CN113562168B - Two-dimensional vector propulsion type triaxial aircraft and control method thereof - Google Patents
Two-dimensional vector propulsion type triaxial aircraft and control method thereof Download PDFInfo
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- CN113562168B CN113562168B CN202110759248.6A CN202110759248A CN113562168B CN 113562168 B CN113562168 B CN 113562168B CN 202110759248 A CN202110759248 A CN 202110759248A CN 113562168 B CN113562168 B CN 113562168B
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- 238000000034 method Methods 0.000 title claims abstract description 10
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims abstract description 4
- 229910052799 carbon Inorganic materials 0.000 claims abstract description 4
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- 238000005096 rolling process Methods 0.000 claims description 7
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- 239000003381 stabilizer Substances 0.000 claims description 2
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
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- 229910052744 lithium Inorganic materials 0.000 description 2
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8236—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft including pusher propellers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
A two-dimensional vector propulsion type triaxial aircraft and a control method thereof comprise a lift rotor power group, a two-dimensional vector propulsion rotor power group, a fuselage and a flight control system, wherein the lift rotors are symmetrically arranged on carbon rods at two sides in front of the center of gravity of the middle part of the fuselage left and right, and a rotation plane of the lift rotors has a positive attack angle relative to the horizontal plane longitudinal axis of the fuselage and a dihedral angle relative to the horizontal plane transverse axis of the fuselage; the flight control system controls the two-dimensional vector motor seat to rotate up and down around the mounting shaft through servo driving, and the servo driving comprises a speed reducing motor and a position feedback sensor, so that thrust pitching vector control is realized. The control method comprises the following steps: when the aircraft takes off, the vertical jump take-off is used; when the aircraft cruises, the propelling rotor provides main forward thrust to ensure cruising speed; when in cruising flight, the propulsion rotor power set directly provides the thrust required by the aircraft, and the traditional complex pneumatic lift-increasing, control and speed-reducing structure resistance is avoided, so that the high-speed cruising flight can be realized at high efficiency.
Description
Technical Field
The invention relates to a multi-rotor aircraft, in particular to a two-dimensional vector propulsion type triaxial aircraft and a control method thereof.
Background
Existing rotor aircraft for large-scale application mainly have four configurations of single rotor, multiple rotors, fixed wings and composite wings. The single-rotor aircraft and the multi-rotor aircraft can lift up and down, but have complex structure and large control difficulty; the multi-rotor aircraft has simple structure and convenient use, but has slower flying speed and poor wind resistance; the fixed wing aircraft has the defects that the wing length is large, the runway airspace is large, the aircraft cannot fly at a lower speed and the like; the composite wing aircraft has high flying speed and good wind resistance, but has complex structure, and the vertical take-off and landing rotor wing part has more complex structure, more dead weight and poor load capacity.
Disclosure of Invention
In order to solve the technical problems, the invention provides a two-dimensional vector propulsion type triaxial aircraft, which innovatively adopts a two-axis rotor wing composite two-dimensional vector propulsion rotor wing mode, and solves the problems of simple structure, high-low speed flight, vertical take-off and landing, large appearance size and the like.
The technical scheme of the invention is as follows: a two-dimensional vector propulsion type triaxial aircraft comprises a lift rotor power group, a two-dimensional vector propulsion rotor power group, a fuselage and a flight control system,
wherein, lift rotor power group includes brushless motor, brushless electric accent, lift rotor and integrative motor cabinet, and lift rotor installs on brushless motor output shaft, and brushless motor and brushless electric accent are installed on integrative motor cabinet, and brushless electric accent is brushless motor's driver, adjusts brushless motor rotational speed through flight control system pulse width modulation signal, and then control lift rotor rotational speed. The lift rotor wing is symmetrically arranged on the carbon rods at two sides in front of the center of gravity of the middle part of the airframe, and the rotation plane of the lift rotor wing has a positive attack angle relative to the horizontal plane longitudinal axis of the airframe and a dihedral angle relative to the horizontal plane transverse axis of the airframe.
The two-dimensional vector propulsion rotor power unit comprises a two-dimensional vector motor base, a brushless motor, a servo motor, an installation shaft and a propulsion rotor, wherein the propulsion rotor is installed on an output shaft of the brushless motor, the brushless motor drives the propulsion rotor to rotate to generate thrust, the brushless motor is installed on the two-dimensional vector motor base, the flight control system controls the two-dimensional vector motor base to rotate up and down around the installation shaft through servo driving, and the servo driving comprises a gear motor and a position feedback sensor, so that thrust pitching vector control is realized, and the thrust direction is changed. The two-dimensional vector propulsion rotor power unit is arranged at the tail of the aircraft body, and the propulsion rotor rotates around a rotating shaft parallel to the transverse axis direction of the aircraft.
A control method of a two-dimensional vector propulsion type triaxial aircraft,
when the aircraft takes off, the vertical-distance jump take-off is used, the lift rotors on two sides rotate at high speed to generate jump lift, the propelling rotors at the tail deflect downwards and accelerate to generate jump lift, the aircraft jumps off the ground, the propelling rotors at the tail accelerate and deflect backwards rapidly, the aircraft climbs forward to fly fast, and the aircraft enters a normal cruising state after climbing to a cruising altitude.
When the aircraft cruises, the propelling rotor provides main forward thrust to ensure cruising speed; the lift rotor motor operates at lower power to provide partial lift, and the differential control of the left lift rotor and the right lift rotor generates lift difference balanced propulsion rotor anti-torque moment and aircraft roll control moment; the aircraft advances at a high speed, the airflow and the rotating plane of the lift rotor are in a positive attack angle, and the incoming flow is coupled with the rotor to provide main lift of the aircraft; the two-dimensional vector of the propulsion rotor wing controls the pitch angle of the aircraft, so that the included angle between the plane of the lift rotor wing and the airflow is maintained and changed, and meanwhile, the lift rotor wing controls the rotation speed of the lift rotor wing to control climbing and lowering of the aircraft in the cruising stage in a coupling manner.
During cruising flight, the propulsion rotor power set directly provides the thrust required by the aircraft, and the high-efficiency high-speed cruising flight is realized.
The invention has the beneficial effects that:
the invention innovatively combines the active lift rotor with the two-dimensional vector propulsion rotor, and has simple structure and high reliability. Compared with the traditional multi-rotor aircraft, the multi-rotor aircraft has the advantages of simple structure, high reliability, high flying speed and strong wind resistance. Compared with the traditional fixed wing aircraft, the fixed wing aircraft has smaller size, can take off and land vertically, does not need a runway, does not have the traditional fixed wing to be responsible for pneumatic control surfaces, has simple and reliable structure, and does not have the stall problem of the traditional fixed wing.
The invention innovatively adopts the active lift rotor wing, can directly rotate to generate controllable lift force, and can realize vertical jump take-off and vertical landing by matching with the two-dimensional vector propulsion rotor wing.
Drawings
FIG. 1 is a schematic view of an aircraft structure of the present invention;
FIG. 2 is a front view of the aircraft of the present invention;
FIG. 3 is a side view of an aircraft of the present invention;
FIG. 4 is a top view of the aircraft of the present invention;
FIG. 5 is a schematic view of the thrust rotor and servo drive mechanism of the present invention;
FIG. 6 is a schematic view of the take-off and lower speed condition of the present invention;
FIG. 7 is a schematic diagram of the lift rotor differential balancing propulsive rotor of the present invention;
FIG. 8 is a schematic view of the low speed flight after take-off
FIG. 9 is a schematic view of the high speed flight condition of the present invention;
FIG. 10a is a schematic illustration of the thrust line of the present invention above the center of gravity to create a pitch control low head moment;
FIG. 10b is a schematic illustration of the thrust line of the present invention below the center of gravity to create a pitch control lift head moment;
FIG. 10c is a schematic view of the thrust line of the present invention passing through the center of gravity without generating pitch control moment
In the figure, 1: a lift rotor power pack; 2: a body; 3: two-dimensional vector propulsion rotor power pack.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Embodiments of the present invention are illustrated with reference to fig. 1-4, a two-dimensional vector propulsion three-axis aircraft, comprising a lift rotor power pack, a two-dimensional vector propulsion rotor power pack, a fuselage and a flight control system,
wherein, lift rotor power group includes brushless motor, brushless electric accent, lift rotor and integrative motor cabinet, and lift rotor installs on brushless motor output shaft, and brushless motor and brushless electric accent are installed on integrative motor cabinet, and brushless electric accent is brushless motor's driver, adjusts brushless motor rotational speed through flight control system pulse width modulation signal, and then control lift rotor rotational speed.
The lift rotor wing is symmetrically arranged on the carbon rods at two sides in front of the center of gravity of the middle part of the airframe, and the rotation plane of the lift rotor wing has a positive attack angle relative to the horizontal plane longitudinal axis of the airframe and a dihedral angle relative to the horizontal plane transverse axis of the airframe.
The lift rotor power set provides lift and a part of pitching control moment for the aircraft, and the left lift rotor power set and the right lift rotor power set differentially provide rolling control moment for the aircraft; the power sets of the left and right lift rotors differentially generate reverse torque of the lift differential balance propulsion rotor, the rotation plane of the lift rotor has a positive attack angle relative to the horizontal longitudinal axis of the fuselage, when the aircraft cruises at high speed, airflow has a positive included angle with the rotation plane of the lift rotor of the power sets of the lift rotor, incoming flow and the lift rotor are coupled to generate main lift of the aircraft, the power sets of the lift rotors at two sides have a dihedral angle, and when the aircraft flies, the equivalent lift extension lines intersect along the rotation plane of the vertical lift rotor, so that stable recovery torque of the rolling direction of the aircraft is provided.
The two-dimensional vector propulsion rotor power unit comprises a two-dimensional vector motor base, a brushless motor, a servo motor, a mounting shaft and a propulsion rotor, wherein the propulsion rotor is mounted on an output shaft of the brushless motor, the brushless motor drives the propulsion rotor to rotate to generate thrust, the brushless motor is mounted on the two-dimensional vector motor base, the flight control system controls the two-dimensional vector motor base to rotate up and down around the mounting shaft through servo driving, the servo driving comprises a speed reducing motor and a position feedback sensor, thrust pitching vector control is achieved, and the thrust direction is changed. The two-dimensional vector propulsion rotor power unit is arranged at the tail of the aircraft body, and the propulsion rotor rotates around a rotating shaft parallel to the transverse axis direction of the aircraft.
The rear part of the fuselage is provided with a vertical stabilizer, and the course stability is maintained during high-speed flight. The two-dimensional vector propulsion rotor power unit is arranged at the tail part of the machine body, and the rotating shaft is parallel to the transverse shaft of the machine body.
The propelling rotor rotates around the rotating shaft to generate pitching control moment, the horizontal thrust component provides forward power for the aircraft to drive the aircraft to fly forwards, the propelling rotor deflects downwards to provide partial lift force in the take-off stage, and the lift force rotor power set provides main lift force in the take-off stage. The propulsive rotor deflection generates a vertical component that balances the pitching moment generated by the lift rotor.
When the aircraft is in high-speed cruising and steering, a fixed wing rolling composite pitching coordination turning mode is adopted, a lift rotor on one side of a target course is decelerated, a lift rotor on the other side of the target course is accelerated, the aircraft is inclined to the target course in gradient, a two-dimensional vector propulsion rotor deflects upwards, the aircraft is lifted, and the propulsion rotor accelerates the aircraft to complete coordination turning.
Important part product parameters
A lift force rotor power set adopts a self-grinding 3508 (kv 400) brushless motor, which is good for winning 40A electric tuning and a hawk 1440 carbon fiber propeller. The lift rotor power pack is powered using lithium polymer battery cells, where the lift rotor power pack has a maximum lift of about 1500g.
2 two-dimensional vector propulsion rotor power pack adopts self-grinding 3530 (kv 510) brushless motor, well wins 60A electric tuning and milligrams 9075 carbon fiber propeller. The power is supplied using a polymer lithium battery, at which point the propulsive rotor power train has a maximum thrust of about 3200g.
The two-dimensional vector propulsion type triaxial aircraft adopts the two-axis lift rotor wing to compound the high-speed two-dimensional vector propulsion rotor wing, so that the problems that the traditional small fixed-wing aircraft is complex in pneumatic and control structure, incapable of taking off and landing vertically, incapable of taking into consideration high-low speed and low in flying efficiency and the like are solved.
The two-dimensional vector propulsion type triaxial aircraft can finish taking off and landing in a smaller taking off and landing field, can carry out cruising flight at a higher navigational speed, can also carry out high-elevation low-speed flight after finding suspicious targets, and is convenient for distinguishing the targets. When the aircraft flies vertically, and flies at a high elevation angle and low speed, the lift rotor generates lift force, the two-dimensional vector propulsion rotor deflects downwards to provide partial lift force, and the two-dimensional vector control of the propulsion rotor provides pitching control moment.
A control method of a two-dimensional vector propulsion type triaxial aircraft,
when the aircraft takes off, the vertical-distance jump take-off is used, the lift rotors on two sides rotate at high speed to generate jump lift, the propelling rotors at the tail deflect downwards and accelerate to generate jump lift, the aircraft jumps off the ground, the propelling rotors at the tail accelerate and deflect backwards rapidly, the aircraft climbs forward to fly fast, and the aircraft enters a normal cruising state after climbing to a cruising altitude.
When the aircraft cruises, the propelling rotor provides main forward thrust to ensure cruising speed; the lift rotor motor operates at lower power to provide partial lift, and the differential control of the left lift rotor and the right lift rotor generates lift difference balanced propulsion rotor anti-torque moment and aircraft roll control moment; the aircraft advances at a high speed, the airflow and the rotating plane of the lift rotor are in a positive attack angle, and the incoming flow is coupled with the rotor to provide main lift of the aircraft; the two-dimensional vector of the propulsion rotor wing controls the pitch angle of the aircraft, so that the included angle between the plane of the lift rotor wing and the airflow is maintained and changed, and meanwhile, the lift rotor wing controls the rotation speed of the lift rotor wing to control climbing and lowering of the aircraft in the cruising stage in a coupling manner.
When in cruising flight, the propulsion rotor power set directly provides the thrust required by the aircraft, and the traditional complex pneumatic lift-increasing, control and speed-reducing structure resistance is avoided, so that the high-speed cruising flight can be realized at high efficiency.
In the low-speed stage, the two-dimensional vector propulsion realizes extremely low-speed flight through a large attack angle of the lift rotor; in a high-speed stage, the lift rotor is in a small attack angle state, the low-power operation of the rotor keeps rolling control, incoming flow is coupled with the plane of the lift rotor to generate lift force to maintain flying, the high-power operation of the propulsive rotor pushes the aircraft to cruise at a high speed, and the two-dimensional vector maintains pitching to be stable.
When the aircraft cruises at a high speed to turn, the lift rotor on one side of the target course is decelerated, the lift is reduced, the lift rotor on the other side is accelerated, the lift is increased, the aircraft travels to a certain rolling angle in the direction of the target course, the propelling rotor deflects downwards, the aircraft is lifted, and the propelling rotor accelerates to complete the coordination turn.
When the aircraft vertically descends, the aircraft enters a preset lower slide track according to a descending route, and the aircraft decelerates and reduces the altitude in a low-speed large elevation mode. When the ground connection, the propulsion rotor is deflected downwards to control the tail part to be grounded and stop rotating, the lift rotor reduces the rotating speed to maintain the front end of the aircraft body to be grounded slowly and stop rotating, and the aircraft finishes landing.
The flight control system controls the lift rotor and the propulsion rotor to realize take-off, cruising and landing of the aircraft, as shown in fig. 6, the lift rotor rotates at a high speed to provide main lift force when taking off and flying at a lower speed, the thrust rotor provides lift force upwards at a large angle, and the horizontal component force of the lift rotor and the horizontal component force of the propulsion rotor are offset.
In the flight process, as shown in fig. 7, the flight control system controls the differential rotation of the left lift rotor wing and the right lift rotor wing, so that the left lift difference and the right lift difference balance the reverse torque of the propulsion rotor wing.
At low speed, as shown in fig. 8, the flight control system operates the aircraft to fly at a large angle of attack, at which time the propulsive rotor is deflected downward at a large angle, the vertical component of the thrust provides a portion of the lift, and the horizontal component provides low speed flight thrust.
At high speed, as shown in fig. 9, the flight control system operates the aircraft to fly at a small angle of attack, at which time the propulsive rotor deflects downward at a small angle, the lift is mainly generated by coupling the lift rotor with the incoming flow, the smaller vertical component of the propulsive rotor provides the smaller lift, and the larger horizontal component provides the forward thrust.
The flight control system generates pitch control torque by controlling the vector thrust rotor angle. As shown in fig. 10a, when the propulsive rotor deflects downward, the thrust line is above the center of gravity, creating a pitch controlled low head moment. As shown in fig. 10b, when the propulsive rotor deflects upward, the thrust line is below the center of gravity, creating a pitch controlled head-up moment. As shown in fig. 10c, when the propulsive rotor thrust line passes through the center of gravity, no pitch control moment is generated.
The above-described embodiment represents only one embodiment of the present invention, and is not to be construed as limiting the scope of the present invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (4)
1. A two-dimensional vector propulsion type triaxial aircraft comprises a lift rotor power group, a two-dimensional vector propulsion rotor power group, a fuselage and a flight control system,
the lifting rotor power set comprises a brushless motor, a brushless electric motor, a lifting rotor and an integrated motor cabinet, wherein the lifting rotor is arranged on an output shaft of the brushless motor, the brushless motor and the brushless electric motor are arranged on the integrated motor cabinet, the brushless electric motor is a driver of the brushless motor, and the rotating speed of the brushless motor is regulated through pulse width modulation signals of a flight control system, so that the rotating speed of the lifting rotor is controlled; the lift rotor wing is symmetrically arranged on carbon rods at two sides in front of the center of gravity of the middle part of the fuselage, and the rotation plane of the lift rotor wing has a positive attack angle relative to the longitudinal axis of the horizontal plane of the fuselage and a dihedral angle relative to the transverse axis of the horizontal plane of the fuselage;
the two-dimensional vector propulsion rotor power unit comprises a two-dimensional vector motor seat, a brushless motor, a servo motor, a mounting shaft and a propulsion rotor, wherein the propulsion rotor is mounted on an output shaft of the brushless motor, the brushless motor drives the propulsion rotor to rotate to generate thrust, the brushless motor is mounted on the two-dimensional vector motor seat, the flight control system controls the two-dimensional vector motor seat to rotate up and down around the mounting shaft through servo driving, and the servo driving comprises a speed reducing motor and a position feedback sensor, so that thrust pitching vector control is realized, and the thrust direction is changed; the two-dimensional vector propulsion rotor power unit is arranged at the tail of the aircraft body, and the propulsion rotor rotates around a rotating shaft parallel to the transverse axis direction of the aircraft;
the propelling rotor rotates around the rotating shaft to generate pitching control moment, the horizontal thrust component provides forward power for the aircraft to drive the aircraft to fly forwards, the propelling rotor deflects downwards to provide partial lift force in the take-off stage, and the lift force rotor power set provides main lift force in the take-off stage;
the deflection of the propelling rotor wing generates vertical component force to balance pitching moment generated by the lifting rotor wing;
the rear part of the fuselage is provided with a vertical stabilizer, the course stability is maintained during high-speed flight, the two-dimensional vector propulsion rotor power set is arranged at the tail part of the fuselage, and the rotating shaft is parallel to the transverse shaft of the fuselage.
2. A novel two-dimensional vector propelled triaxial aircraft according to claim 1, characterised in that: the lift rotor power set provides lift and a part of pitching control moment for the aircraft, and the left lift rotor power set and the right lift rotor power set differentially provide rolling control moment for the aircraft; the power sets of the left and right lift rotors differentially generate reverse torque of the lift differential balance propulsion rotor, the rotation plane of the lift rotor has a positive attack angle relative to the horizontal longitudinal axis of the fuselage, when the aircraft cruises at high speed, airflow has a positive included angle with the rotation plane of the lift rotor of the power sets of the lift rotor, incoming flow and the lift rotor are coupled to generate main lift of the aircraft, the power sets of the lift rotors at two sides have a dihedral angle, and when the aircraft flies, the equivalent lift extension lines intersect along the rotation plane of the vertical lift rotor, so that stable recovery torque of the rolling direction of the aircraft is provided.
3. A control method of a two-dimensional vector propulsion three-axis aircraft according to claim 1 or 2, characterized by:
when the aircraft takes off, the vertical-distance jump take-off is used, the lift rotors on two sides rotate at high speed to generate jump lift, the propelling rotors at the tail part deflect downwards and accelerate to generate jump lift, the aircraft jumps off the ground, the propelling rotors at the tail part accelerate and deflect backwards rapidly, the aircraft climbs forward to fly, and the aircraft enters a normal cruising state after climbing to a cruising altitude;
when the aircraft cruises, the propelling rotor provides main forward thrust to ensure cruising speed; the lift rotor motor operates at lower power to provide partial lift, and the differential control of the left lift rotor and the right lift rotor generates lift difference balanced propulsion rotor anti-torque moment and aircraft roll control moment; the aircraft advances at a high speed, the airflow and the rotating plane of the lift rotor are in a positive attack angle, and the incoming flow is coupled with the rotor to provide main lift of the aircraft; the two-dimensional vector of the propulsion rotor wing controls the pitch angle of the aircraft, so that the included angle between the plane of the lift rotor wing and the airflow is maintained and changed, and meanwhile, the lift rotor wing controls the rotation speed of the lift rotor wing to control climbing and lowering of the aircraft in the cruising stage in a coupled manner;
during cruising flight, the propulsion rotor power unit directly provides the thrust required by the aircraft;
the flight control system controls the lift rotor and the propulsion rotor to realize take-off, cruising and landing of the aircraft, the lift rotor rotates at a high speed to provide main lift force when taking off and flying at a lower speed, the thrust rotor provides lift force upwards at a large angle, and the horizontal component force of the lift rotor and the horizontal component force of the propulsion rotor are offset.
4. A control method according to claim 3, characterized in that: the flight control system generates pitching control moment by controlling the angle of the vector propulsion rotor wing; when the propelling rotor wings deflect downwards, the thrust line is higher than the gravity center, and pitching control low head moment is generated; when the propelling rotor wing deflects upwards, the thrust line is lower than the gravity center, and a pitching control head-up moment is generated; when the propulsive rotor thrust line passes through the center of gravity, no pitch control moment is generated.
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| CN114348252B (en) * | 2022-03-01 | 2023-12-01 | 成都纵横大鹏无人机科技有限公司 | Multi-rotor aircraft |
| CN114655434A (en) * | 2022-05-25 | 2022-06-24 | 中国空气动力研究与发展中心空天技术研究所 | Automatic angle changing device for tail-pushing motor of vertical take-off and landing composite wing unmanned aerial vehicle |
| CN114987753B (en) * | 2022-06-20 | 2024-04-16 | 南京航空航天大学 | Longitudinal dynamics decoupling tilt rotor aircraft and flight control method thereof |
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Effective date of registration: 20231126 Address after: Room 601, South, 6th Floor, Yinhai Building, No.10 Zhongguancun South Street, Haidian District, Beijing, 100081 Patentee after: BEIJING BOYING TONGHANG TECHNOLOGY Co.,Ltd. Address before: 455000, 8th floor, Drone Building, southeast corner of Zhonghua Road and Chuangye Avenue intersection, Beiguan District, Anyang City, Henan Province Patentee before: Henan xingmian Robot Technology Co.,Ltd. |