CN204660020U - One is distributed independently controls multi-rotor aerocraft - Google Patents
One is distributed independently controls multi-rotor aerocraft Download PDFInfo
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- CN204660020U CN204660020U CN201520226932.8U CN201520226932U CN204660020U CN 204660020 U CN204660020 U CN 204660020U CN 201520226932 U CN201520226932 U CN 201520226932U CN 204660020 U CN204660020 U CN 204660020U
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Abstract
The utility model relates to and a kind ofly distributedly independently controls multi-rotor aerocraft, wraps and provides four of lift main rotors, the front rotor providing onward impulse and rear rotor, butterfly fuselage, body set, control panel, gear drive, electric motor device, the radial arm of force.Be connected with four main rotors and a front rotor and rear rotor around described butterfly fuselage, fuselage have groove with annular gap for nested six electric motor devices, electric motor device can be slided in the groove of fuselage; Described front rotor is contrary with rear rotor rotation direction; The inside of described body set and the inside Jun You pitch wheel mechanism of control panel, drived control panel around body set 360 degree rotation, thus can control the direction of aircraft; The beneficial effects of the utility model: have employed the mode that rotor combines with machinery, overcome existing rotor craft by change gyroplane rotate speed size come controlling party to mode, secondly, butterfly fuselage can be used as aircraft alighting gear use, and the center of gravity of aircraft lower make it fly more steady.
Description
Technical field
The utility model relates to a kind of rotor craft, refers more particularly to a kind ofly distributedly independently to control multi-rotor aerocraft.
Background technology
Along with the develop rapidly of modern Aviation cause and the quickening of China's modernization, unmanned vehicle is also fast-developing under modern high technology condition.Unmanned vehicle is generally divided into fixed-wing formula, flapping wings type and rotary wind type three kinds, in fact, rotor craft has defined a business chain widely, use and be undoubtedly quadrotor the most widely, but quadrotor also has many weak points, thus derive many follow-on rotor crafts.
Rotor craft has many advantages compared with common Fixed Wing AirVehicle, such as maneuverability is strong, can hover can vertical takeoff and landing, easy to control etc., but the manipulation of going off course about it controls by changing gyroplane rotate speed size, the rotor that such rotating speed is large will certainly make fuselage produce the moment tilted, this moment can make fuselage tilt toward the direction that rotor-speed is little, and regular controlling party is to meaning the inclination fuselage that needs are regular.Regular replacing clinoplane can not make it reach very high photographing request for needing the unmanned plane of normaling cruise the shooting of state lower plane; Secondly, conventional four cyclogyros do not have larger cruising speed, because its cruising speed derives from a horizontal component of force of rotor inclination or the angle of attack.So, propose a kind of rotor based on this this paper to solve the problem with the mechanical mode combined, aircraft can be made to have the power of working direction by adding go forward rotor and rear rotor on the basis of conventional four rotors, front rotor and four main rotors are connected to control panel by the radial arm of force, gear mechanism is processed with below control panel, motor driven gear mechanism in driving machine body device rotates thus drives control panel to rotate, before control panel is dynamic by diametral load arm straps, rear rotor and four main rotors synchronously rotate, control panel, the radial arm of force, four main rotors, front rotor, rear rotor rotates around aircraft centerline as a rigid structure, because by front rotor, the working direction of aircraft determines that event is by before control completely, the direction of rear rotor controls the direction of whole frame aircraft.Secondly main rotor between two rotor rotation direction on the contrary can in and the resultant couple of aircraft, front rotor and rear rotor rotation direction on the contrary can in and aircraft moment in the horizontal direction.This aircraft is that the basis based on quadrotor and propeller aeroplane is improved, but has quadrotor and the incomparable advantage of propeller aeroplane.
Chinese patent Authorization Notice No. is that CN 203005746 U discloses a kind of combined type multi-rotor aerocraft, although have employed in the moment of major-minor rotor and layout type, but the change in its course still controls by changing rotor-speed size, and its fuselage still needs to roll.
Chinese patent Authorization Notice No. is that CN 203094441 U discloses a kind of improved type quadrotor, its type of drive and conventional quadrotor there is no essential distinction, rotor and butterfly rotating disk before not installing, the mode of more mechanical driving, still needs to roll fuselage.
Summary of the invention
The purpose of this utility model is to provide and a kind ofly distributedly independently controls multi-rotor aerocraft, strong not in order to overcome conventional four cyclogyro wind loading ratings, before to fly cruising speed fast not, need to produce the component rolled by inclination fuselage when changing course and carry out controlling party and design to the speed of a ship or plane; The unintelligible generation of picture that regular inclination fuselage can make aerial photography aircraft take is rocked, the utility model do not need by roll fuselage improve before fly time cruising speed do not need yet by roll fuselage change course, the rotation control panel of machinery is only needed to control the direction of front rotor and rear rotor, under making fuselage forever be in the state of flight of level.
The utility model is achieved like this, a kind ofly distributedly independently controls multi-rotor aerocraft, mainly comprises four main rotors, front rotor, rear rotor, butterfly fuselage, electric motor device, the radial arm of force, control panel, body set, connecting rod, contiguous block, sells and is arranged on the gear drive of body set inside; It is characterized in that: described body set is connected to contiguous block by connecting rod, contiguous block is welded on butterfly fuselage, thus connecting rod and body set are holistic rigid structure, body set is positioned at and makes the center of gravity of aircraft be the geometric centre of aircraft immediately below control panel; Described control panel circle distribution is provided with six radial arm of forces, four radial arm of forces are wherein had to be evenly distributed in the periphery of control panel, two other radial arm of force is distributed on the diagonal line of four radial arm of forces, six radial arm of forces connect six electric motor devices, and six electric motor devices connect rotor after four main wings and a front rotor and respectively; The hand of rotation of front rotor and rear rotor is contrary; Before controlling, the direction of rotor just can control the direction of whole frame aircraft.
Further, have groove in the middle of described butterfly fuselage, the bottom of groove scribbles some lubricating oil, is provided with six electric motor devices inside groove, and the diameter of electric motor device equals the width of groove, and electric motor device can be slided in groove circumference.One is had around the fuselage annular gap of a week in the lateral circumference of described butterfly fuselage, annular gap has been nested with six pins, the diameter of pin is made to equal the height of annular gap, pin is the raised structures processed on electric motor device, so pin and electric motor device are a rigid structure, pin can do circumferential slippage in annular gap, the one degree of freedom making it only have in the groove that electric motor device can be made to be nested in butterfly fuselage by the effect of pin circumferentially to slide.Described butterfly fuselage is connected to body set by contiguous block and connecting rod, becomes a rigid structure.
Further, described control panel circle distribution has six radial arm of forces, the radial arm of force of four main rotors is distributed on the circumference of control panel, the radial arm of force of front rotor and rear rotor is distributed on the diagonal line of the radial arm of force of four main rotors, a hyperboloidal gear is processed with bottom control panel, this hyperboloidal gear with milling tool out, be connected gear being provided with two with the direction of hyperboloidal gear axes normal, connect the rotation that gear is meshed with hyperboloidal gear for driving hyperboloidal gear, a main driven wheel is engaged with below connection gear, main driven wheel is by the driven by motor being installed on body set inside, rotate together by connecting gear driven hyperboloidal gear, thus make control panel can on body set 360 degree rotate freely, each gear mechanism described is all positioned at body set inside.
Further, two rotor rotation directions on described four main rotor diagonal lines are identical, and the rotor rotation direction on two different diagonal lines is contrary, and the plane of rotation of four main rotors is parallel to level ground; Described front rotor and rear rotor are positioned on the same diagonal line of body and its rotation direction is contrary, front rotor is vertical with the plane of rotation of rear rotor and the plane of rotation of main rotor, front rotor and rear rotor all provide the power of aircraft forward flight, and after front rotor provides pulling force, rotor provides thrust.
The utility model has the advantages that: do not need the size by controlling four gyroplane rotate speeds that aircraft is produced and roll thus reach the order ground changing direction and improve cruising speed, the rotation control panel of machinery is only needed to control the direction of front rotor and rear rotor, under making fuselage forever be in the state of flight of level, have employed the mode that rotor combines with machinery, when aircraft can be made to turn, fuselage can not roll; Secondly, the design of this aircraft butterfly fuselage makes the reduction of the center of gravity of aircraft make aircraft have certain wind resistance, and the design of its butterfly fuselage eliminates the use of alighting gear, and it is more steady that the area of thrust surface that fuselage is larger make aircraft land.The technical matters solved is the design of butterfly fuselage, the design of gear drive, control panel and the cooperation of body set and interference in air flow problem when rotating between each rotor.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the utility model aircraft.
Fig. 2 is the utility model air vehicle overall structure schematic front view.
Fig. 3 is that schematic diagram is looked on the utility model air vehicle overall structure left side.
Fig. 4 is the utility model air vehicle overall structure schematic top plan view.
Fig. 5 is the utility model butterfly fuselage interior structure schematic diagram nested with electric motor device.
Fig. 6 is each rotor schematic diagram of the utility model aircraft.
Fig. 7 is the utility model control panel gear drive schematic diagram.
Fig. 8 is the utility model aircraft wind resistance schematic diagram.
In figure, the name of each mark is called: 1,2,3,4 main rotors; Rotor before 5; Rotor after 6; 7 control panels; 8 butterfly fuselages; 9 body sets; 10 connecting rods; 11 electric motor devices; The radial arm of force of 12 main rotors; 13 contiguous blocks; 14 pins; 15 grooves; 16 annular gaps; The radial arm of force of rotor after 17; The radial arm of force of rotor before 18; 19, the radial arm of force of 20,21 main rotors; 22 hyperboloidal gears; 23,24 connect gear; 25 main driven wheels.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, main rotor 1,2,3,4 crossed by the integral structure bag of this aircraft, front rotor 5, rear rotor 6, control panel 7, butterfly fuselage 8, body set 9, connecting rod 10, electric motor device 11, the radial arm of force 12, contiguous block 13, pin 14, annular gap 15, groove 16, and the gear drive being arranged on body set inside.Be characterized in, described body set 9 is connected to contiguous block 13 by connecting rod 10, contiguous block is welded on butterfly fuselage 8, make body set, connecting rod, contiguous block, butterfly fuselage be a rigid structure, body set 9 to be positioned at immediately below control panel 7 thus to make the center of gravity of aircraft be the geometric centre of aircraft;
The weight that the weight of butterfly fuselage is greater than each rotor makes the center of gravity of aircraft lower, lower center of gravity has certain stability, thus making aircraft have certain wind resistance and moment runback ability (its wind resistance and moment runback ability are illustrated in fig. 6 shown below), the bottom area of thrust surface that butterfly fuselage is larger can make aircraft can directly use as the alighting gear of aircraft on the ground compared with pulsation-free landing; Described control panel 7 can around the axis rotation of self on body set 9; Described front rotor 5 and rear rotor 6 are arranged in main rotor 1 and 2, on diagonal line between main rotor 3 and 4, front rotor 5 and rear rotor 6 are similar to the front propeller generation pulling force forward of propellor aircraft, so the direction controlling front rotor and rear rotor just can control the direction of whole frame aircraft.
As shown in Figure 2, be the utility model air vehicle overall structure schematic front view.
As shown in Figure 3, for schematic diagram is looked on the utility model air vehicle overall structure left side.
As shown in Figure 4, be the utility model air vehicle overall structure schematic top plan view.
As shown in Figure 5, groove 16 is had in the middle of described butterfly fuselage 8, the bottom of groove 16 scribbles some lubricating oil, six electric motor device 11(, six electric motor devices are installed inside groove 16 and are referred to as 11), the diameter of electric motor device 11 equals the width of groove 16, and electric motor device 11 can be slided in groove 16 circumference.One is had around the fuselage annular gap of a week 15 in the lateral circumference of described butterfly fuselage 8, annular gap 15 has been nested with six pin 14(, six pins and has been referred to as 14), the diameter of pin 14 is made to equal the height of annular gap 15, pin 15 is the raised structures processed on electric motor device 11, so pin 15 and electric motor device 11 are a rigid structure, pin 11 can do circumferential slippage in annular gap 15, the one degree of freedom making it only have in the groove 16 that electric motor device 11 can be made to be nested in butterfly fuselage 8 by the effect of pin 14 circumferentially to slide.Described butterfly fuselage 8 is connected to body set 9 by contiguous block 13 and connecting rod 10, becomes a rigid structure.
As shown in Figure 6, two rotor rotation directions on described four main rotors 1,2,3,4 diagonal line are identical, rotor rotation direction on two different diagonal lines is contrary, namely main rotor 1 and 3 is conter clockwise rotation direction, main rotor 2 and 4 for dextrorotation to, the rotative speed of main rotor 1,2,3,4 is equal, and the plane of rotation of four main rotors 1,2,3,4 is parallel to level ground; Described front rotor 5 and rear rotor 6 are positioned on the same diagonal line of body and its rotation direction is contrary, namely before, rotor 5 is conter clockwise rotation direction, rear rotor 6 for dextrorotation to, 5 and 6 velocity magnitude rotated are equal, front rotor 5 is vertical with the plane of rotation of main rotor 1,2,3,4 with the plane of rotation of rear rotor 6, front rotor 5 and rear rotor 6 all provide the power of aircraft forward flight, and after front rotor 5 provides pulling force, rotor 6 provides thrust; Described main rotor 1,2,3,4, front rotor 5, rear rotor 6 is connected to the radial arm of force 20,21,12,19,18,17, the radial arm of force 20,21,12,19,18,17 is connected on control panel 7, and the rotation of drived control panel 7 just can drive rotor 1,2,3,4,5,6 circumferentially to do revolution motion; Drive main rotor 1,2,3,4, the lift that the rotating speed simultaneously strengthening main rotor 1,2,3,4 makes rotor produce is greater than the gross weight then aircraft vertical rising of aircraft, reduce gross weight that lift that the rotating speed of main rotor 1,2,3,4 makes rotor produce equals aircraft then aircraft be in floating state, continue to reduce gross weight that lift that the rotating speed of main rotor 1,2,3,4 makes rotor produce is less than aircraft then aircraft vertical decline, when aircraft is in floating state, then aircraft can flight forward for the rotation of the front rotor 5 of driving and rear rotor 6.
As shown in Figure 7, described control panel circle is distributed with six radial arm of forces 20,21,12,19,18,17 for 7 weeks, the radial arm of force 20,21,12,19 of four main rotors is distributed on the circumference of control panel 7, the radial arm of force 18 of front rotor 5 is distributed on the diagonal line between the radial arm of force 20 and 21, and the radial arm of force 17 of rear rotor 6 is distributed on the diagonal line between the radial arm of force 12 and 19.A hyperboloidal gear 22 is processed with bottom control panel 7, this hyperboloidal gear 22 with milling tool out, so hyperboloidal gear 22 and control panel 7 are rigid structures, be connected gear 23 and 24 being provided with two with the direction of hyperboloidal gear 22 axes normal, connect gear 23, 24 rotations be meshed for driving hyperboloidal gear 22 with hyperboloidal gear, at connection gear 23, the below of 24 is engaged with a main driven wheel 25, main driven wheel 25 is by the driven by motor being installed on body set 9 inside, by connecting gear 23, 24 drive hyperboloidal gear 22 to rotate together, thus make control panel 7 can on body set 360 degree rotate freely, each gear mechanism described is all positioned at the inside of body set 9.The total driving effect of described aircraft is: rotated by the main driven wheel 25 of driven by motor be positioned at inside body set 7, gear 25 is by connecting gear 23, 24 drive hyperboloidal gear 22 to rotate, gear 22 rotates together with control panel 7, control panel 7 drives six radial arm of forces 20, 21, 12, 19, 18, 17 and then rotate together, the radial arm of force is connected to six electric motor devices 11, thus drive motor motor apparatus 11 rotates in the groove 16 of butterfly fuselage 8, thus drive rotor 1, 2, 3, 4, 5, 6 rotate, the rotation controlling front rotor 5 and rear rotor 6 just can control the direction of aircraft.
As shown in Figure 8, this aircraft has very strong wind resistance.First butterfly fuselage be designed with the wind loading rating being beneficial to aircraft, suppose that rotor craft is subject to the impact of left side crosswind, because the windward side that this aircraft is main is butterfly fuselage 8 and rotor 1,2,3,4,5,6.Therefore the wind speed of incoming flow can make butterfly fuselage produce the moment of a flight vehicle aerodynamic center conter clockwise thus make whole frame aircraft generation inclination left, and the main lift F of rotor is perpendicular to rotor plane upwards, power F can be decomposed into the rightabout F1 and the F2 with gravity vertical direction with gravity according to decomposition of force principle, because the direction of F2 is contrary with the direction of incoming flow wind direction power F3, therefore the power of F2 left direction can neutralize a part of incoming flow wind direction power F3 thus reduce crosswind to the impact of aircraft, has certain wind loading rating.
Its two, the Action of Gravity Field of aircraft self can be utilized to improve its self-regulation.(as shown in the figure) gravity G can be analyzed to the component M that is parallel to rotor and the component N perpendicular to rotor, main gravity due to aircraft concentrates on the part of butterfly fuselage 8, therefore its center-of-gravity position is relatively on the lower side, center of gravity has certain distance from the aerodynamic center of main rotor 1,2,3,4, when aircraft rolls, component M can produce one around the relatively large moment of rotor aerodynamic center, and this moment can make this aircraft automatic recovery.
Claims (3)
1. distributedly independently control a multi-rotor aerocraft, mainly comprise four main rotors, front rotor, rear rotor, butterfly fuselage, electric motor device, control panel, the radial arm of force, body set, connecting rod, contiguous block, sells and is arranged on the gear drive of body set inside; It is characterized in that: in six rotors, four main rotors provide lift upwards, the power flown before front rotor and rear rotor provide aircraft; Described butterfly fuselage is provided with six electric motor devices, and electric motor device can slide in the groove of fuselage; Described body set is connected to contiguous block by connecting rod, contiguous block and butterfly fuselage weld together, so body set, connecting rod, contiguous block, butterfly fuselage are rigid structures, body set is positioned at and makes the center of gravity of aircraft be the geometric centre of aircraft immediately below control panel; Described control panel circle distribution is provided with six each and every one the radial arm of forces, and six radial arm of forces connect six electric motor devices respectively; The weight of described butterfly fuselage is greater than the weight of rotor, makes the center of gravity of aircraft be positioned at the below of rotor, therefore can directly land in ground as the alighting gear use of aircraft and land more steady.
2. one according to claim 1 is distributed independently controls multi-rotor aerocraft, it is characterized in that: in the middle of described butterfly fuselage, have groove, the bottom of groove scribbles some lubricating oil, six electric motor devices are installed inside groove, the diameter of electric motor device equals the width of groove, and electric motor device can be slided in groove circumference; One is had around the fuselage annular gap of a week in the lateral circumference of described butterfly fuselage, annular gap has been nested with six pins, the diameter of pin is made to equal the height of annular gap, pin is the raised structures processed on electric motor device, so pin and electric motor device are a rigid structure, pin can do circumferential slippage in annular gap; Described butterfly fuselage is connected to body set by contiguous block and connecting rod, becomes a rigid structure.
3. one according to claim 1 is distributed independently controls multi-rotor aerocraft, it is characterized in that: described control panel circle distribution has six radial arm of forces, the radial arm of force of four main rotors is distributed on the circumference of control panel, the radial arm of force of front rotor and rear rotor is distributed on the diagonal line of the radial arm of force of four main rotors, a hyperboloidal gear is processed with bottom control panel, be connected gear being provided with two with the direction of hyperboloidal gear axes normal, connect the rotation that gear is meshed with hyperboloidal gear for driving hyperboloidal gear, a main driven wheel is engaged with below connection gear, main driven wheel is by the driven by motor being installed on body set inside, thus rotate together by connecting gear driven hyperboloidal gear, each gear mechanism described is all positioned at body set inside.
4.independently multi-rotor aerocraft is controlled according to the arbitrary described one of claim 1-3 is distributed, it is characterized in that: two rotor rotation directions on described four main rotor diagonal lines are identical, rotor rotation direction on two different diagonal lines is contrary, and the plane of rotation of four main rotors is parallel to level ground; Described front rotor and rear rotor are positioned on the same diagonal line of body and its rotation direction is contrary, front rotor is vertical with the plane of rotation of rear rotor and the plane of rotation of main rotor, front rotor and rear rotor all provide the power of aircraft forward flight, and after front rotor provides pulling force, rotor provides thrust.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201520226932.8U CN204660020U (en) | 2015-04-16 | 2015-04-16 | One is distributed independently controls multi-rotor aerocraft |
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| CN201520226932.8U CN204660020U (en) | 2015-04-16 | 2015-04-16 | One is distributed independently controls multi-rotor aerocraft |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105667774A (en) * | 2016-02-04 | 2016-06-15 | 刘海涛 | Multi-rotor aircraft |
| CN105711827A (en) * | 2016-03-23 | 2016-06-29 | 刘海涛 | Oil and electricity hybrid power multi-rotor aircraft |
| CN106741908A (en) * | 2017-03-20 | 2017-05-31 | 西北工业大学 | A kind of array multi-rotor aerocraft |
| CN106886224A (en) * | 2017-03-21 | 2017-06-23 | 中国人民解放军海军航空工程学院 | Using the non-linear butterfly aircraft attitude angle control method for surpassing a type odd sliding formwork |
| WO2017197603A1 (en) * | 2016-05-18 | 2017-11-23 | 深圳市创客工场科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN110416916A (en) * | 2019-08-01 | 2019-11-05 | 东北大学 | For posture regulation method and regulating and controlling mechanism of the crusing robot under wind load |
| CN110869277A (en) * | 2017-10-10 | 2020-03-06 | 株式会社爱隆未来 | Rotorcraft |
| CN111319756A (en) * | 2018-12-14 | 2020-06-23 | 常东来 | Public rotating oar |
| CN112520026A (en) * | 2020-12-23 | 2021-03-19 | 中国民用航空飞行学院 | Novel variant aircraft |
| CN112537444A (en) * | 2020-12-15 | 2021-03-23 | 彩虹无人机科技有限公司 | Hovering automatic wind alignment method for composite wing unmanned aerial vehicle |
| CN112585059A (en) * | 2019-07-29 | 2021-03-30 | 乐天株式会社 | Unmanned aerial vehicle |
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- 2015-04-16 CN CN201520226932.8U patent/CN204660020U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105667774A (en) * | 2016-02-04 | 2016-06-15 | 刘海涛 | Multi-rotor aircraft |
| CN105711827A (en) * | 2016-03-23 | 2016-06-29 | 刘海涛 | Oil and electricity hybrid power multi-rotor aircraft |
| WO2017197603A1 (en) * | 2016-05-18 | 2017-11-23 | 深圳市创客工场科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN106741908A (en) * | 2017-03-20 | 2017-05-31 | 西北工业大学 | A kind of array multi-rotor aerocraft |
| CN106741908B (en) * | 2017-03-20 | 2023-09-08 | 西北工业大学 | Array type multi-rotor aircraft |
| CN106886224A (en) * | 2017-03-21 | 2017-06-23 | 中国人民解放军海军航空工程学院 | Using the non-linear butterfly aircraft attitude angle control method for surpassing a type odd sliding formwork |
| CN106886224B (en) * | 2017-03-21 | 2019-09-10 | 烟台南山学院 | Using the non-linear butterfly aircraft attitude angle control method for surpassing a type odd times sliding formwork |
| CN110869277A (en) * | 2017-10-10 | 2020-03-06 | 株式会社爱隆未来 | Rotorcraft |
| CN110869277B (en) * | 2017-10-10 | 2024-01-23 | 盐城辉空科技有限公司 | Rotorcraft |
| CN111319756B (en) * | 2018-12-14 | 2022-06-10 | 常东来 | Public rotating oar |
| CN111319756A (en) * | 2018-12-14 | 2020-06-23 | 常东来 | Public rotating oar |
| CN112585059A (en) * | 2019-07-29 | 2021-03-30 | 乐天株式会社 | Unmanned aerial vehicle |
| CN110416916A (en) * | 2019-08-01 | 2019-11-05 | 东北大学 | For posture regulation method and regulating and controlling mechanism of the crusing robot under wind load |
| CN112537444A (en) * | 2020-12-15 | 2021-03-23 | 彩虹无人机科技有限公司 | Hovering automatic wind alignment method for composite wing unmanned aerial vehicle |
| CN112520026A (en) * | 2020-12-23 | 2021-03-19 | 中国民用航空飞行学院 | Novel variant aircraft |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150923 Termination date: 20160416 |
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| CF01 | Termination of patent right due to non-payment of annual fee |