CN101879945A - Electric tilting rotor wing unmanned aerial vehicle - Google Patents
Electric tilting rotor wing unmanned aerial vehicle Download PDFInfo
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- CN101879945A CN101879945A CN 201010217580 CN201010217580A CN101879945A CN 101879945 A CN101879945 A CN 101879945A CN 201010217580 CN201010217580 CN 201010217580 CN 201010217580 A CN201010217580 A CN 201010217580A CN 101879945 A CN101879945 A CN 101879945A
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Abstract
The invention relates to an electric tilting rotor wing unmanned aerial vehicle. A duct of a vehicle body with a rotor duct in the center is connected with a rotor rotating shaft, the center of the rotor rotating shaft is internally provided with a positioning carbon plate frame, the upper end and the lower end of the positioning carbon plate frame are respectively provided with a power motor, the two power motors are respectively correspondingly connected with an upper rotor and a lower rotor through gears, and rotating shafts of the upper rotor and the lower rotor are coaxially fixed in the center of the positioning carbon plate frame. The invention has the advantages of effectively solving the problem of aerial vehicle rollover generated by uneven lifting force easily caused by the traditional left and right tilting rotors, ensuring the stability of flying mode conversion of the aerial vehicle when the rotors tilt, and conveniently controlling the gestures of the hovering and flying by flexible combination of four attitude flaps and the regulation of rotor rotating speeds.
Description
Technical field
The present invention relates to a kind of unmanned plane, relate in particular to a kind of electric tilting rotor wing unmanned aerial vehicle.
Background technology
Unmanned plane all obtains widespread use and develop rapidly in the army and the people field in recent years because of the application of its uniqueness, is also representing an important development direction of following aviation.In various unmanned plane schemes, tilting rotor wing unmanned aerial vehicle is being taken into account flying speed, landing and the operator's mask that hovers has good comprehensive advantage, but existing tilting rotor wing unmanned aerial vehicle also exists some to be not so good as the people's will part aspect control stiffness, the quiet feature of environmental protection and the economy.The electric tilting rotor wing unmanned aerial vehicle of the present invention research can effectively improve aircraft flight controlling stability, airworthiness and environmental protection and economy by the power scheme of employing later-model electronic " push away oar+co-axial rotor verts ".
Summary of the invention
The object of the present invention is to provide a kind of electric tilting rotor wing unmanned aerial vehicle, adopted electronic " pushing away oar+tilting rotor " power scheme, had the advantage of depopulated helicopter and unmanned fixed wing aircraft concurrently, can realize vertical takeoff and landing, hover operation and fast before fly.Compare with depopulated helicopter, owing to adopted uncoupled power-driven system, for Design of Flight Control has been brought facility; Compare with common tilting rotor wing unmanned aerial vehicle, stay the coaxial rotor of verting of fuselage central authorities, can effectively prevent the unstability of turning on one's side, rotor verts before and when verting, adopt the tail-rotor additional thrust, help rotor the steady of process that vert owing to adopt; Adopt multiple spot electric propulsion power system, power and control stabilization are reliable, and be simple in structure, quiet environmental protection.
The present invention is achieved like this, it comprises that central authorities have the fuselage of rotor duct, the rotor S. A., the location carbon plate shelf, power motor, last rotor, following rotor, the steering wheel servomechanism, the steering wheel rocking bar, aspect control rudder, rotor upset servomechanism, propelling spiral shell slurry, it is characterized in that central authorities have on the duct of fuselage of rotor duct is connected with the rotor S. A., the intracardiac location carbon plate shelf that is provided with in the rotor S. A., on the carbon plate shelf of location, the lower end is separately installed with power motor, two power motors are gone up rotor and following rotor by corresponding respectively connection of gear, the rotating shaft coaxle of last rotor and following rotor is fixed on the center of location carbon plate shelf, the left side of location carbon plate shelf, the right side connects two steering wheel servomechanisms respectively, the steering wheel servomechanism connects aspect control rudder by the steering wheel rocking bar, the side of one aspect control rudder is connected with rotor upset servomechanism, and the afterbody that central authorities have the rotor duct is provided with propelling spiral shell slurry.
Technique effect of the present invention is: 1, adopt a coaxial reverse rotor that is opposite to fuselage central authorities, can effectively overcome traditional about two tilting rotors cause the uneven and problem of the aircraft rollover that produces of lift easily; 2, before rotor verts, adopt the thrust that advances the spiral shell slurry to carry out preacceleration and in the process of verting, keep necessity, guarantee the stability of aircraft flight MODAL TRANSFORMATION OF A when rotor verts; 3, the flexible combination that can be by four aspects control rudders and the adjusting of gyroplane rotate speed are controlled aircraft very easily and are being hovered and attitude during state of flight.
Description of drawings
Fig. 1 has the structural representation of the fuselage of rotor duct for central authorities of the present invention.
Fig. 2 is a structural representation of the present invention.
In the drawings, 1, central authorities have the rotor duct fuselage 2, rotor S. A. 3, location carbon plate shelf 4, power motor 5, go up rotor 6, down rotor 7, steering wheel servomechanism 8, steering wheel rocking bar 9, aspect control rudder 10, rotor upset servomechanism 11, advance the spiral shell slurry
The specific embodiment
As Fig. 1, shown in Figure 2, the present invention is achieved like this, central authorities have on the duct of fuselage 1 of rotor duct and are connected with rotor S. A. 2, the intracardiac location carbon plate shelf 3 that is provided with in the rotor S. A. 2, on the carbon plate shelf 3 of location, the lower end is separately installed with power motor 4, two power motors 4 are gone up rotor 5 and following rotor 6 by corresponding respectively connection of gear, the rotating shaft coaxle of last rotor 5 and following rotor 6 is fixed on the center of location carbon plate shelf 3, the left side of location carbon plate shelf 3, the right side connects two steering wheel servomechanisms 7 respectively, steering wheel servomechanism 7 connects aspect control rudder 9 by steering wheel rocking bar 8, the side of one aspect control rudder 9 is connected with rotor upset servomechanism 10, and fuselage 1 afterbody that central authorities have the rotor duct is provided with propelling spiral shell slurry 11.
Now sketch the specific embodiment of the present invention in conjunction with the typical flight course of aircraft " take off vertically------flying the fast---vertical landing of hovering ".
(1) take off vertically: this moment, rotorshaft was in vertical state, two rotor constant speed counter-rotatings, and afterbody advances propeller not work, and rotor rotates the lift that produces vertically upward, aircraft vertical uplift.
(2) hover: when VUAV take off reach predetermined altitude after, thereby make lift equate to be in floating state with aircraft gravity by the control gyroplane rotate speed, for the stability that guarantees the hang state is being equipped with attitude coutrol mechanism in the middle of the rotor up and down---attitude control rudder, as shown in Figure 2.Above attitude control rudder, current plate is arranged, when about four control rudders rotate forward synchronously or the certain angle that rotates backward after, the effect that is subjected to the downward air-flow that rotor produces can realize pitch control subsystem.After turning an angle respectively before and after two control rudders of a side, can block a side direction downstream and change this side lift size, realize rolling control.When left and right sides control rudder rotates simultaneously in the opposite direction, can make the yaw angle about aircraft produces.Also can pass through above the change or the rotating speed of following rotor, make aircraft produce the driftage moment of torsion, the original place rotates, the control of realization course.
(3) fly before fast: the afterbody propeller is started working when VUAV will fly state before floating state forwards to, promoting aircraft flies forward, when reaching certain forward flight speed, wing produces certain lift, overturn forward when rotor and attitude coutrol mechanism can be opened under the drive of upset control motor this moment, the lift of loss when wing produces lift and compensates rotor and vert when being flown forward by aircraft.Rotor all is used for producing aircraft thrust forward when rotorshaft forwards level attitude to, and aircraft flies before beginning fast.Because VUAV adopted the tail-rotor propelling, so aircraft has possessed certain forward flight speed when rotor overturn, promptly wing has produced a part of lift, so the process that flies before the full speed of hovering is more stable, and manipulation easily.
Rotor inclines when turning 90 degrees, and the control rudder also rotates 90 degree with axle.When about after four control rudders upwards rotate synchronously or rotate certain angle, the effect of the air-flow that is subjected to flying can realize pitch control subsystem.After two control rudders of a side turn an angle respectively up and down, can realize course control.When left and right sides control rudder rotates simultaneously in the opposite direction, can realize the control of rolling.
(4) vertical landing: this moment rotor in the control turning down of upset motor, produce lift upwards, the loss that the airfoil lift that the speed that remedied reduces to bring reduces.The afterbody propeller stops the rotation after rotorshaft goes back to vertical state, and the aircraft forward flight speed reduces gradually, and the lift of aircraft changed by rotor and produced this moment.The revolution that reduces rotor can reduce the lift aircraft and begin vertical decline, realizes vertical landing.
Claims (1)
1. electric tilting rotor wing unmanned aerial vehicle, it comprises that central authorities have the fuselage of rotor duct, the rotor S. A., the location carbon plate shelf, power motor, last rotor, following rotor, the steering wheel servomechanism, the steering wheel rocking bar, aspect control rudder, rotor upset servomechanism, propelling spiral shell slurry, it is characterized in that central authorities have on the duct of fuselage of rotor duct is connected with the rotor S. A., the intracardiac location carbon plate shelf that is provided with in the rotor S. A., on the carbon plate shelf of location, the lower end is separately installed with power motor, two power motors are gone up rotor and following rotor by corresponding respectively connection of gear, the rotating shaft coaxle of last rotor and following rotor is fixed on the center of location carbon plate shelf, the left side of location carbon plate shelf, the right side connects two steering wheel servomechanisms respectively, the steering wheel servomechanism connects aspect control rudder by the steering wheel rocking bar, the side of one aspect control rudder is connected with rotor upset servomechanism, and the afterbody that central authorities have the rotor duct is provided with propelling spiral shell slurry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010217580 CN101879945A (en) | 2010-07-05 | 2010-07-05 | Electric tilting rotor wing unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010217580 CN101879945A (en) | 2010-07-05 | 2010-07-05 | Electric tilting rotor wing unmanned aerial vehicle |
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| CN101879945A true CN101879945A (en) | 2010-11-10 |
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| CN 201010217580 Pending CN101879945A (en) | 2010-07-05 | 2010-07-05 | Electric tilting rotor wing unmanned aerial vehicle |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582834A (en) * | 2012-03-09 | 2012-07-18 | 北京工业大学 | Saucer-shaped aircraft |
| CN103010463A (en) * | 2012-12-26 | 2013-04-03 | 南京航空航天大学 | High-speed coaxial tilting double-rotor-wing flying wing machine |
| CN104058093A (en) * | 2014-06-20 | 2014-09-24 | 吴智勇 | Novel tiltable rotor wing vertical take-off and landing plane |
| CN105836108A (en) * | 2016-03-29 | 2016-08-10 | 李新 | Aircraft, flying control method and system |
| CN106347685A (en) * | 2016-09-30 | 2017-01-25 | 哈尔滨工业大学 | Electric duct rotor unmanned aerial vehicle |
| CN106986014A (en) * | 2017-05-09 | 2017-07-28 | 西安交通大学 | A kind of all-electric coaxial many Rotor thrust devices and its method of work |
| CN107187594A (en) * | 2017-05-09 | 2017-09-22 | 西安交通大学 | All-electric coaxial many Rotor thrust devices and its method of work based on disc type electric machine |
| CN107291095A (en) * | 2016-04-11 | 2017-10-24 | 零度智控（北京）智能科技有限公司 | Unmanned plane takes off control method, device, system and unmanned plane |
| CN108177771A (en) * | 2018-01-08 | 2018-06-19 | 南京航空航天大学 | Wing composite aircraft is determined in variable mass distribution rotation |
| CN108845581A (en) * | 2018-06-12 | 2018-11-20 | 中国科学院工程热物理研究所 | The compound multi-modal flight control method of quadrotor drone |
| CN109017182A (en) * | 2018-10-15 | 2018-12-18 | 西安艾尔维克航空科技有限公司 | A kind of folding hovercar of VTOL wing |
| CN110641692A (en) * | 2018-12-14 | 2020-01-03 | 深圳市格上格创新科技有限公司 | Fuselage balance unmanned aerial vehicle and control method thereof |
| CN112498660A (en) * | 2020-12-24 | 2021-03-16 | 中国直升机设计研究所 | Duck wing high-speed tilt rotor aircraft and control method thereof |
| CN113879524A (en) * | 2020-07-02 | 2022-01-04 | 海鹰航空通用装备有限责任公司 | Rotor craft and control method |
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| US6270038B1 (en) * | 1999-04-22 | 2001-08-07 | Sikorsky Aircraft Corporation | Unmanned aerial vehicle with counter-rotating ducted rotors and shrouded pusher-prop |
| RU2177898C2 (en) * | 2001-01-30 | 2002-01-10 | Кочетков Борис Федорович | Method of flight in and flying vehicle for realization of this method |
| CN101643116A (en) * | 2009-08-03 | 2010-02-10 | 北京航空航天大学 | Tiltrotor controlled by double-propeller vertical duct |
| CN201712787U (en) * | 2010-07-05 | 2011-01-19 | 南昌航空大学 | Electric tilt rotor unmanned aircraft |
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2010
- 2010-07-05 CN CN 201010217580 patent/CN101879945A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6270038B1 (en) * | 1999-04-22 | 2001-08-07 | Sikorsky Aircraft Corporation | Unmanned aerial vehicle with counter-rotating ducted rotors and shrouded pusher-prop |
| RU2177898C2 (en) * | 2001-01-30 | 2002-01-10 | Кочетков Борис Федорович | Method of flight in and flying vehicle for realization of this method |
| CN101643116A (en) * | 2009-08-03 | 2010-02-10 | 北京航空航天大学 | Tiltrotor controlled by double-propeller vertical duct |
| CN201712787U (en) * | 2010-07-05 | 2011-01-19 | 南昌航空大学 | Electric tilt rotor unmanned aircraft |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582834A (en) * | 2012-03-09 | 2012-07-18 | 北京工业大学 | Saucer-shaped aircraft |
| CN103010463A (en) * | 2012-12-26 | 2013-04-03 | 南京航空航天大学 | High-speed coaxial tilting double-rotor-wing flying wing machine |
| CN104058093A (en) * | 2014-06-20 | 2014-09-24 | 吴智勇 | Novel tiltable rotor wing vertical take-off and landing plane |
| CN105836108A (en) * | 2016-03-29 | 2016-08-10 | 李新 | Aircraft, flying control method and system |
| CN107291095A (en) * | 2016-04-11 | 2017-10-24 | 零度智控（北京）智能科技有限公司 | Unmanned plane takes off control method, device, system and unmanned plane |
| CN107291095B (en) * | 2016-04-11 | 2021-06-18 | 河北雄安远度科技有限公司 | Unmanned aerial vehicle takeoff control method, device and system and unmanned aerial vehicle |
| CN106347685A (en) * | 2016-09-30 | 2017-01-25 | 哈尔滨工业大学 | Electric duct rotor unmanned aerial vehicle |
| CN107187594B (en) * | 2017-05-09 | 2019-10-18 | 西安交通大学 | All-electric coaxial more Rotor thrust devices and its working method based on disc type electric machine |
| CN106986014A (en) * | 2017-05-09 | 2017-07-28 | 西安交通大学 | A kind of all-electric coaxial many Rotor thrust devices and its method of work |
| CN107187594A (en) * | 2017-05-09 | 2017-09-22 | 西安交通大学 | All-electric coaxial many Rotor thrust devices and its method of work based on disc type electric machine |
| CN108177771A (en) * | 2018-01-08 | 2018-06-19 | 南京航空航天大学 | Wing composite aircraft is determined in variable mass distribution rotation |
| CN108177771B (en) * | 2018-01-08 | 2023-09-26 | 南京航空航天大学 | Variable mass distribution rotary-fixed wing composite aircraft |
| CN108845581A (en) * | 2018-06-12 | 2018-11-20 | 中国科学院工程热物理研究所 | The compound multi-modal flight control method of quadrotor drone |
| CN109017182A (en) * | 2018-10-15 | 2018-12-18 | 西安艾尔维克航空科技有限公司 | A kind of folding hovercar of VTOL wing |
| CN110641692A (en) * | 2018-12-14 | 2020-01-03 | 深圳市格上格创新科技有限公司 | Fuselage balance unmanned aerial vehicle and control method thereof |
| CN113879524A (en) * | 2020-07-02 | 2022-01-04 | 海鹰航空通用装备有限责任公司 | Rotor craft and control method |
| CN112498660A (en) * | 2020-12-24 | 2021-03-16 | 中国直升机设计研究所 | Duck wing high-speed tilt rotor aircraft and control method thereof |
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Application publication date: 20101110 |