod (not shown).
  • the generator engine 6 reciprocates the piston to rotate the crankshaft.
  • the generator engine 6 is, for example, a two-cylinder horizontally opposed engine.
  • Generators 5 are mechanically connected to both end portions of the crankshaft (output shaft) of the generator engine 6 . That is, two generators 5 are mechanically connected to the generator engine 6 .
  • the generator engine 6 is not mechanically connected to the rotor 8 . That is, the generator engine 6 does not have a power take-off mechanism for transmitting mechanical power to the outside.
  • the generator engine 6 drives the two generators 5 by rotating the crankshaft.
  • the generator 5 and the generator engine 6 are controlled by a generator control device and an engine control device (not shown) based on an external power command, power generation amount, remaining amount of the battery 6a, and the like.
  • the generator engine 6 is mounted on the first engine mounting base 3d and the second engine mounting base 3f of the engine support portion 3.
  • FIG. 1 In the generator engine 6, one end of the two ends to which the generator 5 is connected is connected to the inclined surface 3e of the first engine mount 3d via the engine mount member 7.
  • FIG. 1 The other end of the generator engine 6 to which the generator 5 is connected is connected to the inclined surface 3g of the second engine mount 3f via the engine mount member 7.
  • the generator engine 6 is positioned so that the rotation axis C of the crankshaft is positioned between the two inclined surfaces 3e of the first engine mount 3d and between the two inclined surfaces 3g of the second engine mount 3f. are doing. At this time, the generator engine 6 is placed in a state in which the rotation axis C of the crankshaft is oriented in a direction connecting the second vertex 3b2 and the fifth vertex 3b5 of the second frame 3b in the engine support portion 3. supported by
  • the engine mount member 7 on the inclined surface 3e and the engine mount member 7 on the inclined surface 3g are the same as those of the generator engine when viewed in the axial direction of the column 3c of the engine support portion 3 (the rotation axis direction of the rotor 8). 6 are positioned symmetrically with respect to the center of gravity of . That is, the generator engine 6 is divided by the rotation axis C of the crankshaft of the generator engine 6 and the dividing line orthogonal to the rotation axis C and passing through the center of gravity of the generator engine 6 into four parts. It is supported by four engine mounting members 7 located in each region.
  • each engine mount member 7 substantially absorbs both the dead weight of the generator engine 6 and the rotational moment around the crankshaft generated by the rotation of the crankshaft of the generator engine 6. can be treated equally.
  • the engine mount member 7 is, for example, a cylindrical rubber mount member.
  • the battery 6a stores the power generated by the generator 5.
  • the battery 6a is, for example, a lithium ion battery.
  • Two batteries 6 a are mounted on the engine support portion 3 of the body frame 2 .
  • the batteries 6a are arranged side by side in the direction of the rotation axis C of the generator engine 6 .
  • a generator engine 6 is positioned between the two batteries 6a.
  • the center of gravity of the generator 5 and the generator engine 6 is positioned at the center of the two batteries 6a.
  • the two batteries 6a are positioned close to the generator engine 6. As shown in FIG.
  • the battery 6a is positioned in a range where the weight balance in the aircraft 1 is even. Also, the battery 6a is located in a range where it can be warmed by the radiant heat of the generator engine 6 even if the battery 6a is in a low temperature state at the time of starting and when the temperature is low. As a result, the battery 6a can improve low-temperature discharge characteristics at low temperatures. Battery 6 a is charged by generator 5 . The battery 6a supplies electric power to the electric motor 8a of the rotor 8, the aircraft controller 10, and the like.
  • the radiator 6b cools the cooling water of the generator engine 6.
  • the radiator 6 b is mounted on the engine support portion 3 .
  • the radiator 6b is provided with a cooling fan (not shown). Thereby, the radiator 6b can cool the cooling water of the generator engine 6 even when the aircraft is not moving.
  • the rotor 8 is a device that generates lift by rotationally driving a propeller 8b (blades).
  • the rotor 8 is positioned on six support arms 4a of the rotor support 4, respectively.
  • the six rotors 8 have electric motors 8a, propellers 8b and inverters 8c.
  • Each electric motor 8a is connected to a portion of each support arm 4a to which the rib member 4b is connected. That is, each electric motor 8a is supported by the support arm 4a and the rib member 4b.
  • Each electric motor 8a is positioned on each support arm 4a with its output shaft directed in the axial direction of the column 3c extending from the first frame 3a of the engine support 3 to the second frame 3b.
  • a propeller 8b is fixed to the output shaft of each electric motor 8a.
  • the rotor 8 generates lift in the axial direction of the column 3c of the engine support portion 3 by rotating the propeller 8b with the electric motor 8a.
  • the rotor 8 generates lift in the axial direction of the column 3c from the first frame 3a of the engine support portion 3 toward the second frame 3b.
  • the axial direction of the strut 3c from the first frame 3a to the second frame 3b is defined as the upward direction.
  • the inverter 8c is a control device that supplies current to the electric motor 8a according to a control signal.
  • the inverter 8c is provided for each electric motor 8a.
  • An inverter 8c is located on each support arm 4a. Further, the inverter 8c is located in a range through which the downwash of the propeller 8b (the air current that blows downward when the propeller 8b rotates) passes (the range indicated by the two-dot chain line in FIG. 2). As a result, the inverter 8c is cooled by downwash while supplying current to the electric motor 8a.
  • the aircraft 1 configured in this manner drives the generator engine 6, the rotor 8, the aircraft control device 10, various sensors, and the like with electric power supplied from the battery 6a.
  • the aircraft 1 charges the battery 6a based on the power command from the outside, the amount of power generation, the remaining amount of the battery 6a, and the like.
  • the aircraft 1 can move in any direction at any speed by independently changing the rotational speeds of the six rotors 8 by means of the aircraft controller.
  • FIG. 6 is a perspective view showing a vibration form at a certain phase angle ⁇ when the body frame 2 vibrates in a predetermined elastic vibration mode, and a vibration form at a phase angle ⁇ which is 180 degrees out of phase with the phase angle ⁇ .
  • FIG. 7 is a perspective view showing the joint portion X of the rotor support portion 4 when the body frame 2 vibrates in a predetermined elastic vibration mode.
  • the generator engine 6 rotates at a rotational speed of 2400 rpm to 6000 rpm.
  • the crankshaft is continuously rotated by the reciprocating motion of the pistons.
  • a rotational moment about the crankshaft is generated in the generator engine 6 due to the reciprocating motion of the piston.
  • the body frame 2 supporting the generator engine 6 is excited to vibrate at a predetermined natural frequency due to the rotational moment around the crankshaft generated from the generator engine 6 as a vibration source.
  • the engine support portion 3 and the rotor support portion 4 of the body frame 2 vibrate in an elastic vibration mode, which is a vibration form for each natural frequency.
  • the vibration mode of the engine support portion 3 when the body frame 2 vibrates in a predetermined elastic vibration mode will be described below.
  • the engine support portion 3 of the body frame 2 generates power by the engine mount members 7 provided on the inclined surfaces 3e and 3g of the first engine mount 3d and the second engine mount 3f. It supports the machine engine 6 and receives the rotational moment around the crankshaft generated by the rotation of the crankshaft of the generator engine 6. - ⁇ Vibrations attenuated by the engine mount member 7 are transmitted to the engine support portion 3 .
  • the engine support portion 3 of the body frame 2 when the vibration from the generator engine 6 is transmitted to the first engine mounting base 3d and the second engine mounting base 3f, the other side of the first engine mounting base 3d A third vertex 3a3 of the first frame 3a to which the end is connected, a third vertex 3b3 of the second frame 3b to which the reinforcing member at the other end of the first engine mount 3d is connected, a second A fourth vertex 3a4 of the first frame 3a to which the other end of the engine mounting base 3f is connected, and a second frame 3b to which the reinforcing member of the other end of the second engine mounting base 3f is connected. , including the fourth vertex 3b4, vibrates with the same phase.
  • the second vertex 3a2 of the first frame 3a, the second vertex 3b2 of the second frame 3b, the fifth vertex 3a5 of the first frame 3a, and the second frame The fifth vertex 3b5 of 3b hardly vibrates even when the vibration from the generator engine 6 is transmitted to the first engine mount 3d and the second engine mount 3f.
  • a portion including the first vertex 3a1 and the sixth vertex 3a6 of the first frame 3a, the first vertex 3b1 and the sixth vertex 3b6 of the second frame 3b, and the third vertex 3a3 and the fourth vertex of the first frame 3a 3a4, the portion including the third vertex 3b3 and the fourth vertex 3b4 of the second frame 3b is a line connecting the second vertex 3a2 and the fifth vertex 3a5 of the first frame 3a which hardly vibrate, 2 Vibrates in mutually opposite phases (a state in which the phases are shifted by 180 degrees) with the line connecting the second vertex 3b2 and the fifth vertex 3b5 of the frame 3b as the center line.
  • the first vertex 3a1 and sixth vertex 3a6 of the first frame 3a and the first vertex 3a6 of the second frame 3b are amplitude It becomes abdomen Y1 which contains the abdomen part with the maximum value.
  • the amplitude value of the second vertex 3a2 of the first frame 3a, the second vertex 3b2 of the second frame 3b, the fifth vertex 3a5 of the first frame 3a, and the fifth vertex 3b5 of the second frame 3b is It becomes the node part X1 containing the minimum node.
  • the engine support portion 3 configured as described above has an inclined surface 3e which is located point-symmetrically with respect to the center of gravity of the generator 5 and the generator engine 6 as viewed in the rotation axis direction of the rotor 8. and the engine mount member 7 on the inclined surface 3g. That is, the engine support portion 3 is configured to receive the moment around the crankshaft, which is the largest excitation force in the generator engine 6, by the engine mount member 7 positioned so as to surround the crankshaft. . Further, since the engine support portion 3 supports the generator engine 6 via the engine mount member 7, vibrations from the generator engine 6 can be damped. As a result, in the flying object 1 that drives the plurality of rotors 8 with the electric power supplied from the generator 5, the influence of the vibration of the generator engine 6 on the attitude, position and moving direction of the flying object 1 can be suppressed. can.
  • the base end of the support arm 4a connected to the first vertex 3b1 of the second frame 3b and the base end of the rib member 4b connected to the first vertex 3a1 of the first frame 3a.
  • the portion vibrates together with the first vertex 3b1 of the second frame 3b and the first vertex 3a1 of the first frame 3a.
  • the rigidity of the extending portion 4c from the position where the support arm 4a supports the rotor 8 and where the rib member 4b is connected to the tip end is the same as that of the rib of the support arm 4a. It is smaller than the rigidity of the portion up to the position where the member 4b is connected.
  • the support arm 4a is amplified in the amplitude of the extended portion 4c.
  • the support arm 4a receives the reaction force of the vibration of the extending portion 4c by the support arm 4a and the rib member 4b, the vibration at the position where the rib member 4b is connected is suppressed.
  • the position where the rib member 4b of the support arm 4a is connected becomes the node X2 including the node with the minimum amplitude value in the support arm 4a vibrating in the predetermined elastic vibration mode.
  • the node X2 includes the node having the minimum amplitude value in the support arm 4a.
  • the arm 4a hardly vibrates.
  • each rotor 8 is positioned at a portion where the rib member 4b of each support arm 4a is connected (see FIGS. 1 to 3). Therefore, the position where the rotor 8 of the rotor support portion 4 is supported becomes a node X2 when vibrating in a predetermined elastic vibration mode because the occurrence of vibration is suppressed. That is, even if a predetermined elastic vibration mode is excited in the body frame 2 of the aircraft 1 by the vibration of the generator engine 6, the rotor 8 can suppress the attitude change of the rotor 8 due to the vibration of the support arm 4a. . As a result, in the flying object 1 that drives the plurality of rotors 8 with the electric power supplied from the generator 5, the influence of the vibration of the generator engine 6 on the attitude, position and moving direction of the flying object 1 can be suppressed. can.
  • FIG. 8 is a partial plan view of an aircraft 1A according to Embodiment 2 of the present invention.
  • FIG. 9 is a partial side view of an aircraft 1A according to Embodiment 2 of the present invention.
  • the specific description of the same points as those of the already described embodiments will be omitted, and the description will focus on the different parts.
  • the fuselage frame 2 according to Embodiment 2 of the present invention includes an aircraft control device support section 9 .
  • the flying object control device support section 9 is a part that supports the flying object control device 10 .
  • the aircraft control device support section 9 has four support legs and a mounting plate 9e.
  • the four supporting legs are a first supporting leg 9a connected to a first vertex 3b1 and a second vertex 3b2 of the second frame 3b, and a second vertex 3b2 and a third vertex 3b3 of the second frame 3b.
  • the four supporting legs form a triangular structure by connecting a plurality of vertices with members. That is, the four support legs are constructed with a truss structure.
  • the mounting plate 9e is a plate member that supports the aircraft control device 10.
  • the mounting plate 9e is formed in a rectangular shape.
  • the first support leg 9a to the fourth support leg 9d are connected to the vicinity of four corners where the long side and the short side of the mounting plate 9e intersect. That is, the mounting plate 9e is supported at four points by the first support leg 9a to the fourth support leg 9d.
  • the mounting plate 9e is positioned at the center of the engine support portion 3 when viewed from the axial direction of the strut 3c in the engine support portion 3. Further, the mounting plate 9e is positioned so that the direction connecting the first vertex 3b1 and the third vertex 3b3 of the second frame 3b and the longitudinal direction of the mounting plate 9e are aligned when viewed in the rotation axis direction of the rotor 8. are doing. That is, the mounting plate 9e is positioned so that the rotation axis C of the crankshaft of the generator engine 6 and the long side of the mounting plate 9e are perpendicular to each other when viewed in the rotation axis direction of the rotor 8 .
  • the mounting plate 9e is connected to the position where the first support leg 9a and the second support leg 9b face each other in the longitudinal direction, and the position where the third support leg 9c and the fourth support leg 9d face each other in the longitudinal direction. connected to
  • the flying object control device 10 is a device that controls the position, attitude, speed, flight direction, etc. of the flying object 1A based on control signals and the like from the outside.
  • the aircraft control device 10 may have a configuration in which a CPU, a ROM, a RAM, an HDD, etc. are connected via a bus. Further, the flying object control device 10 may be configured by a one-chip LSI or the like.
  • the aircraft controller 10 stores various programs and data for controlling the rotation speed of each rotor 8, the generator engine 6, the generator 5, the battery 6a, the measuring device, and the like.
  • the aircraft control device 10 is fixed to a rectangular substrate 10a that is substantially the same as the mounting plate 9e of the aircraft control device support section 9.
  • the aircraft control device 10 is located at the central portion of the substrate 10a.
  • a substrate 10 a including the aircraft control device 10 is mounted on the aircraft control device support portion 9 of the body frame 2 .
  • the board 10a including the aircraft control device 10 is positioned so that the center of the board 10a and the center of the mounting plate 9e overlap when viewed in the rotation axis direction of the rotor 8 . Further, the board 10a including the aircraft control device 10 is positioned such that the long sides and short sides of the board 10a and the mounting plate 9e overlap when viewed from the axial direction of the column 3c of the engine support portion 3.
  • the board 10a is connected to the mounting plate 9e via the mounting member 11 for the aircraft control device.
  • the aircraft control device mount member 11 is located near four corners where the long side and the short side of the mounting plate 9e intersect.
  • the flying object control device 10 includes an inertial measurement device, a direction sensor, and an altitude sensor.
  • the inertial measurement device is a device that measures the triaxial angular velocity and angular acceleration of the flying object 1A. Since the inertial measurement device accurately measures each speed and angular acceleration of the flying vehicle 1A during flight, it is necessary to suppress the vibration velocity and vibration acceleration applied to the inertial measurement device below threshold values.
  • the aircraft control device 10 is connected to an engine control device and a generator control device (not shown) of the generator 5 and the generator engine 6 .
  • the aircraft controller 10 can transmit control signals to the engine controller and the generator controller.
  • the aircraft controller 10 is connected to the rotor 8 speed controller.
  • the vehicle controller 10 can send control signals to the speed controller.
  • the aircraft control device 10 is connected to the inertial measurement device, direction sensor, and altitude sensor.
  • the flying object control device 10 can obtain measured values of velocity and angular acceleration from the inertial measurement device, obtain measured values of orientation from the orientation sensor, and obtain measured values of altitude from the altitude sensor.
  • the aircraft control device 10 can generate a control signal for the generator 5 and the generator engine 6 and a control signal for the rotor 8 from the acquired measurement values.
  • FIG. 10 shows the vibration mode at a certain phase angle ⁇ and the vibration mode at a phase angle ⁇ that is 180 degrees out of phase with the aircraft control device support section 9 vibrating in a predetermined elastic vibration mode. It is a schematic diagram showing.
  • FIG. 11 is a perspective view showing the joint X3 when the aircraft control device support 9 is vibrating in a predetermined elastic vibration mode.
  • a first supporting leg 9a connected to the first vertex 2b1 and the second vertex 3b2 of the second frame 3b, and a fifth leg of the second frame 3b.
  • the fourth support leg 9d connected to the vertex 3b5 and the sixth vertex 3b6 vibrates in the same phase.
  • the third support leg 9c connected to the vertex 3b5 vibrates with the same phase.
  • the second vertex 3b2 and the fifth vertex 3b5 of the second frame 3b hardly vibrate.
  • the first supporting leg 9a and the fourth supporting leg 9d vibrating in the same phase, and the second supporting leg 9b and the third supporting leg 9c vibrating in the same phase are the second supporting leg 9a and the third supporting leg 9c vibrating in the same phase.
  • the frame 3b vibrates in opposite phases about the line connecting the second vertex 3b2 and the fifth vertex 3b5 of the frame 3b as the center line.
  • a first support leg 9a and a second support leg 9b that vibrate in phases opposite to each other are connected to both ends of the mounting plate 9e in the longitudinal direction.
  • a third support leg 9c and a fourth support leg 9d that vibrate in phases opposite to each other are connected to both ends of the mounting plate 9e in the longitudinal direction.
  • Each support leg has a higher rigidity than the mounting plate 9e because it is constructed with a truss structure. Therefore, vibrations with different phases of the supporting legs are transmitted to the mounting plate 9e from the respective supporting legs.
  • vibration transmitted from the first support leg 9a and the fourth support leg 9d has the same wavelength, frequency, amplitude, and speed, but travels in opposite directions to the second support leg. 9b and the third support leg 9c.
  • the mounting plate 9e generates a standing wave by superimposing two waves having the same wavelength, frequency, amplitude, and speed and traveling in opposite directions. In this manner, the mounting plate 9e vibrates in a predetermined elastic vibration mode in which a standing wave is generated, thereby generating a node portion X3 including a node having a minimum amplitude value at the portion where the support legs are connected.
  • the flying object control device 10 is connected via the flying object control device mounting member 11 to the joint X3 of the mounting plate 9e vibrating in a predetermined elastic vibration mode.
  • the flying object control device 10 is connected to the joint X3 where the vibration of the mounting plate 9e is suppressed through the mounting member 11 for the flying object control device, thereby suppressing the influence of the vibration of the mounting plate 9e. Vibration can be damped by the body control device mount member 11 .
  • the vibration transmitted from the four support legs causes vibration in a predetermined elastic vibration mode. vibration is excited.
  • the flying object control device support section 9 supports the flying object control device 10 at the node X3 including the node with the smallest amplitude value in a state of vibration in a predetermined elastic vibration mode. Therefore, the aircraft controller 10 can minimize the acceleration applied by the vibration of the aircraft controller support section 9 .
  • the flight object control device 10 includes an inertial measurement device for controlling the attitude of the flight object 1A
  • the flight object control device is attached to the joint X3 of the flight object control device support section 9 vibrating in a predetermined elastic vibration mode.
  • Positioning 10 can improve the measurement accuracy of the angular velocity and acceleration by the inertial measurement device.
  • the flying object 1A that drives the plurality of rotors 8 with the electric power supplied from the generator 5 the influence of the vibration of the generator engine 6 on the attitude, position and moving direction of the flying object 1A can be suppressed. can.
  • the body frame 2 is made of an aluminum alloy.
  • the material of the body frame 2 is not limited to the configuration of the above-described embodiment.
  • the body frame 2 may be made of iron, magnesium alloy, fiber reinforced plastic (FRP), carbon fiber reinforced plastic (CFRP), or the like.
  • the engine support portion 3 of the body frame 2 includes a first frame 3a and a second frame 3b, which are regular hexagonal annular members, connected by a plurality of struts 3c.
  • the configuration of the engine support portion 3 is not limited to the configuration of the above-described embodiment.
  • the first frame 3a and the second frame 3b of the engine support portion 3 may be formed of circular, elliptical, regular polygonal, or other annular members.
  • the support arm 4a has an extension 4c.
  • the support arm is not limited to the configurations of the above embodiments.
  • the support arm may be configured without extensions. That is, the support arm may support the rotor at its distal end.
  • the generator engine 6 is a horizontally opposed engine.
  • the configuration of the generator engine 6 is not limited to the configuration of the above-described embodiment.
  • the generator engine 6 may be any engine capable of driving the generator 5, such as a single-cylinder engine, an in-line engine, or a V-type engine.
  • the flying objects 1 and 1A are equipped with the battery 6a.
  • the flying objects 1 and 1A are not limited to the configurations of the above-described embodiments.
  • the aircraft 1 and 1A may be configured to drive the rotor 8 with power generated by the generator 5 .
  • the aircraft 1, 1A is a multicopter that supports six rotors 8 with six support arms 4a.
  • the flying objects 1 and 1A are not limited to the configurations of the above-described embodiments.
  • the flying object 1, 1A may be a multicopter having two or more rotors 8.
  • the flying objects 1 and 1A include direction sensors and altitude sensors.
  • the flying objects 1 and 1A are not limited to the configurations of the above-described embodiments.
  • the aircraft 1, 1A may have a GNSS receiver instead of the azimuth sensor and altitude sensor.
  • a GNSS receiver is a receiver that constitutes a global navigation satellite system.
  • a GNSS receiver is a device that receives ranging radio waves from a satellite and calculates latitude, longitude, and altitude, which are the absolute coordinates of the receiver.
  • Reference Signs List 1 1A aircraft 2 body frame 3 engine support 4 rotor support 4a support arm 4b rib member 4c extension 4d rotor guard 5 generator 6 generator engine 7 engine mount member 8 rotor 9 aircraft controller support 9a first support leg 9b second support leg 9c third support leg 9d fourth support leg 10 aircraft control device 11 mount member for aircraft control device

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

L'invention concerne un aéronef équipé d'une pluralité de rotors, l'aéronef évitant l'effet des vibrations d'un moteur de générateur sur l'assiette, la position et la direction de déplacement de l'aéronef. Un aéronef 1 comprend : un cadre de fuselage 2 qui constitue le fuselage ; une pluralité de rotors 8 qui génèrent une portance ; un générateur 5 qui fournit de l'énergie électrique à un moteur électrique 8a ; un moteur de générateur 6 qui entraîne le générateur 5 et qui n'entraîne pas en rotation une hélice 8b ; et un dispositif de commande d'aéronef 10 qui commande le moteur électrique 8a et le moteur de générateur 6. Le cadre de fuselage 2 comporte un ensemble support de moteur 3 qui supporte le moteur de générateur 6 et un ensemble support de rotors 4 qui comprend de multiples bras de support 4a supportant chacun le rotor correspondant 8. Les multiples bras de support 4a sont reliés à l'ensemble support de moteur 3. Dans un mode de vibration élastique prédéterminé du cadre de fuselage 2, les rotors 8 sont situés au niveau des sommets X2 des multiples bras de support 4a.
PCT/JP2021/043934 2021-11-30 2021-11-30 Aéronef WO2023100259A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016088110A (ja) * 2014-10-29 2016-05-23 ヤンマー株式会社 ヘリコプター
WO2020129254A1 (fr) * 2018-12-21 2020-06-25 楽天株式会社 Dispositif de vol, système de vol et dispositif de traitement d'informations
JP2020111326A (ja) * 2020-03-24 2020-07-27 株式会社ザクティ 空撮カメラ及び電子機器並びにそれを備えた無人飛行体

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016088110A (ja) * 2014-10-29 2016-05-23 ヤンマー株式会社 ヘリコプター
WO2020129254A1 (fr) * 2018-12-21 2020-06-25 楽天株式会社 Dispositif de vol, système de vol et dispositif de traitement d'informations
JP2020111326A (ja) * 2020-03-24 2020-07-27 株式会社ザクティ 空撮カメラ及び電子機器並びにそれを備えた無人飛行体

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