CN102285450A

CN102285450A - Pitch control three-axis aircraft

Info

Publication number: CN102285450A
Application number: CN2011101513684A
Authority: CN
Inventors: 杨润; 李晓杰
Original assignee: North University of China
Current assignee: North University of China
Priority date: 2011-06-08
Filing date: 2011-06-08
Publication date: 2011-12-21

Abstract

The invention aims to provide a pitch control three-axis aircraft. A pitch control three-rotor aircraft has a three-axis structure, each axis is provided with a large-diameter low-rotating speed rotor, the rotating speed is set into a constant value, and the change of the lift force of the rotor is quickly and accurately controlled by changing the pitch of the rotor; by coordinating pitch difference of the rotors, the balance of the aircraft in the pitching direction is controlled; a variable angle guide vane is designed below a rotor of one axis; and under the action of downward swirling flow generated by the rotors, the acting force of the downward swirling flow to the guide vane is changed by changing an angle between the guide vane and the downward swirling flow, and the torque of the acting force to gravity center offsets the counter torque of the rotor. The pitch control three-axis aircraft comprises pitch control rotors, a guide vane, a tail pipe and an aircraft body. The aircraft flies stably, has high antijamming capability and is particularly suitable to serve as an airplatform for a small pilotless plane and an aerial photography aircraft.

Description

Three aircraft of feather

Technical field

The present invention relates to a kind of new aircraft, specifically is feather three rotor crafts.

Background technology

At present, multi-rotor aerocraft mainly is divided into two classes, even number axle, odd number axle.Even number axle multi-rotor aerocraft characteristics are some axles that distribute around the fuselage, go up by motor direct-drive fixedpiston screw propeller for every, the wherein positive hour hands rotation of half motor, second half motor left-hand revolution comes controlling aircraft pitching balance and reaction moment balance by coordinating each rotating speed of motor; The structure of odd number axle multi-rotor aerocraft is consistent with the many rotors of even number axle, and difference is that the plane of revolution of a unnecessary screw propeller can be around this rotation, and the pulling force part that this rotor produces is as lift, and another part pulling force is used to offset unnecessary counter torque.But multi-rotor aerocraft has following shortcoming at present,

1, control system is very complicated.The flicon problem is the key issue of small-sized multi-rotor aerocraft, main difficulty by two aspects.At first, it is carried out very difficulty of accurate modeling.In the flight course, it not only is subjected to the effect of several physical simultaneously, such as: aerodynamic force, gravity, gyro effect etc., he also is easy to be subjected to the interference that waits external environment of air-flow.Therefore, very difficult acquisition is the aeroperformance parameter accurately, is difficult to set up effectively, kinetic model accurately.Secondly, small-sized multi-rotor aerocraft is one and has six-freedom degree, and has only the drive systems of owing of four control inputs, has the characteristic of multivariate, non-linear, close coupling, need control the attitude of flight by the rotating speed of coordinating each rotor.For example change one of them gyroplane rotate speed, horizontal surface overturns moment with generation, and owing to each rotor counter torque overbalance, aircraft also can rotate around center-of-gravity axis simultaneously.Therefore make its Design of Flight Control become very difficult.Software cost is very high.

2, be subject to external interference.Many rotor flights of market all are to adopt electric-machine directly-driven fixedpiston mode at present.Run into extraneous interference in air flow, measure the attitude of aircraft earlier by sensor, through filtering, the A/D conversion is being calculated via flight control system, produces corresponding PWM control model, changes motor speed by electronic governor again, change lift and counter torque, wherein electrical motor gearshift will consume the most of the time, how to design the high-velocity electrons governor and changes motor speed rapidly, and this is the another difficult problem of fixedpiston Flight Vehicle Design.

3, load-carrying is limited.The diameter that present small-sized multi-rotor aerocraft impassabitity increases screw propeller increases lift, can only increase lift by increasing the rotor number.Its reason is that the inertia of the big more rotation of screw propeller is also just big more, thereby motor changes the rotating speed of screw propeller also with regard to difficult more (especially in the decline process).The small-sized multi-rotor aerocraft screw propeller that directly drives for present market is big more in fact, and the kv of motor just must be low more, and motor speed changes also just difficult more.

4, power of motor can't be brought into play fully.The multi-rotor aerocraft of market is the attitude of coming controlling aircraft by the change motor speed at present, and the rotating speed that each motor must have power more than needed to change screw propeller comes controlling aircraft.Therefore the power of motor just can not be brought into play fully.

Summary of the invention

Relatively poor in order to overcome existing multiaxis aircraft antijamming capability, coupling is big, the auxiliary electronic equipment complexity, and costliness, incompatible with market helicopter flight control system, load-carrying is limited, and power of motor is owed and shortcoming such as is waved.The technical solution adopted in the present invention is: adopt three-axis structure, each adopts the slow-revving rotor of major diameter, speed setting is a steady state value, by changing the pitch of rotor, fast, the variation of accurate control rotor lift, the balance of the pitch orientation of the pitch difference controlling aircraft by coordinating each rotor, rotor breather vane of a variable-angle of design down therein, under the following cyclonic action that rotor produces, by changing the angle of flow deflector and following eddy flow, eddy flow is to the application force of flow deflector under changing, and this application force is offset the counter torque of rotor to the moment of center of gravity.The present invention includes the feather rotor, breather vane, tail pipe, fuselage.

Feather rotor rectangular distribution also is installed in each tail pipe one end, and the rotor face can suitably tilt, to offset counter torque.The feather rotor comprises oar folder, bulb, bulb button, connecting rod, middle, push-plate, limit shaft, bearing seat, double end rocking arm, single head rocking arm, connecting rod, main shaft, steering wheel, steering wheel, connecting rod, push-plate overcoat, big gear wheel, motor tooth, motor cabinet, motor, side plate, bearing seat and canine tooth wheel seat.

Breather vane is mounted on one of them or the several tail pipe and can be controlled the variation of its tilt angle by steering wheel.

Tail pipe is installed on the fuselage.

The invention has the beneficial effects as follows flight stability, antijamming capability is strong.

Description of drawings

Fig. 1 is the front view of feather rotor structure;

Fig. 2 is the lateral plan of feather rotor structure;

Fig. 3 is the axis side view that waits of feather rotor structure;

Fig. 4 is the axis side view that waits of transmission device

Fig. 5 is the front view of transmission device and feather rotor

Fig. 6 is axis side views such as breather vane and aircraft integral structure

Among the figure: 1-oar folder, the 2-bulb, 3-bulb button, the 4-connecting rod joins among the 5-, the 6-push-plate, 7-limit shaft, 8-bearing seat, 9-double end rocking arm, 10-single head rocking arm, the 11-connecting rod, 12-main shaft, 13-steering wheel, 14-steering wheel, 15-connecting rod, 16-push-plate overcoat, 17-big gear wheel, 18-motor tooth, 19-motor cabinet, the 20-motor, 21-side plate, 22-bearing seat, 23-canine tooth wheel seat, 24-breather vane, 25-fuselage, 26-tail pipe.

The specific embodiment

In conjunction with the accompanying drawings embodiment is further described, present embodiment is to be used for illustrating of the present invention, rather than the present invention is carried out any restriction.

The specific embodiment is, motor (20) is by motor tooth (18), canine tooth (17), and pinion stand (23) main shaft (12), middle (5), oar folder (1) is given screw propeller transmission of power, produces lift; Pass through steering wheel (13) by steering wheel (14), connecting rod (11), double end rocking arm (9), single head rocking arm (10), connecting rod (15), push-plate overcoat (16), push-plate (6), connecting rod (4), the accurately variation fast of oar folder (1) control rotor lift.Be installed in the angle variation that tail pipe (26) is gone up breather vane (24) by steering wheel control, under the following cyclonic action of rotor, produce moment, offset the counter torque of rotor center of gravity.When installing every, rotor can suitably tilt, and the part pulling force of rotor is offset counter torque, alleviates breather vane (24) load.

Claims

1. feather three rotor crafts is characterized in that comprising the feather rotor, breather vane, tail pipe, fuselage.

2. feather three rotor crafts according to claim 1, it is characterized in that feather rotor rectangular distribution and be installed in each tail pipe one end, the rotor face can suitably tilt, offsetting counter torque, the feather rotor comprises oar folder, bulb, bulb button, connecting rod, middle, push-plate, limit shaft, bearing seat, double end rocking arm, single head rocking arm, connecting rod, main shaft, steering wheel, steering wheel, connecting rod, push-plate overcoat, big gear wheel, motor tooth, motor cabinet, motor, side plate, bearing seat and canine tooth wheel seat.

3. feather three rotor crafts according to claim 1 is characterized in that breather vane is mounted on one of them or the several tail pipe and can be controlled the variation of its tilt angle by steering wheel.

4. feather three rotor crafts according to claim 1 is characterized in that tail pipe is installed on the fuselage.