CN114802731B - Multi-rotor unmanned aerial vehicle overlapped rotor wing structure system with different steering directions and optimal design method thereof - Google Patents
Multi-rotor unmanned aerial vehicle overlapped rotor wing structure system with different steering directions and optimal design method thereof Download PDFInfo
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- CN114802731B CN114802731B CN202210573411.4A CN202210573411A CN114802731B CN 114802731 B CN114802731 B CN 114802731B CN 202210573411 A CN202210573411 A CN 202210573411A CN 114802731 B CN114802731 B CN 114802731B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention provides a multi-rotor unmanned aerial vehicle overlapped rotor wing structure system with different steering and an optimal design method, which are provided with two groups of rotor wing structures, wherein the directions of blades of the two groups of rotor wing structures are different from the rotating direction, and the projection areas of the rotating surfaces are overlapped. The structural system has the characteristics of low cost and strong universality, and can provide a design scheme with strong reliability and high practical value for the rotor wing design of other multi-rotor unmanned aerial vehicles.
Description
Technical Field
The invention relates to the technical field of aviation engineering, in particular to a multi-rotor unmanned aerial vehicle overlapped rotor wing structure system with different steering directions.
Background
Unmanned aerial vehicles have received attention in recent years because of advantages such as low use cost and wide application scene. Existing rotor unmanned aerial vehicle at home and abroad is mostly with turning to the rotor, and does not have the overlap region in order to prevent to produce the interference problem between the rotor, and single availability factor and the space utilization of rotor are limited when this kind of rotor unmanned aerial vehicle takes off. In addition, the existing rotor unmanned aerial vehicle has the problems of high power consumption and short endurance, and the improvement of the rotor use efficiency and the space utilization rate is an effective way for solving the problem of short endurance of the rotor unmanned aerial vehicle.
Disclosure of Invention
In order to solve the problems in the prior art and improve the service efficiency of rotors and the space utilization rate, the invention provides a multi-rotor unmanned aerial vehicle overlapped rotor structure system with different directions and an optimal design method thereof.
The technical scheme of the invention is as follows:
the multi-rotor unmanned aerial vehicle overlapped rotor wing structure system with different steering comprises a bracket and two groups of rotor wing structures; each rotor wing structure comprises a blade, a motor for driving the blade to rotate and a support rod connected with a support; the bracket is internally provided with an energy module which can provide driving energy for the motor;
the blades in the first set of rotor structures face upward and the blades in the second set of rotor structures face downward, and when viewed from above, the blades in the two sets of rotor structures rotate in opposite directions.
Further, the blades of the two sets of rotor structures are distributed at intervals, four blades are respectively arranged, the intervals between the blades of the same set are 90 degrees, and the minimum intervals between the blades of different sets are 45 degrees.
Furthermore, an overlapping area is formed between the projection areas of the rotating surfaces of the circumferentially adjacent blades along the axis of the airplane, the position and the area of the overlapping area are obtained through optimal design, and the optimal design target is the optimal lift-increasing effect.
Further, the overlapping area between the projection areas of the rotating surfaces of the adjacent blades is in a blade shape, and the optimized area is 12.5cm 2 。
Further, the rotation speeds of the blades in the two sets of rotor wing structures are different, wherein the rotation speed of the blades of the first set of rotor wing structures is higher than the rotation speed of the blades of the second set of rotor wing structures, the rotation speeds of the blades are obtained through optimal design, and the optimal design target is the optimal lift-increasing effect.
Furthermore, the height difference of the blade rotating surfaces in the two sets of rotor structures is obtained through optimal design, and the optimal design target is the optimal lift-increasing effect.
The design method of the rotor wing structure system comprises the following steps:
step 1: rotor space position optimization design:
adopting a set basic rotor configuration as an initial configuration of each blade in each rotor structure; setting the position and the area of the overlapping area, the rotating speeds of the blades in the two groups of rotor structures and the height difference of the rotating surfaces of the blades in the two groups of rotor structures as design parameters, carrying out rotor space position optimization design by using the lift indexes and the lift constraints of a rotor structure system, and taking the satisfied rotor space position design result as an intermediate result;
step 2: rotor efficiency optimization design:
according to the rotor space position design result obtained in the step 1, the torsion distribution of a single rotor is used as a design parameter, a lift force constraint index is kept, and the rotor torsion distribution design result with the optimal lift force of a rotor structural system is obtained through optimal design;
step 3: and (3) combining the rotor space position optimization design result in the step (1) and the rotor efficiency optimization design result in the step (2) to obtain the optimally designed rotor structure system.
Advantageous effects
The invention provides a multi-rotor unmanned aerial vehicle overlapped rotor wing structure system with different steering and an optimal design method, which are provided with two groups of rotor wing structures, wherein the directions of blades of the two groups of rotor wing structures are different from the rotating direction, and the projection areas of the rotating surfaces are overlapped. The structural system has the characteristics of low cost and strong universality, and can provide a design scheme with strong reliability and high practical value for the rotor wing design of other multi-rotor unmanned aerial vehicles.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a three-dimensional schematic view of a differently steered, stackable multi-rotor drone;
FIG. 2 is a schematic top view of a differently steered, stackable multi-rotor drone;
FIG. 3 is a schematic front view of a differently steered, stackable multi-rotor drone;
FIG. 4 is a schematic side view of a differently steered, stackable multi-rotor drone;
FIG. 5 is a top partial enlarged view of a differently steered, stackable multi-rotor drone;
FIG. 6 is a three-dimensional, partially enlarged view of a differently steered, stackable multi-rotor drone;
FIG. 7 is a schematic view of projected overlap areas of differently steered, stackable multi-rotor unmanned aerial vehicle blades;
FIG. 8 is a block diagram of an optimal design of a multi-rotor unmanned aerial vehicle overlapping rotor structural system with different steering;
FIG. 9 is an example of a sliding grid for CFD calculation;
FIG. 10 is a CFD calculated single rotor vorticity contour plot;
FIG. 11 is a graph of upper and lower rotor vorticity clouds at different rotational speeds on section 1 calculated by CFD;
FIG. 12 is a graph of upper and lower rotor vorticity clouds at different rotational speeds over section 2 calculated by CFD;
figure 13 is a graph of upper and lower rotor vorticity clouds at different rotational speeds on section 3 calculated by CFD.
In the figure: 1. a paddle; 1A, a first group of upward and clockwise rotating blades when seen from the upper side; 1B, a second group of downward and anticlockwise rotating blades seen from the upper side; 2. a motor; 3. a support rod; 4. a bracket, an energy source and a control system.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
As shown in fig. 1 to 4, the multi-rotor unmanned aerial vehicle overlapped rotor wing structure system with different steering in the embodiment comprises a bracket and two groups of rotor wing structures; each rotor structure comprises four rotors, a motor for driving the blades to rotate and a support rod connected with the support; each rotor adopts a pair of paddles; the support is internally provided with an energy module which can provide driving energy for the motor.
The blades in the first set of rotor structures face upward and the blade rotation direction is clockwise when viewed from above, the blades in the second set of rotor structures face downward and the blade rotation direction is counterclockwise when viewed from above. The blades of the two groups of rotor structures are distributed at intervals, the blades between the same group are spaced by 90 degrees, and the minimum spacing between the blades between different groups is 45 degrees. The overlapping areas are arranged between the rotating surface projection areas of the adjacent blades, and the positions and the overlapping areas of the overlapping areas are optimally designed, so that the optimal lift-increasing effect is achieved. In this embodiment, the overlapping area between the projection areas of the rotation surfaces of adjacent blades is presentedBlade-shaped, optimized area of 12.5cm 2 。
The rotational speeds of the blades in the two sets of rotor structures are different, wherein the rotational speed of the blades of the first set of rotor structures is higher than the rotational speed of the blades of the second set of rotor structures. The rotating speed is designed through an optimizing program, so that the rotating speed is guaranteed to have larger lifting force.
In addition, the difference in height of the blade rotating surfaces in the two sets of rotor structures is optimized to realize lift increase. In this embodiment, the height difference is realized by pointing the support rod. The length of the supporting rod 3 is 26.34cm, the supporting rod is cylindrical, the interior of the supporting rod is hollowed out for reducing the weight of the aircraft, the outer diameter of the supporting rod is 2.5cm, the inner diameter of the supporting rod is 2.1cm, and the wall thickness of the supporting rod is 0.2cm; meanwhile, the height difference between the fan blades is changed through the included angle between the support rods 3 and the horizontal plane, the included angle between the support rods 3 and the horizontal plane is designed, the included angle between the support rods 3 supporting the first group of rotor wing structures and the horizontal plane is 15 degrees, and the included angle between the support rods 3 supporting the second group of rotor wing structures and the horizontal plane is 10 degrees.
For the blade of each rotor wing, the blade profile and the mounting angle of the blade are optimally designed, and the blade has great lifting force in the rotating process. In this embodiment, the fan blade 1 has a spread length of 20.53cm, an average aerodynamic chord length of 1.85cm, and a mounting angle of 5 ° with the leading edge inclined downward.
In the embodiment, the support, the energy source and the control system in the support take the balance of the structural strength and the flight load into consideration in the design process, so that the optimization of some structural weights is performed, and the maximum flight efficiency is ensured.
The optimization design in this embodiment is divided into two parts, namely a rotor space position design module and a rotor efficiency optimization module. The rotor space position design module takes a basic single-rotor configuration as an initial input, forms a rotor structure system basic configuration with upper and lower rotors through replication and translation, wherein the position and the area of an overlapped area, the rotation speeds of blades in two groups of rotor structures and the height difference of the rotation surfaces of the blades in the two groups of rotor structures are set as design parameters, the rotor space position optimization design is carried out by taking the lift index and the lift constraint of the rotor structure system, and the satisfied rotor space position design result is taken as an intermediate result. And inputting the obtained rotor space position design result into a rotor efficiency optimization module, taking the torsion distribution of a single rotor as a design parameter, maintaining a lift force constraint index, and obtaining a rotor torsion distribution design result with optimal lift force of a rotor structural system through optimization design. The optimal result integrates multiple factors of the space position and the torsion distribution of the rotor wing to achieve the optimal lift effect.
The multi-rotor unmanned aerial vehicle overlapped rotor wing structure system with different steering is provided with two groups of rotor wing structures, the directions of blades of the two groups of rotor wing structures are different from the rotating direction, the projection areas of the rotating surfaces are overlapped, the high lift force generation in the overlapped areas is ensured through CFD calculation and pneumatic optimization structural systems, the space utilization rate around the multi-rotor unmanned aerial vehicle is improved, and the integral lift force efficiency of the interaction of a plurality of rotor wings is increased. The structural system has the characteristics of low cost and strong universality, and can provide a design scheme with strong reliability and high practical value for the rotor wing design of other multi-rotor unmanned aerial vehicles.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (3)
1. A design method of an overlapping rotor wing structure system of a multi-rotor unmanned aerial vehicle with different steering is characterized by comprising the following steps:
the rotor wing structure system comprises a bracket and two groups of rotor wing structures; each rotor wing structure comprises a blade, a motor for driving the blade to rotate and a support rod connected with a support; the bracket is internally provided with an energy module which can provide driving energy for the motor;
the blades in the first group of rotor structures face upwards, the blades in the second group of rotor structures face downwards, and the rotation directions of the blades in the two groups of rotor structures are opposite when seen from top; the blades of the two groups of rotor wing structures are distributed at intervals;
an overlapping region is formed between projection regions of the rotation surfaces of circumferentially adjacent blades along the axis of the aircraft;
the rotational speeds of the blades in the two sets of rotor structures are different, wherein the rotational speed of the blades of the first set of rotor structures is higher than the rotational speed of the blades of the second set of rotor structures;
the design method of the rotor wing structure system comprises the following steps:
step 1: rotor space position optimization design:
adopting a set basic rotor configuration as an initial configuration of each blade in each rotor structure; setting the position and the area of the overlapping area, the rotating speeds of the blades in the two groups of rotor structures and the height difference of the rotating surfaces of the blades in the two groups of rotor structures as design parameters, carrying out rotor space position optimization design by using the lift indexes and the lift constraints of a rotor structure system, and taking the satisfied rotor space position design result as an intermediate result;
step 2: rotor efficiency optimization design:
according to the rotor space position design result obtained in the step 1, the torsion distribution of a single rotor is used as a design parameter, a lift force constraint index is kept, and the rotor torsion distribution design result with the optimal lift force of a rotor structural system is obtained through optimal design;
step 3: and (3) combining the rotor space position optimization design result in the step (1) and the rotor efficiency optimization design result in the step (2) to obtain the optimally designed rotor structure system.
2. The design method according to claim 1, wherein: the two sets of rotor wing structures are respectively provided with four blades, the blades between the same set are spaced by 90 degrees, and the minimum spacing between the blades between different sets is 45 degrees.
3. The design method according to claim 1 or 2, characterized in that: the overlapped area between the projection areas of the rotating surfaces of the adjacent paddles is in a blade shape, and the optimized area is 12.5cm 2 。
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| CN209441629U (en) * | 2017-01-22 | 2019-09-27 | 云南集优科技有限公司 | A kind of compact unmanned plane |
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| DE202004016509U1 (en) * | 2004-10-26 | 2004-12-16 | Braun, Andrea | Rotorcraft with four rotors, has distances between rotation axes of rotors so small that rotor circle areas overlap with each other |
| GB2526517A (en) * | 2014-03-27 | 2015-12-02 | Malloy Aeronautics Ltd | Rotor-Lift Aircraft |
| CN204568059U (en) * | 2015-04-02 | 2015-08-19 | 许泽权 | A kind of Multi-axis aircraft rotor arrangement architecture |
| CN105438458A (en) * | 2015-12-04 | 2016-03-30 | 上海交通大学 | Double-layer and eight-rotor-wing aircraft |
| US10343770B2 (en) * | 2016-03-01 | 2019-07-09 | Joe H. Mullins | Torque and pitch managed quad-rotor aircraft |
| WO2017165456A1 (en) * | 2016-03-23 | 2017-09-28 | Amazon Technologies, Inc. | Coaxially aligned propellers of an aerial vehicle |
| WO2019205139A1 (en) * | 2018-04-28 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle frame, and unmanned aerial vehicle |
| DE202019003781U1 (en) * | 2019-09-13 | 2019-10-22 | CADmium GmbH Solutioncenter für CAD & CAM | Rotary wing aircraft; Training the rotary wing for this with multiple rotors |
| WO2021155532A1 (en) * | 2020-02-06 | 2021-08-12 | XDynamics Limited | An unmanned aerial vehicle |
| CN113306734A (en) * | 2021-06-21 | 2021-08-27 | 西北工业大学 | Multi-rotor unmanned aerial vehicle with inverted hanging perching function and method |
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