CN113830301A

CN113830301A - Many rotor crafts of lift wing with control surface

Info

Publication number: CN113830301A
Application number: CN202111185887.2A
Authority: CN
Inventors: 全权; 张昊天
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2021-10-12
Filing date: 2021-10-12
Publication date: 2021-12-24

Abstract

The invention relates to a lift wing multi-rotor aircraft with a control surface, which comprises four groups of rotor systems, an energy and flight control system, a pair of rotor support rods, an undercarriage and a lift wing surface; a certain cavity is expanded in the middle of the lift wing surface to form a machine body, and a pair of control surfaces are arranged at the rear edge of the wing surface; the machine body in the middle of the lift wing surface is provided with three hatches, and loads such as a battery, a flight control system, an aerial camera and the like are accommodated in the hatches; a pair of rotor branch runs through in the centre of left and right sides airfoil, and the plane that rotor branch and four screws are constituteed is less than 90 specific fixed angles with the airfoil plane, and four groups tilt rotor systems install respectively on the top of rotor pole, and preceding a pair of undercarriage is fixed in rotor branch, and the fuselage afterbody is as the rear portion undercarriage. Because the lift wing surface of the wing body fusion configuration has a smaller infiltration area, the resistance of the airplane is reduced, and the additional lift force brought by the lift wing surface is reduced, so that the airplane has a higher lift-drag ratio, and the stability under the condition of strong wind is improved.

Description

Many rotor crafts of lift wing with control surface

[ technical field ] A method for producing a semiconductor device

The invention designs a rotor unmanned aerial vehicle capable of generating extra lift wings, which has higher cruising ability compared with a conventional multi-rotor aircraft, has no independent propulsion power and no tilting mechanism compared with the existing composite unmanned aerial vehicle, has stronger wind resistance and stronger reliability, is suitable for the unmanned aerial vehicle executing tasks in a long-distance strong wind environment, and belongs to the field of aircraft design.

[ background of the invention ]

A drone is a small, unmanned aircraft that can fly autonomously in the air and perform certain tasks. Compared with a common airplane, the unmanned aerial vehicle is simple in structure, low in cost and easy to manufacture and maintain. According to the difference of structure, unmanned aerial vehicle can be divided into fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle two types. Comparing these two types of drones, the rotorcraft has very outstanding advantages: small volume, small mass, simple maneuvering, small take-off and landing space, no need of running or ejection, very flexible hovering of the system in the air, and the like. Vertical take-off and landing drones are very popular among researchers, hobbyists, and the military. A quad-rotor helicopter is a rotorcraft that can take off and land vertically, with its rotors driven by electric motors. Due to the ease of use of multiple rotors, the structural reliability and maintainability of a less complex mechanical structure of a helicopter, multiple rotors will be more excellent in more respects and become an increasing consumer choice. The fixed wing has more remarkable advantages in endurance, and the wing of the fixed wing has larger lift-drag ratio so as to have longer endurance. The combination of the two can effectively exert the long endurance of the fixed wing and the vertical take-off and landing capability of the multiple rotors.

[ summary of the invention ]

In order to effectively combine the respective advantages of the four rotors and the fixed wing, the invention provides the vertical take-off and landing aircraft which is stable and reliable and has good aerodynamic efficiency, a lift wing surface and a control surface.

In order to achieve the purpose, the invention discloses a lift wing multi-rotor aircraft with a control surface, which comprises four groups of rotor systems, an energy and flight control system, a pair of rotor support rods, an undercarriage and a lift wing surface; wherein, certain cavity that expands in the middle of the lift airfoil forms the fuselage, and the airfoil trailing edge has a pair of control rudder face, and the interrelation of above each part is as follows: the machine body in the middle of the lift wing surface is provided with three hatches, and loads such as a battery, a flight control system, an aerial camera and the like are accommodated in the hatches; a pair of rotor branch runs through in the centre of left and right sides airfoil, and the plane that rotor branch and four screws are constituteed is less than 90 specific fixed angles with the airfoil plane, and four groups tilt rotor systems install respectively on the top of rotor pole, and preceding a pair of undercarriage is fixed in rotor branch, and the fuselage afterbody is as the rear portion undercarriage.

Each group of tilt rotor systems is composed of a direct current brushless motor and a propeller. The interrelationship between them is as follows: the propeller is installed on the brushless DC motor, and the brushless DC motor is fixed on the rotor rod.

The energy and flight control system consists of a battery, an ammeter and a pixhawk open source flight control board and is used for controlling the direct current brushless motor and the deflection angle of the control surface so as to control the flight attitude of the rotor craft.

The rotor rod is a hollow carbon fiber rod, is used for connecting the lift wing surface and the rotor system, and has a drop-shaped section shape to reduce resistance.

The undercarriage is a three-point supporting structure, the two undercarriage supporting structures in front are connected to the rotor wing supporting rod, and the tail of the aircraft body is used as a rear undercarriage structure.

The lift wing surface is in a wing body fusion configuration, the middle wing body is integrated with the wing surface, and the appearance of the wing body fusion can obviously reduce the interference resistance between the wing bodies. The wing appearance after numerical optimization design has the optimal wing area, aspect ratio, heel-to-tip ratio and torsion angle, and has high lift-drag ratio. In the cruising state, the body tilts forward, so that the lift wing surface enters the cruising incidence angle to play a role of high aerodynamic efficiency, and the lift force except the propeller is provided for the body. A control surface is arranged at the rear edge of the outer side airfoil surface to perform attitude auxiliary control, so that redundant control can be realized, and attitude control can still be performed under the condition that the power propeller fails.

The fuselage comprises the inside bulkhead and the deck in middle and outside shell and flap. The interrelationship between them is as follows: the internal deck is parallel to the airfoil, and the battery is placed to the upper plane, and parts such as lower plane emulation flight control system and camera, bulkhead perpendicular to deck and airfoil, shell and airfoil fuse into an organic whole, and it has a flap to open above, and it has two flaps to open below, makes things convenient for equipment to get and puts.

The invention has the advantages and effects that: because the lift wing surface of the wing body fusion configuration has a smaller wetting area, the resistance of the airplane is reduced, and the additional lift force brought by the lift wing surface is reduced, so that the airplane has a higher lift-drag ratio. Abandoning the tail reduces drag and structural weight. Compared with the traditional multi-rotor wing, the wing of the multi-rotor wing of the lifting wing has better cruising ability, smaller reference area and wingspan, and improved stability under the condition of strong wind. The conversion between forward flying and hovering can be realized without a complex tilting mechanism, and the device has good reliability and stability. The control surface is controlled to perform auxiliary control, so that the disturbance resistance of the airplane can be improved, and the flying efficiency and stability are improved.

[ description of the drawings ]

Fig. 1 is a schematic isometric view of a structure.

Fig. 2 is a schematic front view of the structure.

Fig. 3 is a schematic top view.

Fig. 4 is a schematic side view of a tilted motor solution.

FIG. 5 is a profile dimension of a lift airfoil.

The numbers in the figures illustrate the following:

1. a lift airfoil; 2. A rotor wing strut; 3. A motor; 4. A propeller;

5. a landing gear; 6. A hatch cover; 7. A control surface; 8. A ground surface;

[ detailed description ] embodiments

The invention relates to a lift wing multi-rotor aircraft with a control surface, which is further described in detail below with reference to the accompanying drawings in order to make the purpose, technical scheme and advantages of the invention more clear.

Fig. 1 is a schematic structural view of a multi-degree-of-freedom tilt-paddle four-rotor unmanned aerial vehicle in the implementation of the invention. Including four rotor systems of group, energy and flight control system, a pair of rotor branch, undercarriage, lift airfoil, wherein the certain cavity of lift airfoil middle certain stroke that swells forms the fuselage, and the airfoil trailing edge has a pair of control rudder face, and the interrelationship of above each part is as follows: the aircraft body in the middle of the lift wing surface is provided with three hatches, a battery, a flight control system, an aerial camera and other loads are contained in the three hatches, a pair of rotor wing support rods penetrate through the middles of the left wing surface and the right wing surface and form a specific angle with the plane of the wing surfaces, four groups of tilting rotor wing systems are respectively arranged at the top ends of the rotor wing rods, a pair of front undercarriage are fixed on the rotor wing support rods, and the tail part of the aircraft body is used as a rear undercarriage. The Pixhawk open source flight control board is selected for the flight controller, 4 PWM outputs of the flight control board are used for controlling four motors, and 2 PWM outputs are used for controlling two control plane steering engines.

The relationship between lift airfoil, rotor branch and undercarriage is as shown in fig. 2, and rotor branch 2 is fixed angle with lift airfoil 1, and anterior undercarriage 5 is fixed in rotor branch front side, and the afterbody (right side mark 5 in fig. 2) is as the rear undercarriage. The profile dimensions of the lift airfoil are shown in FIG. 5.

The control rudder surface is as shown in the top view of the aircraft in fig. 3, the control rudder surface 7 is respectively arranged at the rear edges of the left outer wing surface and the right outer wing surface, the control rudder surface servo actuator is arranged in the main wing surface, the control rudder surface can deflect in the same direction to serve as an elevator, and can deflect in the different direction to serve as an aileron. Four brushless DC motors are fixed on the top of the rotor wing supporting rod through bolts, the power line passes through the rotor wing supporting rod and is connected to an electronic speed regulator in the machine body, and the electronic speed regulator receives PWM signals transmitted by flight control to realize the control of the rotating speed of the motors.

The aircraft is installed according to the process, and after the power supply is switched on, the aircraft can take off by increasing the rotating speed of the direct current brushless motor; when airborne, the vehicle rises vertically when the lift force is greater than the gravitational force, and can hover into the air when the lift force is the same as the gravitational force. The pitching attitude of the airplane is controlled to enable the airfoil angle of attack to reach the cruising angle of attack and fly before high-speed and efficient cruising is realized, the control surface is used for realizing stability augmentation of the attitude in the flying process, and the wind resistance stability and the flying efficiency of the airplane can be effectively improved. After the flight task is finished, the directions of the four propellers are recovered to be vertical upwards, the rotating speed of the direct current brushless motor is slowly reduced, the lift force is gradually reduced, and finally the aircraft lands.

In the hovering state, the wings do not generate lift, the propellers provide all lift, the rotating speed is about 5000 rpm, the consumed power is about 230W, and the hovering time is about 20 minutes. After the aircraft enters the cruising state, the cruising speed is 20m/s, the lift coefficient of the lift wing surface is 0.51, the lift force generated by the lift wing surface is about 20N at the moment, most of the lift force of the aircraft is born, the power of a power system is greatly reduced, the endurance time is improved to 35 minutes, and the maximum voyage is 42 km.

Claims

1. The utility model provides a many rotor crafts of lift wing with control surface which characterized in that: the aircraft comprises four groups of rotor systems, an energy and flight control system, a pair of rotor support rods, an undercarriage and a lift wing surface; wherein, a certain cavity is expanded in the middle of the lift wing surface to form a machine body, and the trailing edge of the wing surface is provided with a pair of control surfaces; the machine body in the middle of the lift wing surface is provided with three hatches, and the three hatches contain a battery, a flight control system and an aerial camera; a pair of rotor branch runs through in the centre of left and right sides airfoil, and the plane that rotor branch and four screws are constituteed is less than 90 specific fixed angles with the airfoil plane, and four groups tilt rotor system install respectively on the top of rotor branch, and preceding a pair of undercarriage is fixed in rotor branch, and the fuselage afterbody is as the rear portion undercarriage.

2. A lift wing multi-rotor aircraft with control surfaces according to claim 1, wherein: each group of tilt rotor systems consists of a direct current brushless motor and a propeller; the propeller is arranged on the DC brushless motor, and the DC brushless motor is fixed on the rotor wing support rod; the rotor wing supporting rod is a hollow carbon fiber rod and is used for connecting the lift wing surface with the rotor wing system, and the hollow carbon fiber rod has a water drop-shaped section shape and reduces resistance.

3. A lift wing multi-rotor aircraft with control surfaces according to claim 1, wherein: the energy and flight control system consists of a battery, an ammeter and a pixhawk open source flight control board and is used for controlling the direct current brushless motor and the deflection angle of the control surface so as to control the flight attitude of the rotor craft.

4. A lift wing multi-rotor aircraft with control surfaces according to claim 1, wherein: the undercarriage is a three-point supporting structure, the two undercarriage supporting structures in front are connected to the rotor wing supporting rod, and the tail of the aircraft body is used as a rear undercarriage structure.

5. A lift wing multi-rotor aircraft with control surfaces according to claim 1, wherein: the lift wing surface is in a wing body fusion configuration, a middle wing body and the wing surface are integrated, and the appearance of the wing body fusion reduces interference resistance between the wing bodies.

6. A lift wing multi-rotor aircraft with control surfaces according to claim 1, wherein: the machine body consists of a middle inner bulkhead, a middle inner deck, an outer shell and an outer cover; the internal deck is parallel to the airfoil, and the battery is placed to the upper plane, lower plane emulation flight control system and camera, and the bulkhead is perpendicular to deck and airfoil, and the shell fuses with the airfoil, and it has a flap to open above, and it has two flaps to open below, makes things convenient for equipment to get and puts.

7. A lift wing multi-rotor aircraft with control surfaces according to claim 1, wherein: the control surfaces are respectively placed on the rear edges of the left and right outer side wing surfaces, the control surface servo actuators are placed in the main wing surfaces, the control surfaces deflect in the same direction to serve as elevators, and the control surfaces can deflect in the different directions to serve as ailerons; four brushless DC motors are fixed on the top of the rotor wing supporting rod through bolts, the power line passes through the rotor wing supporting rod and is connected to an electronic speed regulator in the machine body, and the electronic speed regulator receives PWM signals transmitted by flight control to realize the control of the rotating speed of the motors.

8. A lift wing multi-rotor aircraft with control surfaces according to claim 1, wherein: the plane formed by the rotor wing support rod and the four propellers forms a specific fixed angle smaller than 90 degrees with the plane of the airfoil, the plane of the propeller is approximately level with the ground in a hovering state, the lift airfoil enters a cruising incidence angle and is approximately level with the ground in a cruising state, and the switching of the aircraft between the hovering state and the cruising state is completed by changing the posture of the aircraft body.

9. A lift wing multi-rotor aircraft with control surfaces according to any of claims 1-8, wherein: the aircraft is installed according to the process, and after the power supply is switched on, the aircraft can take off by increasing the rotating speed of the direct current brushless motor; when the lift force is greater than the gravity, the aircraft vertically rises, and when the lift force is the same as the gravity, the aircraft can hover in the air; the pitching attitude of the airplane is controlled to enable the wing surface attack angle to reach the cruising attack angle and fly before high-speed and efficient cruising is realized, the control surface is used for realizing stability augmentation of the attitude in the flying process, and the wind resistance stability and the flying efficiency of the airplane are improved; after the flight task is finished, the directions of the four propellers are recovered to be vertical upwards, the rotating speed of the direct current brushless motor is slowly reduced, the lift force is gradually reduced, and finally the aircraft lands.

10. A lift wing multi-rotor aircraft with control surfaces according to any of claims 1-8, wherein: under the hovering state, the wings do not generate lift force, the propellers provide all the lift force, the rotating speed is about 5000 rpm, the consumed power is about 230W, and the hovering time is about 20 minutes; after the aircraft enters the cruising state, the cruising speed is 20m/s, the lift coefficient of the lift wing surface is 0.51, the lift force generated by the lift wing surface is about 20N at the moment, most of the lift force of the aircraft is born, the power of a power system is reduced, the endurance time is improved to 35 minutes, and the maximum voyage is 42 km.