CN107256029A - A kind of combined method and control method for combining collaboration load-carrying aircraft - Google Patents
A kind of combined method and control method for combining collaboration load-carrying aircraft Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention discloses a kind of combined method and control method for combining collaboration load-carrying aircraft, belong to unmanned technical field of aerospace.It include aircraft central platform on master controller, and four frames ends four-axle aircraft.Frame one end is connected by screw and hinge with center control platform, and the other end is connected by screw and hinge and the four small four-axle aircraft platform of surrounding, realizes the collaborative work of the combined handling of system.The system.One controller is installed in the control platform of system centre, is controlled by line with four small four-axle aircrafts with communicating, is to realize control by certain packet control algolithm.Each small four-axle aircraft of the present invention is a power source, the rotation of four each propellers of motor control is fitted with, four groups small four-axle aircraft cooperates with load-carrying, and load-carrying load is big, and whole system can easily realize disassembly and assembly, the demand of several scenes is adapted to.
Description
Technical field
The present invention relates to unmanned technical field of aerospace, more particularly to a kind of combined method for combining collaboration load-carrying aircraft and
Control method.
Background technology
At present, unmanned plane is as one of modern high technology product, and its application in dual-use field is more and more wider, and
The correlation technique of unmanned plane have passed through the development and accumulation of decades, also reach its maturity.It is used as the high-end manufacturing industry water of one state of measurement
Flat important symbol, the exploration practice of Chinese unmanned plane industry innovation and development in recent years, only the sector does not fly higher farther
Established solid foundation, be also China's parts of traditional industry transition and upgrade, emerging industry develop in a healthy way helpful reference is provided.With
The progress of technology and increasingly simple, the unmanned plane of today of manipulation, already in police, meteorological, agricultural, or even the civilian neck such as exploration
Domain is showed one's capabilities, using extremely wide.
But monomer unmanned plane constraint and the limitation such as is supplied as mini-plant by its volume and self-energy, has
Many defects, the heavy burden ability of such as monomer unmanned plane has considerable restraint.As four axles fly in more general aircraft
Row device, its load-carrying is general to be extremely difficult to actual requirement all in 1kg-2kg, such as by institute in the shooting modeling of space base large scene
With high-definition camera volume and weight all than larger, common unmanned plane is difficult to load request, and the load of common unmanned plane band
Afterwards, the stability of its flight can be greatly lowered, and the flight efficiency of aircraft can decline, so that the continuation of the journey of aircraft
Ability significantly declines, it is difficult to reach the requirement of follow-on mission.
Although the unmanned vehicle lifting capacity of large volume is strong, volume enlarged relative, and production cost and expense
It is higher, it is impossible to be widely popularized, and the aircraft of large volume is unfavorable for movement and transport in usual cases, therefore large volume
Aircraft limitation is a lot, and big aircraft requires higher to power set and endurance, is difficult in general civil area
Realize.
Therefore combination collaboration load-carrying aircraft involved in the present invention is based on flying the combination collaboration of multiple small aircrafts
Row solves this problem to improve the lifting capacity of aircraft
Chinese invention patent, publication number：The A of CN 104743107, publication date：On July 1st, 2015, disclose rotation more than one kind
Rotor aircraft, including：Main rotor, it is driven by fuel engines, and the main rotor is arranged on the body of the fuel engines
Center lower end or upper end；And several secondary rotors, the secondary rotor is arranged in the surrounding of the body, the pair
Rotor is driven by motor respectively, and the multi-rotor aerocraft load-carrying is big, hours underway is long.It is disadvantageous in that, patent master
Rotor is driven using fuel engines, although load-carrying is big, hours underway is long, but is not had on the coordination control between major and minor rotor
Relate to.
The content of the invention
1. the invention technical problem to be solved
For the unmanned vehicle of prior art low loading capacity the problem of, the invention provides one kind combination collaboration load-carrying
The combined method and control method of aircraft.It combines simple, and high loading capacity, the stability of a system is high.
2. technical scheme
To solve the above problems, the technical scheme that the present invention is provided is：
One kind combination collaboration load-carrying aircraft, including frame and four-axle aircraft, in addition to main control platform, main control are put down
Platform is connected by frame with four-axle aircraft, and equipped with four motors on each four-axle aircraft, each motor control is corresponding
Oar is rotated, and controller and motor connection in main control platform, four frames are connected by screw with hinge with main control platform,
Frame end is connected with four groups of four-axle aircrafts, and frame is fixed on the lower end of four-axle aircraft platform by screw and hinge, electricity
Machine can use brushless electric machine.
Preferably, the controller on main control platform is the processor for information processing and control, while main control is flat
GPS positioning system, attitude sensing system, digital transmission module or WIFI transport modules and height barograph are also equipped with platform.
GPS positioning system is responsible for realizing that unmanned plane is positioned in time, shows unmanned plane positional information；Attitude transducer realization pair
The analysis posture analysis of unmanned plane, is handled by feeding back to processor, realizes the feedback control to unmanned plane；Number pass or
The information of unmanned plane can be transferred to ground staff in time by WIFI module, and wherein WIFI module can realize the data of high bandwidth
Transmission；Height barometer realizes flight height-lock control, obtains flying height information
Preferably, frame includes frame one and frame two, and main control platform is flown by four frames one and four group of four axle
Device is connected, and four-axle aircraft is connected by frame two with oar.
Main control platform is connected by four frames one with four groups of four-axle aircrafts, and each four-axle aircraft passes through four machines
Frame two is connected with four oars；Point-blank, two other four axle flies two four-axle aircrafts in four groups of four-axle aircrafts
Row device is on another straight line, and two straight lines are orthogonal；
The one end of frame one connects main control platform, and the other end is connected on the center of four groups of four-axle aircrafts, and
Two ends are designed to hinge and screw connection, are easy to four groups of steady carries of four-axle aircraft, while can also be flown as four axles
The support of device line.
Four groups of four-axle aircraft model sizes are identical, and the bottom of the frame two of each four-axle aircraft is adjusted equipped with electricity, is realized
The conversion of electric current, voltage, and the upper end of the frame two of each four-axle aircraft is equipped with peace above brushless electric machine, brushless electric machine
Equipped with oar.
Preferably, main control platform surrounding is to there is four recessed hinges on centrosymmetric position, respectively with four groups of frames one
It is connected, and is screwed.Easy to disassemble and assembling, while four slurries of four group of four axle can also be connected by hinge and screw
Connect.
Preferably, the model of four groups of four-axle aircrafts is in the same size and keeps symmetrical centered on main control platform, each
Individual four-axle aircraft is fitted with the oar of two pairs of clockwise and anticlockwise motors and two pairs of rotatings, wherein cornerwise motor and oar turn to phase
Together.
Four oars on four-axle aircraft are mutually symmetrical, and oar includes two positive oars and two anti-oars, and two positive oars pass through
It is into a line that frame two is connected to shape on four-axle aircraft, and two anti-oars are connected on four-axle aircraft by frame two and formed
Another line, two lines are vertical each other, and positive oar bottom is provided with positive oar motor, and positive oar motor is located in frame two, and anti-oar bottom is set
There is anti-oar motor, positive oar motor also is located in frame two.
Preferably, the controller on main control platform is by being grouped four groups of four-axle aircrafts of control, each group of four axles flight
Device is connected to four groups of control signal wires, and control signal wire is connected to the controller of main control platform by frame one.
Preferably, boom hoisting is all installed, boom hoisting is detachable and assembling below every group of four-axle aircraft.
It can such as be drawn in frame below by lifting rope, or draw suspension hook and latch closure to realize lifting, to have realized
The function of weight, this structure can be easily achieved, easily fixed and dismounting, only need to unload lifting rope or suspension hook.
A kind of to combine the combined method for cooperateing with load-carrying aircraft, step is：
Step 1: one end correspondence of four frames one is individually positioned on the recessed hinge of main control platform, and pass through spiral shell
Silk is fixed；
Controller, GPS positioning system, attitude sensing system and tuning controller are provided with main control platform；
Step 2: the other end of four frames one is connected with four-axle aircraft, the control signal wire of main control platform leads to
Frame one is crossed to be connected with four groups of four-axle aircrafts；
Step 3: for each four-axle aircraft, one end of four frames two is connected with four-axle aircraft；
Step 4: for each four-axle aircraft, brushless electric machine will be installed on the other end of four frames two；
Four frames two, two of which frame two point-blank, respectively installs a positive oar in the two frames two
Motor, two other frame two respectively installs an anti-oar motor, two straight lines on another straight line in the two frames two
It is vertical each other；
Step 5: for each four-axle aircraft, installing and being installed on oar, positive oar motor on each brushless electric machine
Anti- oar is installed on positive oar, anti-oar motor.
A kind of to combine the control method for cooperateing with load-carrying aircraft, its step is：
First, steady rising, smooth flight and steady decline
The controller control brushless electric machine of main control platform is rotated, and makes 8 in four groups of four-axle aircrafts positive oar motors and 8
The rotating speed of individual anti-oar motor is identical, i.e., the speed sync of 16 brushless electric machines is raised and equal, and two in every group of four-axle aircraft
The forward torque of individual positive oar and the opposing torque of two anti-oars are cancelled out each other, and the overall torque of four groups of four-axle aircrafts is zero, this
When there was only the power of rising, you can realize steady rise；
The controller control brushless electric machine of main control platform is rotated, and makes 8 in four groups of four-axle aircrafts positive oar motors and 8
The rotating speed of individual anti-oar motor is identical, i.e., the speed sync of 16 brushless electric machines is reduced and equal, lift is equal to gravity or is less than
Gravity, you can realize aerial smooth flight or steady decline；
2nd, flight forward and fly backward
Controller control brushless electric machine in main control platform is rotated, and makes above adjacent in four groups of four-axle aircrafts two groups
The motor speed of four-axle aircraft is identical, and the motor speed of other two groups of four-axle aircrafts more than rear adjacent, before realization
Two groups of adjacent four-axle aircraft lift of face are more than the lift of other two groups of four-axle aircrafts of rear adjacent, flight forward；
Above the motor speed of two groups of adjacent four-axle aircrafts is identical, and flies less than other two group of four axle of rear adjacent
The motor speed of row device, realizes that two groups of above adjacent four-axle aircraft lift are less than other two group of four axle flight of rear adjacent
The lift of device, flies backward；
That is, the rotating speed of 4 positive oar motors is equal to the rotating speed of 4 anti-oar motors in two groups of adjacent four-axle aircrafts；It is adjacent
Other two groups of four-axle aircrafts in the rotating speeds of 4 positive oar motors be equal to the rotating speeds of 4 anti-oar motors；
3rd, rotate
Controller control brushless electric machine in main control platform is rotated, and makes all positive oar motors in four groups of four-axle aircrafts
Rotating speed is identical, and all anti-oar motor speeds are identical, when the rotating speed of positive oar motor is more than anti-oar motor speed, realizes positive rotation
Turn；When the rotating speed of positive oar motor is less than anti-oar motor speed, realizes and reversely rotate；
4th, load-carrying is flown
After artificial loading weight, start aircraft, into smooth flight state, the then controller in main control platform
In the case of control command, positioned by GPS positioning system and height barometer and determine height, then adjust the rotating speed of brushless electric machine
Size is flown to assigned direction, is arrived at, and elevation information is obtained by height barometer, realizes height-lock control, now
Practical algorithm is the fixed height of PID control.And attitude information is obtained by attitude transducer, it is anti-to realize to feed back to processor
Feedback control, gps system obtains position of aircraft.
Preferably, the controller control pwm signal in main control platform, which is exported, gives electricity tune, and electricity tune can be by winged control plate
Control signal, is changed into the size of electric current, with the rotating speed of controlled motor.Brushless electric machine is controlled to rotate.
3. beneficial effect
The technical scheme provided using the present invention, compared with prior art, is had the advantages that：
(1) a kind of combination collaboration load-carrying aircraft of the invention, overcomes the low loading capacity of common unmanned vehicle to lack
Point, makes multi-aircraft combination simple, high loading capacity, stability of a system height；
(2) a kind of combination collaboration load-carrying aircraft of the invention, combination collaboration load-carrying aircraft loading capacity is about common
Four times or so of four-axle aircraft loading capacity, hence it is evident that improve load；
(3) a kind of combination collaboration load-carrying aircraft of the invention, can realize quick assembly and disassembly, carry and transport all
It is very convenient；
(4) a kind of combination collaboration load-carrying aircraft of the invention, middle GPS positioning system and barometertic altimeter are applied in combination can
To be accurately positioned the position of aircraft, realize that load-carrying is flown, accurately control flight path；
(5) a kind of combination collaboration load-carrying aircraft of the invention, using multiple aircraft as power source, is flown using four
The combination collaboration load-carrying of row device, can greatly improve load, while using four combining structures, can keep the stabilization of system.
Brief description of the drawings
Fig. 1 is the overall top view of invention；
Fig. 2 is the state diagram of single four-axle aircraft；
Fig. 3 is integrality figure.
Label declaration in schematic diagram：
1st, main control platform；2nd, frame one；3rd, four-axle aircraft；31st, anti-oar motor；32nd, positive oar motor；33rd, frame two；
35th, anti-oar；36th, positive oar.
Embodiment
To further appreciate that present disclosure, with reference to drawings and Examples, the present invention is described in detail.
Embodiment 1
As shown in Figure 1,2 and 3, a kind of combination collaboration load-carrying aircraft, including frame and four-axle aircraft 3, in addition to master
Control platform, main control platform 1 is connected by frame with four-axle aircraft 3, equipped with four brushless electricity on each four-axle aircraft 3
Machine, each brushless electric machine controls corresponding oar to rotate, and the controller in main control platform 1 is connected with brushless electric machine, four machines
Frame is connected by screw and hinge with main control platform 1, and frame end is connected with four groups of four-axle aircrafts 3, and frame head end passes through
Screw and hinge are fixed on the lower end of four-axle aircraft 3.
Four frames are connected, each other symmetrically, four frames collocation, four composition combination aircraft of four-axle aircrafts 3,
This structure is kinetically being more prone to reach balance, is more prone to realize relative to three frames or five frames, because
The structure of three frames is not easily controlled aircraft balance, and flight control is more difficult, and four frames four four axles of collocation fly
The structure of row device 3 can make the stress of aircraft be Central Symmetry, and front and rear symmetrical, left and right is also symmetrical, control mode and one four rotation
The control mode of four slurries of the wing is essentially the same, is very easy to realize flying and the conversion of various flight attitudes from steady for aircraft,
Situation relative to three frames is more advantageous, if frame number is more, and combination aircraft volume can be made huger, and
Big frame is more, and its flight efficiency can be reduced, therefore four frames of connection can be such that flying vehicles control more stablizes conveniently, while
Capacity usage ratio will not be reduced.
It is that four greatly because four axles are more prone to realize from the main cause of four-axle aircraft 3 that this, which is in frame end,
Each four-axle aircraft 3 in frame end, can so make Flight Control Algorithm simpler, it is not necessary to control each four axle to fly
The brushless electric machine of four-axle aircraft 3, only need to be divided into positive and negative two groups of control by each brushless electric machine of row device 3, and three
Axle aircraft can not accomplish this point, therefore not select three axle aircraft.Although six axles, eight axles can also accomplish this point, it flies
Line efficiency is less than four axles, and can greatly increase aircraft volume, and four-axle aircraft 3 can accomplish space layout more
Rationally, the overall volume of reduction combination aircraft.Processor equipped with control aircraft on main control platform 1, herein according to reality
Border situation selects suitable processor, for example currently on the market the processor of the STM32 series of popular ARM frameworks or its
Single-chip microcomputer of his brand etc..Respectively equipped with four brushless electric machines on four groups of four-axle aircrafts 3, the corresponding oar of each motor control turns
It is dynamic.Four oars of every group of four-axle aircraft 3 are diagonal positive oar and diagonal anti-oar.The rotating speed of motor control oar and direction, electricity
The parameter of machine is controlled by the processor of main control platform 1, and suitable processor, such as present city are selected herein according to actual conditions
The processor of the STM32 series of popular ARM frameworks or the single-chip microcomputer of other brands etc. on field.
Controller on main control platform 1 is the processor for information processing and control, while on main control platform 1 also
Equipped with GPS positioning system, attitude sensing system, digital transmission module or WIFI transport modules and height barometer.
GPS positioning system is responsible for realizing that unmanned plane is positioned in time, shows unmanned plane positional information；Attitude transducer realization pair
The analysis posture analysis of unmanned plane, is handled by feeding back to processor, realizes the feedback control to unmanned plane；Digital transmission module
Or the information of unmanned plane can be transferred to ground staff in time by WIFI transport modules, wherein WIFI transport modules can realize height
The data transfer of bandwidth；Height barometer determines height to realize to fly, and obtains flying height information.
Frame includes frame 1 and frame 2 33, and main control platform 1 passes through four frames 1 and four groups of four-axle aircrafts 3
Connection, four-axle aircraft 3 is connected by frame 2 33 with oar.
Main control platform 1 is connected by four frames 1 with four groups of four-axle aircrafts 3, and each four-axle aircraft 3 passes through four
Individual frame 2 33 is connected with four oars；Two four-axle aircrafts 3 in four groups of four-axle aircrafts 3 point-blank, in addition two
Individual four-axle aircraft 3 is on another straight line, and two straight lines are orthogonal；
The one end of frame 1 connection main control platform 1, the other end is connected on the center of four groups of four-axle aircrafts 3, and
And two ends are designed to hinge and screw connection, it is easy to four groups of steady carries of four-axle aircraft 3, while can also fly as four axles
The support of the line of row device 3.
Four groups of model sizes of four-axle aircraft 3 are identical, and the bottom of the frame 2 33 of each four-axle aircraft 3 is adjusted equipped with electricity,
The conversion of electric current, voltage is realized, and the upper end of the frame 2 33 of each four-axle aircraft 3 is equipped with brushless electric machine, brushless electricity
Machine is installed above oar.
Master controller on combination collaboration load-carrying aircraft, including aircraft center main control platform 1, main control platform 1
On be fixed with for information processing and flight control single-chip microcomputer, while should also be equipped with GPS location system on main control platform 1
System, barometertic altimeter, WIFI transport modules or digital transmission module.GPS positioning system realizes positioning function, and barometertic altimeter is realized fixed
High function, attitude transducer obtains flight attitude function, and the rotating speed of aircraft, direction, height are realized in whole system co-ordination
Control, and realize the pose adjustment of aircraft, the Core Feature such as GPS location.
Main control platform 1 has 16 road PWM outputs, and the rotating speed control to 16 motors is realized respectively.
Control chip select more common unmanned aerial vehicle (UAV) control chip, such as ARM frameworks STM32 series processor,
FPGA/DSP control chips can also be used.
Frame one end connection main control platform 1, the other end is connected to above the frame of four-axle aircraft 3, and two ends are all
Be designed as hinge and screw connection, be easy to four steady carries of four-axle aircraft 3, at the same can also as aircraft line branch
Support.
Four model sizes of four-axle aircraft 3 are identical.The bottom of each frame 2 33 of four-axle aircraft 3 is adjusted equipped with electricity, real
Existing electric current, the conversion of voltage, and the upper end of frame 2 33 is equipped with brushless electric machine, and brushless electric machine is installed above propeller.
Each bottom dead center position of four-axle aircraft 3 is with one piece of lithium battery, to four motors of each four-axle aircraft 3
It is powered, lithium battery is easy to carry, is conveniently replaceable, small volume and capacity is big, and lithium battery discharge-rate is very high, it is possible to achieve
Persistently continuation of the journey, while also more environmentally-friendly.
The lower end of four-axle aircraft 3 is provided with the connector for weight to be sling, and hook hangs or hooked lifting rope installed in connector
On.Lifting rope can be fixed in the frame of four-axle aircraft 3, then draw suspension hook and latch closure to realize hoisting heavy.
Embodiment 2
A kind of combination collaboration load-carrying aircraft of the present embodiment, is further improved, main control is put down on the basis of embodiment 1
Platform 1 is connected by four frames 1 with four groups of four-axle aircrafts 3, and each four-axle aircraft 3 passes through four frames 2 33 and four
Propeller is connected；Two four-axle aircrafts 3 in four groups of four-axle aircrafts 3 point-blank, two other four-axle aircraft 3
On another straight line, two straight lines are orthogonal；
The one end of frame 1 connects main control platform, and the other end is connected on the center of four groups of four-axle aircrafts 3, and
And two ends are designed to hinge and screw connection, it is easy to four groups of steady carries of four-axle aircraft 3, while can also fly as four axles
The support of the line of row device 3.
Four groups of model sizes of four-axle aircraft 3 are identical, and the bottom of the frame 2 33 of each four-axle aircraft 3 is adjusted equipped with electricity,
The conversion of electric current, voltage is realized, and the upper end of the frame 2 33 of each four-axle aircraft 3 is equipped with brushless electric machine, brushless electricity
Machine is installed above oar.
The surrounding of main control platform 1 is connected with four groups of frames 1 respectively with there is four recessed hinges on centrosymmetric position,
And be screwed.Easy to disassemble and assembling, while four slurries of four groups of four-axle aircrafts 3 can also pass through hinge and screw
Connection.
The model of four groups of four-axle aircrafts 3 is in the same size and keeps symmetrical centered on main control platform 1, each four axle
Aircraft 3 is fitted with the oar of two pairs of clockwise and anticlockwise motors and two pairs of rotatings, wherein cornerwise motor is identical with oar steering.
Four oars on four-axle aircraft 3 are mutually symmetrical, and oar includes two positive oars 36 and two anti-oars 35, two positive oars 36
It is connected to that shape on four-axle aircraft 3 is into a line by frame 2 33, two anti-oars 35 are connected to four by frame 2 33
Another line is formed on axle aircraft 3, two lines are vertical each other, the positive bottom of oar 36 is provided with positive oar motor 32, positive 32, oar motor
In in frame 2 33, the anti-bottom of oar 35 is provided with anti-oar motor 31, and positive oar motor 32 also is located in frame 2 33.
Controller on main control platform 1 is connected by being grouped four groups of four-axle aircrafts 3 of control, each group of four-axle aircraft 3
Four groups of control signal wires are connected to, control signal wire is connected to the controller of main control platform 1 by frame 1.
Every group of four-axle aircraft 3 all installs boom hoisting below, and boom hoisting is detachable and assembling.
It can such as be drawn in frame below by lifting rope, or draw suspension hook and latch closure to realize lifting, to have realized
The function of weight, this structure can be easily achieved, easily fixed and dismounting, only need to unload lifting rope or suspension hook.
The structure that the present invention is used is the combination unmanned plane that four groups of four-axle aircrafts 3 are constituted, and the technical field being related to is group
The combined method and control method of collaboration load-carrying unmanned plane are closed, more focuses on the combination between four axles and Collaborative Control, and nothing
It is simpler by work in combination control algolithm between man-machine, it need to only control the co-ordination of two groups of positive and negative motors that group can be achieved
Close collaboration load-carrying aircraft steadily to rise, realization is flown forward backward, is realized and is rotated, the aerial mission such as load-carrying flight.
The configuration of the various sensors of this other aircraft, such as GPS positioning system is responsible for realizing that unmanned plane is positioned in time, shows
Show unmanned plane positional information, attitude transducer realizes the analysis posture analysis to unmanned plane, by feeding back at processor
Reason, realizes the feedback control to unmanned plane, the information of unmanned plane can be transferred to by digital transmission module or WIFI transport modules in time
Ground staff, height barometer realizes flight height-lock control, obtains flying height information, can control the flight of unmanned plane
More stability, accuracy and rapidity.
This unmanned plane is whether there is using dismountable mechanical structure, is easy to assembly and disassembly.
Four four axles and master control borad of unmanned plane can be taken apart in the case where unmanned plane load-carrying need not be used to fly
Place respectively, reduce overall space, in that context it may be convenient to placed in the environment such as mobile and transport.
Embodiment 3
A kind of combination collaboration load-carrying aircraft of the present embodiment, it is identical with the scheme of embodiment 1 or 2, the one of the present embodiment
The combined method of combination collaboration load-carrying aircraft is planted, step is：
Step 1: one end correspondence of four frames 1 is individually positioned on the recessed hinge of main control platform, and pass through spiral shell
Silk is fixed；
Controller, GPS positioning system, attitude sensing system and tuning controller are provided with main control platform 1；
Step 2: the other end of four frames 1 is connected with four-axle aircraft 3, the control signal wire of main control platform 1
It is connected by frame 1 with four groups of four-axle aircrafts 3；
Step 3: for each four-axle aircraft 3, one end of four frames 2 33 is connected with four-axle aircraft 3；
Step 4: for each four-axle aircraft 3, brushless electric machine will be installed on the other end of four frames 2 33；
Four frames 2 33, two of which frame 2 33 is point-blank, each in the two frames 2 33 to install one
Individual positive oar motor 32, two other frame 2 33 respectively installs an anti-oar on another straight line in the two frames 2 33
Motor 31, two straight lines are vertical each other；
Step 5: for each four-axle aircraft 3, being installed on each brushless electric machine on oar, positive oar motor 32
Install and anti-oar 35 is installed on positive oar 36, anti-oar motor 31.
Embodiment 4
A kind of combination collaboration load-carrying aircraft of the present embodiment, one kind combination collaboration identical with the scheme of embodiment 1 or 2
The control method of load-carrying aircraft, its step is：
First, steady rising, smooth flight and steady decline
The controller control brushless electric machine of main control platform 1 is rotated, and makes 8 in four groups of four-axle aircrafts 3 positive oar motors
32 is identical with the rotating speed of 8 anti-oar motors 31, i.e., the speed sync rise of 16 brushless electric machines and equal, every group of four-axle aircraft
The forward torque of two positive oars 36 and the opposing torque of two anti-oars 35 in 3 are cancelled out each other, the entirety of four groups of four-axle aircrafts 3
Torque is zero, the power now only risen, you can realize steady rise；
The controller control brushless electric machine of main control platform 1 is rotated, and makes 8 in four groups of four-axle aircrafts 3 positive oar motors
32 is identical with the rotating speed of 8 anti-oar motors 31, i.e., the speed sync of 16 brushless electric machines is reduced and equal, lift is equal to gravity
Or less than gravity, you can realize aerial smooth flight or steady decline；
2nd, flight forward and fly backward
Controller control brushless electric machine in main control platform 1 is rotated, and makes in four groups of four-axle aircrafts 3 above adjacent two
The motor speed of group four-axle aircraft 3 is identical, and the motor speed of other two groups of four-axle aircrafts 3 more than rear adjacent, real
Two groups of adjacent lift of four-axle aircraft 3 are more than the lift of other two groups of four-axle aircrafts 3 of rear adjacent before now, fly forward
OK；
Above the motor speed of two groups of adjacent four-axle aircrafts 3 is identical, and less than other two group of four axle of rear adjacent
The motor speed of aircraft 3, realizes that two groups of above adjacent lift of four-axle aircraft 3 are less than other two group of four axle of rear adjacent
The lift of aircraft 3, flies backward；
That is, the rotating speed of 4 positive oar motors 32 is equal to the rotating speed of 4 anti-oar motors 31 in two groups of adjacent four-axle aircrafts 3；
The rotating speed of 4 positive oar motors 32 is equal to the rotating speed of 4 anti-oar motors 31 in adjacent other two groups of four-axle aircrafts 3；
3rd, rotate
Controller control brushless electric machine in main control platform 1 is rotated, and makes all positive oar motors in four groups of four-axle aircrafts 3
32 rotating speed is identical, and all anti-rotating speeds of oar motor 31 are identical, real when the rotating speed of positive oar motor 32 is more than anti-31 rotating speed of oar motor
Now rotate forward；When the rotating speed of positive oar motor 32 is less than anti-31 rotating speed of oar motor, realizes and reversely rotate；
4th, load-carrying is flown
After artificial loading weight, start aircraft, into smooth flight state, the then control in main control platform 1
In the case of device control command, positioned by GPS positioning system and height barometer and determine height, then adjust turning for brushless electric machine
Fast size is flown to assigned direction, is arrived at, and is obtained elevation information by height barometer, is realized height-lock control, existing
It is the fixed height of PID control in practical algorithm, attitude information is obtained by attitude transducer, it is anti-to realize to feed back to processor
Feedback control, gps system obtains position of aircraft.
Controller control pwm signal in main control platform, which is exported, gives electricity tune, and electricity is adjusted and can believe the control of winged control plate
Number, it is changed into the size of electric current, with the rotating speed of controlled motor.Brushless electric machine is controlled to rotate.
Embodiment 5
Combination collaboration load-carrying aircraft steadily rises
With reference to Fig. 3, tetra- groups of small four-axle aircrafts of A, B, C, D, as long as master controller PWM outputs make each 8 to rotate forward electricity
Machine and 8 reversion motor speeds are identical, now to the analysis of single bug such as Fig. 2, the forward torque of two positive oars with
The opposing torque of two anti-oars is cancelled out each other, it is known that the overall torque of 4 bugs is zero, the power now only risen, i.e.,
Steady rising can be achieved, if 16 motors reduce rotating speed simultaneously, lift is equal to gravity or less than gravity, you can realizes aerial steady
Fixed or steady decline.
Embodiment 6
Combination collaboration load-carrying aircraft is realized to fly forward backward
With reference to Fig. 3, make that each oar rotating speed of two bugs of A, D is identical, each oar rotating speed of B, C is identical, but A, D turn
Speed is more than B, C rotating speed, you can realize big two aircraft later of two aircraft lifts before system, you can realize flight forward,
Similarly B, C rotating speed are that can be achieved to fly backward more than A, D rotating speed.
Embodiment 7
Combination collaboration load-carrying aircraft realizes rotation
With reference to Fig. 2, Fig. 3, when all positive oar rotating speeds are identical, all anti-oar rotating speeds are identical, but positive oar rotating speed is more than anti-oar
During rotating speed, it can be achieved to rotate forward, i.e. clockwise direction anticlockwise；Make when positive oar rotating speed is less than anti-oar rotating speed, reversely rotation can be achieved
Turn, i.e., counterclockwise to anticlockwise.
Embodiment 8
Load-carrying is flown
The present invention needs artificial reprinting weight, and after loading is finished, aircraft starts simultaneously, into plateau, Ran Hou
In the case of control command, positioned by GPS positioning system and height barometer and determine height, then adjust rotating speed size to specify
Direction is flown, and is arrived at.
The common rotor take-off weights of F450 tetra- of one frame are about 2 kilograms or so, then the combination collaboration load-carrying in the present invention
The take-off weight oar of aircraft substantially exceeds 2 kilograms, substantially increases the lifting capacity of aircraft.
Combination collaboration load-carrying aircraft connects various pieces, easy to disassemble and assembling by mechanical device, in that context it may be convenient to
The environment such as mobile and transport.
Schematical above that the present invention and embodiments thereof are described, the description does not have restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if the common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, are designed and the technical scheme without creative
Similar frame mode and embodiment, all should belong to protection scope of the present invention.
Claims (10)
1. one kind combination collaboration load-carrying aircraft, including frame and four-axle aircraft (3), it is characterised in that also including main control
Platform (1), main control platform (1) is connected by frame with four-axle aircraft (3), and four are equipped with each four-axle aircraft (3)
Motor, the corresponding oar of each motor control is rotated, controller and motor connection in main control platform (1), four frame head
End is connected with main control platform (1), and frame end is connected with four-axle aircraft (3).
2. a kind of combination collaboration load-carrying aircraft according to claim 1, it is characterised in that on main control platform (1)
Controller is the processor for information processing and control, while being also equipped with GPS positioning system, posture on main control platform (1)
Sensor-based system, digital transmission module or WIFI transport modules and height barometer.
3. a kind of combination collaboration load-carrying aircraft according to claim 1, it is characterised in that frame includes frame one (2)
With frame two (33), main control platform (1) is connected by four frames one (2) with four groups of four-axle aircrafts (3), four-axle aircraft
(3) it is connected by frame two (33) with oar.
4. a kind of combination collaboration load-carrying aircraft according to claim 3, it is characterised in that main control platform (1) surrounding
Provided with four recessed hinges, Central Symmetry of four recessed hinges on main control platform (1), four recessed hinges respectively with four groups of frames
One (2) are connected, and are screwed.
5. a kind of combination collaboration load-carrying aircraft according to claim 4, it is characterised in that four groups of four-axle aircrafts (3)
Model it is in the same size and keep symmetrical centered on main control platform (1), each four-axle aircraft (3) is fitted with two pairs
Motor on clockwise and anticlockwise motor and the oar of two pairs of rotatings, the diagonal of four-axle aircraft (3) is identical with oar steering.
6. a kind of combination collaboration load-carrying aircraft according to claim 1,2 or 5, it is characterised in that main control platform (1)
On controller by being grouped four groups of four-axle aircrafts (3) of control, each group of four-axle aircraft (3) be connected to four groups of control signals
Line, control signal wire is connected to the controller of main control platform by frame one (2).
7. a kind of combination collaboration load-carrying aircraft according to claim 6, it is characterised in that every group of four-axle aircraft (3)
Boom hoisting is all installed below, boom hoisting is detachable and assembling.
8. a kind of combined method for combining collaboration load-carrying aircraft, it is characterised in that step is：
Step 1: one end correspondence of four frames one (2) is individually positioned on the recessed hinge of main control platform (1), and pass through
Screw is fixed；
Controller, GPS positioning system, attitude sensing system and tuning controller are provided with main control platform (1)；
Step 2: the other end of four frames one (2) is connected with four-axle aircraft (3), the control signal of main control platform (1)
Line is connected by frame one (2) with four groups of four-axle aircrafts (3)；
Step 3: for each four-axle aircraft (3), one end of four frames two (33) is connected with four-axle aircraft (3)；
Step 4: for each four-axle aircraft (3), brushless electric machine will be installed on the other end of four frames two (33)；
Four frames two (33), two of which frame two (33) is point-blank, each in the two frames two (33) to install
One positive oar motor (32), two other frame two (33) is each in the two frames two (33) to install on another straight line
One anti-oar motor (31), two straight lines are vertical each other；
Step 5: for each four-axle aircraft (3), being installed on each brushless electric machine on oar, positive oar motor (32)
Install and anti-oar (35) is installed on positive oar (36), anti-oar motor (31).
9. a kind of control method for combining collaboration load-carrying aircraft, it is characterised in that：
First, steady rising, smooth flight and steady decline
The controller control brushless electric machine of main control platform (1) is rotated, and makes 8 positive oar motors in four groups of four-axle aircrafts (3)
(32) identical with the rotating speed of 8 anti-oar motors (31), i.e., the speed sync of 16 brushless electric machines is raised and equal, and every group of four axles fly
The forward torque of two positive oars (36) and the opposing torque of two anti-oars (35) in row device (3) are cancelled out each other, and four group of four axle flies
The overall torque of row device (3) is zero, the power now only risen, realizes steady rise；
The controller control brushless electric machine of main control platform (1) is rotated, and makes 8 positive oar motors in four groups of four-axle aircrafts (3)
(32) identical with the rotating speed of 8 anti-oar motors (31), i.e., the speed sync of 16 brushless electric machines is reduced and equal, is equal to lift
Gravity or less than gravity, realizes aerial smooth flight or steady declines；
2nd, flight forward and fly backward
Controller control brushless electric machine in main control platform (1) is rotated, and makes in four groups of four-axle aircrafts (3) above adjacent two
The motor speed of group four-axle aircraft (3) is identical, and turns more than the motor of other two groups of four-axle aircrafts (3) of rear adjacent
Speed, realizes that two groups of above adjacent four-axle aircraft (3) lift are more than the liter of other two groups of four-axle aircrafts (3) of rear adjacent
Power, flight forward；
Above the motor speed of two groups of adjacent four-axle aircrafts (3) is identical, and flies less than other two group of four axle of rear adjacent
The motor speed of row device (3), realizes that two groups of above adjacent four-axle aircraft (3) lift are less than other two group four of rear adjacent
The lift of axle aircraft (3), flies backward；
The rotating speed of 4 positive oar motors (32) is equal to the rotating speed of 4 anti-oar motors (31) in two groups of adjacent four-axle aircrafts (3)；
The rotating speed of 4 positive oar motors (32) is equal to the rotating speed of 4 anti-oar motors (31) in adjacent other two groups of four-axle aircrafts (3)；
3rd, rotate
Controller control brushless electric machine in main control platform (1) is rotated, and makes all positive oar motors in four groups of four-axle aircrafts (3)
(32) rotating speed is identical, and all anti-oar motor (31) rotating speeds are identical, when the rotating speed of positive oar motor (32) is more than anti-oar motor (31)
During rotating speed, realization is rotated forward；When the rotating speed of positive oar motor (32) is less than anti-oar motor (31) rotating speed, realizes and reversely rotate；
4th, load-carrying is flown
After artificial loading weight, start aircraft, into smooth flight state, the then controller in main control platform (1)
In the case of control command, positioned by GPS positioning system and height barometer and determine height, then adjust the rotating speed of brushless electric machine
Size is flown to assigned direction, is arrived at, and is obtained elevation information by height barometer, is realized height-lock control, passes through
Attitude transducer obtains attitude information, feeds back to processor to realize feedback control, aircraft is obtained by GPS positioning system
Position.
10. a kind of control method for combining collaboration load-carrying aircraft according to claim 9, it is characterised in that main control
Controller control pwm signal in platform (1), which is exported, gives electricity tune, and electricity adjusts the size that control signal is changed into electric current, to control
The rotating speed of brushless electric machine.
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Application publication date: 20171017 |