WO2024103278A1 - 一种多桨倾转飞行器及其飞行控制方法 - Google Patents

一种多桨倾转飞行器及其飞行控制方法 Download PDF

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Publication number
WO2024103278A1
WO2024103278A1 PCT/CN2022/132180 CN2022132180W WO2024103278A1 WO 2024103278 A1 WO2024103278 A1 WO 2024103278A1 CN 2022132180 W CN2022132180 W CN 2022132180W WO 2024103278 A1 WO2024103278 A1 WO 2024103278A1
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propeller
power propeller
aircraft
rotor
tail
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PCT/CN2022/132180
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English (en)
French (fr)
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刘则锋
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成都倒立摆科技有限公司
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Priority to PCT/CN2022/132180 priority Critical patent/WO2024103278A1/zh
Publication of WO2024103278A1 publication Critical patent/WO2024103278A1/zh

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    • 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

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  • the present invention belongs to the technical field of aircraft, and in particular relates to a multi-propeller tilt-rotating aircraft and a flight control method thereof.
  • the object of the present invention is to provide a multi-propeller tilt-rotating aircraft which is separated into left and right parts and tilts independently and can achieve vertical take-off and landing and high-speed cruising, and a flight control method thereof.
  • the present invention provides a multi-propeller tilt-rotor aircraft, which comprises a fuselage body, and also comprises a left-tilt rotor fixed on the left side of the fuselage body, at least one left front power propeller and at least one left rear power propeller respectively fixed on two opposite sides of the left-tilt rotor, a right-tilt rotor fixed on the right side of the fuselage body, at least one right front power propeller and at least one right rear power propeller respectively fixed on two opposite sides of the right-tilt rotor, and a tail group fixed at the tail of the fuselage body, wherein the tail group comprises a vertical tail, a horizontal tail and a horizontal tail rotor; wherein the left front power propeller, the left rear power propeller, the right front power propeller and the right rear power propeller realize the flight power and attitude control of the aircraft for vertical take-off and landing and cruising.
  • left front power propeller and the right front power propeller use forward propellers
  • the left rear power propeller and the right rear power propeller both use reverse propellers
  • the left front power propeller and the right front power propeller use reverse propellers
  • the left rear power propeller and the right rear power propeller both use forward propellers.
  • left front power propeller and the left rear power propeller both use forward propellers
  • the right front power propeller and the right rear power propeller both use reverse propellers
  • the left front power propeller and the left rear power propeller both use reverse propellers
  • the right front power propeller and the right rear power propeller both use forward propellers.
  • the horizontal tail includes a left horizontal tail fixed to the left side of the tail of the fuselage body and a right horizontal tail fixed to the right side of the tail of the fuselage body; the vertical tail is located between the left horizontal tail and the right horizontal tail.
  • a server is also included, and the left tilt rotor and the right tilt rotor are connected to the server via shafts respectively.
  • it also includes an angle position sensor, which is arranged in the left folding wing, the right folding wing, the left tilting wing and the right tilting wing.
  • left front power propeller and the left rear power propeller are each provided with two, and the right front power propeller and the right rear power propeller are also each provided with two; or the left front power propeller and the left rear power propeller are each provided with four, and the right front power propeller and the right rear power propeller are also each provided with four.
  • it also includes a left folding wing fixed on the outside of the left tilting rotor and foldable relative to the left tilting rotor, and a right folding wing fixed on the outside of the right tilting rotor and foldable relative to the right tilting rotor.
  • the present invention also provides a flight control method for a multi-propeller tilt-rotor aircraft, the specific method is as follows:
  • the left front power propeller, the left rear power propeller, the right front power propeller and the right rear power propeller are all kept vertical to the ground together with the left tilt rotor and the right tilt rotor; the left front power propeller, the left rear power propeller, the right front power propeller and the right rear power propeller rotate to generate lift to float the aircraft, and when the aircraft floats, the left tilt rotor and the right tilt rotor synchronously tilt forward and backward to make the aircraft move forward or backward, and asynchronously tilt to make the aircraft rotate;
  • the left tilt rotor and the right tilt rotor When the aircraft is in cruising state, the left tilt rotor and the right tilt rotor are deflected to be parallel to the ground, and the left front power propeller, the left rear power propeller, the right front power propeller and the right rear power propeller become the aircraft's traction propellers.
  • the lift is provided by the left tilt rotor and the right tilt rotor.
  • the lift is changed when the left tilt rotor and the right tilt rotor are deflected synchronously, and roll is achieved when they are deflected asynchronously; the horizontal tail rotor controls the aircraft's heading attitude, and the vertical tail controls the aircraft's heading.
  • the lift difference between the left front power propeller and the left rear power propeller and the lift difference between the right front power propeller and the right rear power propeller realize the rolling of the aircraft.
  • the present invention is separated into left and right parts and tilts independently, and has various actions according to flight conditions; the present invention can achieve vertical take-off and landing, high-speed cruising, and smooth transition between vertical hovering and high-speed cruising, and at the same time has the advantage of very high economic efficiency.
  • FIG1 is a schematic structural diagram of a multi-propeller tilt-rotating aircraft used in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a folding wing of a multi-propeller tiltrotor aircraft according to an embodiment of the present invention.
  • the invention discloses a multi-propeller tiltrotor aircraft, whose power source is a rechargeable battery or fuel.
  • a multi-propeller tilt-rotor aircraft includes a fuselage body 10, a left-tilted rotor 20 fixed to the left side of the fuselage body 10, at least one left front power propeller 21 and at least one left rear power propeller 22 respectively fixed to the opposite sides of the left-tilted rotor 20, a left folding wing 23 fixed to the outside of the left-tilted rotor 20 and foldable relative to the left-tilted rotor 20, a right-tilted rotor 30 fixed to the right side of the fuselage body 10, at least one right front power propeller 31 and at least one right rear power propeller 32 respectively fixed to the opposite sides of the right-tilted rotor 30, a right folding wing 33 fixed to the outside of the right-tilted rotor 30 and foldable relative to the right-tilted rotor 30, and a tail group fixed to the tail of the fuselage body 10; wherein the left front power propeller 21, the left rear power propeller 22, the right front power propeller 31
  • the tail group includes a left horizontal tail 40 fixed to the left side of the tail of the fuselage body 10, a right horizontal tail 50 fixed to the right side of the tail of the fuselage body 10, a vertical tail 60 fixed to the tail of the fuselage body 10 and located between the left horizontal tail 40 and the right horizontal tail 50, a horizontal tail rotor 70 fixed to the tail of the fuselage body 10, and a plurality of tail rotor blades 71 fixed to the horizontal tail rotor 70.
  • the horizontal tail rotor 70 is horizontally mounted at the tail of the aircraft, and the moment of the tail rotor blades 71 is also adjustable positively and negatively to achieve adjustable positive and negative pulling forces.
  • the tail rotor blades 71 are 2 or more, such as 3 blades, 4 blades, 5 blades, etc.
  • the left horizontal tail 40, the right horizontal tail 50 and the vertical tail 60 can be deflected as a whole or using part of the control surfaces.
  • the horizontal tail rotor 70 rotates at a constant speed, and the torque of the tail rotor blades 71 is synchronized with the left horizontal tail wing 40 and the right horizontal tail wing 50 to generate lifting thrust for controlling the aircraft attitude; the left horizontal tail wing 40 and the right horizontal tail wing 50 are arranged left and right to avoid the airway of the horizontal tail rotor 70.
  • the vertical tail 60 can be deflected when the aircraft is cruising to correct its heading.
  • the left front power propeller 21, the left rear power propeller 22, the right front power propeller 31 and the right rear power propeller 32 are all used as power propellers.
  • the left front power propeller 21 and the left rear power propeller 22 are respectively fixed on the opposite sides of the left tilt rotor 20, and the right front power propeller 31 and the right rear power propeller 32 are respectively fixed on the opposite sides of the right tilt rotor 30; the left front power propeller 21, the left rear power propeller 22, the right front power propeller 31 and the right rear power propeller 32 can be ducted or open propellers.
  • the left front power propeller 21 and the right front power propeller 31 use forward propellers, and the left rear power propeller 22 and the right rear power propeller 32 use reverse propellers, or the left front power propeller 21 and the right front power propeller 31 use reverse propellers, and the left rear power propeller 22 and the right rear power propeller 32 use forward propellers, which can offset the reverse torque; or the left front power propeller 21 and the left rear power propeller 22 use forward propellers, and the right front power propeller 31 and the right rear power propeller 32 use reverse propellers; or the left front power propeller 21 and the left rear power propeller 22 use reverse propellers, and the right front power propeller 31 and the right rear power propeller 32 use forward propellers, which can also offset the reverse torque.
  • the thrust difference between the left front propeller 21 and the left rear propeller 22 and the thrust difference between the right front propeller 31 and the right rear propeller 32 realizes the rolling flight of the aircraft during vertical take-off and landing.
  • the thrust difference between the left front propeller 21 and the right front propeller 31, the thrust difference between the left rear propeller 22 and the right rear propeller 32, the left horizontal tail 40, the right horizontal tail 50 and the horizontal tail rotor 70 together realize the horizontal attitude control of the aircraft.
  • the propellers provided on the left-tilted rotor 20 and the right-tilted rotor 30 are not limited to two.
  • the left-tilted rotor 20 and the right-tilted rotor 30 may also be provided with four propellers. As long as they are added in pairs on the left and right, they all fall within the protection scope of the present invention.
  • the left tiltable rotor 20 and the left folding wing 23 constitute the left wingspan of the aircraft
  • the right tiltable rotor 30 and the right folding wing 33 constitute the right wingspan of the aircraft.
  • the left and right wingspans of the aircraft can not only be tilted but also folded.
  • the aircraft's folding wings are not only used for storage but also for cruising to save effort.
  • the left folding wing 23 and the right folding wing 33 are respectively installed outside the left tilting wing 20 and the right tilting wing 30 and tilt synchronously with the corresponding tilting wing. When stored or cruising at high speed, they fold backward to reduce storage space or reduce wind resistance.
  • the folding wings are not a necessary option in the present invention, and not folding them will not affect the technical effect of the implementation of the present invention.
  • the aircraft of the present invention also includes a server (not shown in the figure).
  • the left tilt rotor 20 and the right tilt rotor 30 are respectively connected to the server through shafts.
  • the left tilt rotor 20 and the right tilt rotor 30 can rotate axially 360° under the action of the servo mechanism to achieve synchronous deflection of the left tilt rotor 20, the right tilt rotor 30, the left front propeller 21, the left rear propeller 22, the right front propeller 31 and the right rear propeller 32. This deflection is used for vertical take-off and landing and cruise control of the aircraft.
  • the servo can be an electric servo or a hydraulic servo.
  • left tilt rotor 20 and the right tilt rotor 30 are deflected asynchronously, they are used for heading correction during vertical take-off and landing, and for aircraft rolling during cruising.
  • the aircraft of the present invention further comprises an angle position sensor, which is arranged in the left folding wing 23, the right folding wing 33, the left tilting wing 20 and the right tilting wing 30, so that the server can accurately obtain the tilting or folding angle.
  • the flight control method of the aircraft of the present invention is as follows (specifically taking four power propellers (specifically the left front power propeller 21, the left rear power propeller 22, the right front power propeller 31 and the right rear power propeller 32) and one tail power propeller as an example):
  • the four propellers (specifically the left front propeller 21, the left rear propeller 22, the right front propeller 31 and the right rear propeller 32) are all kept vertical to the ground together with the left tilt rotor 20 and the right tilt rotor 30.
  • the four propellers rotate at high speed to generate lift to float the aircraft.
  • the left tilt rotor 20 and the right tilt rotor 30 are synchronously tilted forward and backward so that the aircraft can move forward and backward.
  • they are asynchronously tilted, the aircraft can be rotated.
  • the lift difference between the left front propeller 21 and the left rear propeller 22 and the lift difference between the right front propeller 31 and the right rear propeller 32 can realize the roll of the aircraft.
  • the lift difference between the left front propeller 21 and the left rear propeller 22 and the lift difference between the right front propeller 31 and the right rear propeller 32, together with the horizontal tail rotor 70, can realize the change of the aircraft's attitude in the air, and no matter what flight state the aircraft is in, the attitude of the aircraft can stably maintain a special state, such as the aircraft head down or up.
  • the left tilt rotor 20 and the right tilt rotor 30 are deflected to be parallel to the ground, and the four power propellers become the aircraft's traction propellers.
  • the lift is provided by the left tilt rotor 20 and the right tilt rotor 30.
  • the left tilt rotor 20 and the right tilt rotor 30 change the lift when they are deflected synchronously, and achieve roll when they are deflected asynchronously.
  • the horizontal tail rotor 70 controls the aircraft's heading attitude, and the vertical tail 60 controls the aircraft's heading.
  • the horizontal tail rotor 70 its functions include two aspects. First, it actively controls the aircraft's attitude through airflow during hovering and low-speed cruising. Second, it actively provides additional upward or downward thrust to maintain the center of gravity balance when the aircraft encounters a front-to-back center of gravity offset.
  • the tilt-rotor wings used in the present invention are designed to be relatively wide to adapt to low-speed stability, they will generate relatively large resistance when the aircraft is cruising at high speed.
  • the swept-back folding wings can reduce wind resistance, thereby achieving higher flight efficiency.
  • the folding wings are retracted to a larger angle, which can achieve a smaller footprint.
  • aircraft safety redundancy allows one or more power systems to fail in the cruising state.
  • the pilot can achieve unpowered gliding by overriding the wingspan and the horizontal and vertical wings of the tail, thereby greatly increasing flight safety in abnormal situations.
  • the present invention enables the aircraft to maintain various postures in any flight state: vertical take-off and landing, horizontal hovering, left and right wingspan tilting, horizontal cruising state, nose-up hovering, nose-down hovering, nose-up cruising and nose-down cruising.
  • the lift generated by the power propeller of the present invention can be achieved by changing the rotation speed or by changing the propeller torque at a constant speed.
  • the torque of the horizontal tail rotor of the present invention is positively and negatively adjustable, and cooperates with the tilt-rotating wing to realize the possibility of the aircraft maintaining various different postures in any flight state.
  • No existing aircraft can maintain stable different aircraft postures in hovering or low-speed states; the present invention is separated from the left and right and tilts independently, and has various different actions according to the flight conditions; the wingspan of the aircraft of the present invention can not only tilt, but also be folded; the present invention can achieve vertical take-off and landing, high-speed cruising, and smooth transition between vertical hovering and high-speed cruising, and at the same time has the advantage of very high economic efficiency.

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Abstract

本发明提供一种多桨倾转飞行器及其飞行控制方法，飞行器包括机身主体、固定在所述机身主体左侧的左倾转翼、分别固定在所述左倾转翼相对两侧的至少一个左前动力桨和至少一个左后动力桨、固定在所述机身主体右侧的右倾转翼、分别固定在所述右倾转翼相对两侧的至少一个右前动力桨和至少一个右后动力桨以及固定在所述机身主体尾部的尾翼组，所述尾翼组包括垂直尾翼、水平尾翼以及水平尾桨；其中所述左前动力桨、左后动力桨、右前动力桨和右后动力桨实现飞行器垂直起降和巡航的飞行动力和姿态控制。本发明左右分开且独立倾转，并且依据飞行条件有各种不同的作动；本发明可以获得垂直起降，高速巡航，垂直悬停与高速巡航之间过渡平稳，同时具备非常高的使用经济性之好处。

Description

一种多桨倾转飞行器及其飞行控制方法 技术领域
本发明属于飞行器的技术领域，尤其涉及一种多桨倾转飞行器及其飞行控制方法。
背景技术
在全球路面交通拥挤，迫切需要向空中发展现代化的民用微小型载人飞行器需求下产生飞行器必须具备机动性更强，普通人即可驾驶，不需要特定的场地例如机场多重安全冗余的特点。
现有飞行器无法实现悬停或者低速状态下维持稳定不同的飞机姿态，且倾转的是旋翼或者桨，不会倾转翼展，且即使倾转翼展也是整体倾转翼展。
故有必要设计一种新的飞行器。
发明内容
本发明目的在于提供一种左右分开且独立倾转，并且可以获得垂直起降和高速巡航的多桨倾转飞行器及其飞行控制方法。
本发明提供一种多桨倾转飞行器，其包括机身主体，还包括固定在所述机身主体左侧的左倾转翼、分别固定在所述左倾转翼相对两侧的至少一个左前动力桨和至少一个左后动力桨、固定在所述机身主体右侧的右倾转翼、分别固定在所述右倾转翼相对两侧的至少一个右前动力桨和至少一个右后动力桨以及固定在所述机身主体尾部的尾翼组，所述尾翼组包括垂直尾翼、水平尾翼以及水平尾桨；其中所述左前动力桨、左后动力桨、右前动力桨和右后动力桨实现飞行器垂直起降和巡航的飞行动力和姿态控制。
进一步地，所述左前动力桨和右前动力桨采用正桨、左后动力桨和右后动力桨均采用反桨或者左前动力桨和右前动力桨采用反桨、左后动力桨和右后动力桨均采用正桨。
进一步地，所述左前动力桨和左后动力桨均采用正桨、右前动力桨和右后动力桨均采用反桨；或者左前动力桨和左后动力桨均采用反桨、右前动力桨和右后动力桨均采用正桨。
进一步地，所述水平尾翼包括固定在所述机身主体尾部左侧的左水平尾翼以及固定在所述机身主体尾部右侧的右水平尾翼；所述垂直尾翼位于所述左水平尾翼和右水平尾翼之间。
进一步地，还包括伺服器，所述左倾转翼和右倾转翼分别通过轴与所述伺服器连接。
进一步地，还包括角度位置传感器，所述角度位置传感器设于所述左折叠翼、右折叠翼、左倾转翼和右倾转翼内。
进一步地，所述左前动力桨和左后动力桨均设有两个，所述右前动力桨和右后动力桨也均设有两个；或者所述左前动力桨和左后动力桨均设有四个，所述右前动力桨和右后动力桨也均设有四个。
进一步地，还包括固定在所述左倾转翼外侧且可相对所述左倾转翼进行折叠的左折叠翼以及固定在所述右倾转翼外侧且可相对所述右倾转翼进行折叠的右折叠翼。
本发明还提供一种多桨倾转飞行器的飞行控制方法，具体方法如下：
飞行器垂直起降时，所述左前动力桨、左后动力桨、右前动力桨和右后动力桨均与所述左倾转翼和右倾转翼保持与地面垂直状态；所述左前动力桨、左后动力桨、右前动力桨和右后动力桨旋转产生升力 将飞行器浮起，在飞行器浮起时，所述左倾转翼和右倾转翼同步前后倾转使得飞行器前进或者后退，异步倾转时使得飞行器旋转；
飞行器巡航状态时，所述左倾转翼和右倾转翼偏转到与地面平行，所述左前动力桨、左后动力桨、右前动力桨和右后动力桨成为飞行器拉力桨，此时的升力靠所述左倾转翼和右倾转翼提供，所述左倾转翼和右倾转翼同步偏转时改变升力，异步偏转时实现横滚；所述水平尾桨控制飞行器航向姿态，所述垂直尾翼控制飞行器的航向。
进一步地，当飞行器垂直起降时，所述左前动力桨和左后动力桨之间的升力差以及所述右前动力桨和右后动力桨之间的升力差实现飞行器的横滚。
本发明左右分开且独立倾转，并且依据飞行条件有各种不同的作动；本发明可以获得垂直起降，高速巡航，垂直悬停与高速巡航之间过渡平稳，同时具备非常高的使用经济性之好处。
根据下文结合附图对本发明具体实施例的详细描述，本领域技术人员将会更加明了本发明的上述以及其他目的、优点和特征。
附图说明
后文将参照附图以示例性而非限制性的方式详细描述本发明的一些具体实施例。附图中相同的附图标记标示了相同或类似的部件或部分。本领域技术人员应该理解，这些附图未必是按比例绘制的。附图中：
图1为用于本发明实施例的多桨倾转飞行器的结构示意图；
图2为用于本发明实施例的多桨倾转飞行器的其中一个折叠翼折叠的示意图。
具体实施方式
本发明一种多桨倾转飞行器，其动力源是充电电池或者燃油。
如图1和图2所示，一种多桨倾转飞行器包括机身主体10、固定在机身主体10左侧的左倾转翼20、分别固定在左倾转翼20相对两侧的至少一个左前动力桨21和至少一个左后动力桨22、固定在左倾转翼20外侧且可相对左倾转翼20进行折叠的左折叠翼23、固定在机身主体10右侧的右倾转翼30、分别固定在右倾转翼30相对两侧的至少一个右前动力桨31和至少一个右后动力桨32、固定在右倾转翼30外侧且可相对右倾转翼30进行折叠的右折叠翼33、以及固定在机身主体10尾部的尾翼组；其中左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32实现飞行器垂直起降和巡航的飞行动力和姿态控制。
其中尾翼组包括固定在机身主体10尾部左侧的左水平尾翼40、固定在机身主体10尾部右侧的右水平尾翼50、固定在机身主体10尾部且位于左水平尾翼40和右水平尾翼50之间的垂直尾翼60、固定在机身主体10尾部的水平尾桨70以及固定在水平尾桨70上的多个尾桨叶71。
水平尾桨70水平安装于飞行器的尾部，尾桨叶71的桨矩一样正负可调，以实现可调正反两面拉力。尾桨叶71是2片或更多，例如3桨叶，4桨叶，5桨叶等等。
左水平尾翼40、右水平尾翼50和垂直尾翼60可以整体偏转或者使用部分舵面偏转。
水平尾桨70定速旋转，尾桨叶71的桨矩均与左水平尾翼40和右水平尾翼50同步动作产生升降拉力，用于控制飞行器姿态；左水平尾翼40和右水平尾翼50左右排列，以避开水平尾桨70的气道。
垂直尾翼60在飞行器巡航时可偏转，用于纠正航向。
其中左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32均作为动力桨，左前动力桨21和左后动力桨22分别固定在左倾转翼20的相对两侧，右前动力桨31和右后动力桨32分别固定在右倾转翼30的相对两侧；左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32可以是涵道也可以是开放桨。
左前动力桨21和右前动力桨31采用正桨、左后动力桨22和右后动力桨32均采用反桨或者左前动力桨21和右前动力桨31采用反桨、左后动力桨22和右后动力桨32均采用正桨，这样可以抵消反向扭矩；或者左前动力桨21和左后动力桨22均采用正桨、右前动力桨31和右后动力桨32均采用反桨；或者左前动力桨21和左后动力桨22均采用反桨、右前动力桨31和右后动力桨32均采用正桨，这样也可以抵消反向扭矩。
左前动力桨21和左后动力桨22之间的推力差以及右前动力桨31和右后动力桨32之间的推力差，实现飞行器垂直起降时横滚飞行。左前动力桨21和右前动力桨31之间的推力差、左后动力桨22和右后动力桨32之间的推力差、左水平尾翼40、右水平尾翼50和水平尾桨70一起实现飞行器水平姿态控制。
对于左倾转翼20和右倾转翼30上设置的桨，不限于两个，左倾转翼20和右倾转翼30也可以均设置四个桨，只要是左右成对的增加，都属于本发明的保护范围。
即：左前动力桨21和左后动力桨22均设有两个，右前动力桨31和右后动力桨32也均设有两个；或者左前动力桨21和左后动力桨22均设有四个，右前动力桨31和右后动力桨32也均设有四个。
左倾转翼20和左折叠翼23组成飞行器的左翼展，右倾转翼30和右折叠翼33组成飞行器的右翼展，飞行器的左翼展和右翼展不仅倾转，还可以折叠。
飞行器的折叠翼不仅用于收纳还用于巡航省力。
左折叠翼23和右折叠翼33分别安装在左倾转翼20和右倾转翼30外侧且与对应的倾转翼同步倾转，收纳或者高速巡航时向后折叠减小收纳空间或者减小风阻。
折叠翼在本发明中非必要选项，不折叠也不影响实施本发明的技术效果。
本发明飞行器还包括伺服器(图未示)，左倾转翼20和右倾转翼30分别通过轴与伺服器连接，左倾转翼20和右倾转翼30在伺服机构作用下可以轴向360°旋转，以实现左倾转翼20、右倾转翼30、左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32同步偏转，此偏转用于飞行器垂直起降和巡航控制。
伺服器可以是电机伺服器，也可以是液压伺服器。
当左倾转翼20和右倾转翼30异步偏转，在垂直起降时用于航向修正，在巡航时用于飞行器横滚。
本发明飞行器还包括角度位置传感器，角度位置传感器设于左折叠翼23、右折叠翼33、左倾转翼20和右倾转翼30内，以便伺服器准确获得倾转或者折叠角度。
本发明飞行器的飞行控制方法如下(具体以四个动力桨(具体为左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32)和一个尾动力桨为例)：
飞行器垂直起降时，4个动力桨(具体为左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32)均与左倾转翼20和右倾 转翼30保持与地面垂直状态，4个动力桨高速旋转产生升力将飞行器浮起，在飞行器浮起时，左倾转翼20和右倾转翼30同步前后倾转飞行器可以前进后退，异步倾转时可以实现飞行器旋转，左前动力桨21和左后动力桨22之间的升力差以及右前动力桨31和右后动力桨32之间的升力差可实现飞行器的横滚。左前动力桨21和左后动力桨22之间的升力差、右前动力桨31和右后动力桨32之间的升力差与水平尾桨70共同作用下，可以实现飞行器空中姿态改变，并且无论飞行器处于何种飞行状态时，飞行器的姿态都可以稳定的保持特殊状态，例如飞行器头朝下或者朝上。
飞行器巡航状态时，左倾转翼20和右倾转翼30偏转到与地面平行，4个动力桨成为飞行器拉力桨，此时的升力靠左倾转翼20和右倾转翼30提供，左倾转翼20和右倾转翼30同步偏转时改变升力，异步偏转时实现横滚，水平尾桨70控制飞行器航向姿态，垂直尾翼60控制飞行器的航向。
关于水平尾桨70，其功能包含两个方面，第一，悬停和低速巡航时主动气流控制飞行器姿态；第二，飞行器遇到前后重心偏移时主动提供额外的向上或向下的推力维持重心平衡。
关于折叠翼，由于本发明使用的倾转翼因适应低速的稳定性设计得比较宽，当飞行器高速巡航时会产生比较大的阻力，折叠翼后掠可以减小风阻，从而实现更高的飞行效率，当飞行器收纳到机库时，折叠翼收至更大的角度，可以实现更小的占地面积。
飞行器安全冗余的实施，巡航状态下，本发明允许一个或者多个动力系统失效，驾驶人通过超控翼展和尾部水平与垂直翼，可以实现无动力滑翔，从而大幅增加异常时飞行安全。
本发明实现了飞行器在任何飞行状态下维持各种不同姿态的可能：垂直起降与水平悬停、左右翼展倾转中、水平巡航状态、机头朝上悬停、机头朝下悬停、机头朝上巡航以及机头朝下巡航。
本发明动力桨产生的升力可以改变转速的方式实现，也可以定速改变桨矩的方式实现。
本发明水平尾桨的桨矩正负可调，与倾转翼协同，实现了飞行器在任何飞行状态下维持各种不同姿态的可能，现有的任何飞行器都无法实现悬停或者低速状态下维持稳定不同的飞机姿态；本发明左右分开且独立倾转，并且依据飞行条件有各种不同的作动；本发明飞行器的翼展不仅倾转，还可以折叠；本发明可以获得垂直起降，高速巡航，垂直悬停与高速巡航之间过渡平稳，同时具备非常高的使用经济性之好处。
至此，本领域技术人员应认识到，虽然本文已详尽示出和描述了本发明的多个示例性实施例，但是，在不脱离本发明精神和范围的情况下，仍可根据本发明公开的内容直接确定或推导出符合本发明原理的许多其他变型或修改。因此，本发明的范围应被理解和认定为覆盖了所有这些其他变型或修改。

Claims (10)

  1. 一种多桨倾转飞行器，其包括机身主体(10)，其特征在于，还包括固定在所述机身主体(10)左侧的左倾转翼(20)、分别固定在所述左倾转翼(20)相对两侧的至少一个左前动力桨(21)和至少一个左后动力桨(22)、固定在所述机身主体(10)右侧的右倾转翼(30)、分别固定在所述右倾转翼(30)相对两侧的至少一个右前动力桨(31)和至少一个右后动力桨(32)以及固定在所述机身主体(10)尾部的尾翼组，所述尾翼组包括垂直尾翼(70)、水平尾翼以及水平尾桨(60)；其中所述左前动力桨(21)、左后动力桨(22)、右前动力桨(31)和右后动力桨(32)实现飞行器垂直起降和巡航的飞行动力和姿态控制。
  2. 根据权利要求1所述的多桨倾转飞行器，其特征在于，所述左前动力桨(21)和右前动力桨(31)采用正桨、左后动力桨(22)和右后动力桨(32)均采用反桨或者左前动力桨(21)和右前动力桨(31)采用反桨、左后动力桨(22)和右后动力桨(32)均采用正桨。
  3. 根据权利要求1所述的多桨倾转飞行器，其特征在于，所述左前动力桨(21)和左后动力桨(22)均采用正桨、右前动力桨(31)和右后动力桨(32)均采用反桨；或者左前动力桨(21)和左后动力桨(22)均采用反桨、右前动力桨(31)和右后动力桨(32)均采用正桨。
  4. 根据权利要求1所述的多桨倾转飞行器，其特征在于，所述水平尾翼包括固定在所述机身主体(10)尾部左侧的左水平尾翼(40)以及固定在所述机身主体(10)尾部右侧的右水平尾翼(50)；所述垂直尾翼(60)位于所述左水平尾翼(40)和右水平尾翼(50)之间。
  5. 根据权利要求1所述的多桨倾转飞行器，其特征在于，还包括伺服器，所述左倾转翼(20)和右倾转翼(30)分别通过轴与所述伺服器连接。
  6. 根据权利要求1所述的多桨倾转飞行器，其特征在于，所述左前动力桨(21)和左后动力桨(22)均设有两个，所述右前动力桨(31)和右后动力桨(32)也均设有两个；或者所述左前动力桨(21)和左后动力桨(22)均设有四个，所述右前动力桨(31)和右后动力桨(32)也均设有四个。
  7. 根据权利要求1所述的多桨倾转飞行器，其特征在于，还包括固定在所述左倾转翼(20)外侧且可相对所述左倾转翼(20)进行折叠的左折叠翼(23)以及固定在所述右倾转翼(30)外侧且可相对所述右倾转翼(30)进行折叠的右折叠翼(33)。
  8. 根据权利要求7所述的多桨倾转飞行器，其特征在于，还包括角度位置传感器，所述角度位置传感器设于所述左折叠翼(23)、右折叠翼(33)、左倾转翼(20)和右倾转翼(30)内。
  9. 权利要求1至8任一所述的多桨倾转飞行器的飞行控制方法，其特征在于，具体方法如下：
    飞行器垂直起降时，所述左前动力桨(21)、左后动力桨(22)、右前动力桨(31)和右后动力桨(32)均与所述左倾转翼(20)和右倾转翼(30)保持与地面垂直状态；所述左前动力桨(21)、左后动力桨(22)、右前动力桨(31)和右后动力桨(32)旋转产生升力将飞行器浮起，在飞行器浮起时，所述左倾转翼(20)和右倾转翼(30)同步前后倾转使得飞行器前进或者后退，异步倾转时使得飞行器旋转；
    飞行器巡航状态时，所述左倾转翼(20)和右倾转翼(30)偏转到与地面平行，所述左前动力桨(21)、左后动力桨(22)、右前动 力桨(31)和右后动力桨(32)成为飞行器拉力桨，此时的升力靠所述左倾转翼(20)和右倾转翼(30)提供，所述左倾转翼(20)和右倾转翼(30)同步偏转时改变升力，异步偏转时实现横滚；所述水平尾桨(70)控制飞行器航向姿态，所述垂直尾翼(60)控制飞行器的航向。
  10. 根据权利要求9所述的多桨倾转飞行器的飞行控制方法，其特征在于，当飞行器垂直起降时，所述左前动力桨(21)和左后动力桨(22)之间的升力差以及所述右前动力桨(31)和右后动力桨(32)之间的升力差实现飞行器的横滚。
PCT/CN2022/132180 2022-11-16 2022-11-16 一种多桨倾转飞行器及其飞行控制方法 WO2024103278A1 (zh)

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