CN103387051B - Quadrotor - Google Patents
Quadrotor Download PDFInfo
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- CN103387051B CN103387051B CN201310310717.1A CN201310310717A CN103387051B CN 103387051 B CN103387051 B CN 103387051B CN 201310310717 A CN201310310717 A CN 201310310717A CN 103387051 B CN103387051 B CN 103387051B
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Abstract
Quadrotor, relate to aircraft field, solve the problem that existing quadrotor driftage ability is weak, comprise body, avionics system, take-off and landing device, working load module, be connected with avionics system the driver element of four hold-down arms angularly launching along the axial surrounding of body center and end thereof, hold-down arm and 0 ° < α < 90 ° equal with body center's axle clamp angle, hold-down arm xoy plane be projected as rotational symmetry intersect two straight lines, driver element lays respectively in four quadrants or x in the projection of xoy plane, on the positive and negative semiaxis of y, the rotation axis of driver element becomes angle theta with z-axis respectively in the projection of yoz or xoz plane,-65 °≤θ≤65 °, do not comprise 0, the rotation axis of driver element is vertical in the projection of xoy plane to the line of body axis system initial point with centre of gration in the projection of xoy plane.Yawing moment size of the present invention improves an order of magnitude, and driftage ability significantly improves.
Description
Technical field
The present invention relates to vehicle technology field, be specifically related to a kind of quadrotor.
Background technology
Quadrotor is a kind of multi-rotor aerocraft the most common, it installs the fixing rotor in four inclination angles at grade, compared with traditional single-rotor helicopter, quadrotor can adopt less rotor, thus make flight become safer, and the static state that the thrust that the more single rotor of thrust of four rotor generations produces can better realize aircraft is spiraled.
Quadrotor, lift needed for aircraft flight is produced and moment of torsion realizes sustained turn and accurate flying by the rotating speed size changing four rotors, from state of kinematic motion, quadrotor has space six-freedom degree and four controlled basic exercise states, four basic exercise states are respectively vertical flight, Longitudinal Flight, horizontal flight and horizontally rotating, first three state of kinematic motion is the change by changing four rotor lift sizes the resultant moment that aircraft produces different size and different directions being realized to aircraft movements state, and to horizontally rotate i.e. driftage be the adjustment that anti-twisted moment by changing four rotors realizes to vehicle yaw, anti-twisted moment due to rotor compare lift act on aircraft body produce resultant moment much little, the driftage ability of existing quadrotor is very weak, this defect has a strong impact on and hinders the raising of quadrotor manoevreability and wind resistance.
Summary of the invention
In order to the problem that the driftage ability solving the existence of existing quadrotor is weak, the present invention proposes a kind of quadrotor with ability of going off course more by force.
The technical scheme that the present invention adopts for technical solution problem is as follows:
Quadrotor, comprise body, the working load module being arranged on the avionics system of internal body and outside take-off and landing device and being fixed on below body, described take-off and landing device comprises skid bar that two heads upwarp and two and intersects the skid beam installed, also comprise and to be connected with avionics system and four the isometric hold-down arms be removably mounted on body by the hinge structure driver element identical with four structures being arranged on hold-down arm end respectively, aircraft barycenter is set to body axis system initial point, x-axis direction is set to the heading of aircraft, z-axis is along aircraft longitudinal surface, point to top, four hold-down arms angularly launch along the axial surrounding of body center, each hold-down arm and 0 ° < α < 90 ° equal with the angle α of body center axle, four hold-down arms are projected as in body axis system xoy plane two straight lines that rotational symmetry intersects, four driver elements lay respectively in four quadrants in the projection of body axis system xoy plane or lay respectively on the positive and negative semiaxis of x-axis with on the positive and negative semiaxis of y-axis, the rotation axis of each driver element forms an angle theta with z-axis respectively in the projection of body axis system yoz plane or xoz plane,-65 °≤θ≤65 °, do not comprise 0, sign represents direction, four corner dimension equal directions are different, the rotation axis of each driver element is mutually vertical in the projection of body axis system xoy plane to the line of body axis system initial point with centre of gration in the projection of body axis system xoy plane, the controlling quantity of this attitude of flight vehicle adjustment comprises pitching, rolling, the lift total amount of driftage and z-axis.
Described driver element is made up of a rotor and a drive motor, and drive motor is fixed on hold-down arm end, and rotor is arranged on drive motor by output shaft.
When θ get on the occasion of time, represent that the rotation axis of driver element deflects along z-axis conter clockwise in body axis system yoz plane or xoz plane; When θ gets negative value, represent that the rotation axis of driver element deflects along z-axis cw in body axis system yoz plane or xoz plane.
Described four driver elements are respectively the first driver element, second driver element, 3rd driver element and four-wheel drive unit, described first driver element is positioned in first quartile or x-axis positive axis in the projection of body axis system xoy plane, described second driver element is positioned in the second quadrant or y-axis positive axis in the projection of body axis system xoy plane, described 3rd driver element is positioned at third quadrant or x-axis is born on semiaxis in the projection of body axis system xoy plane, described four-wheel drive unit is positioned at fourth quadrant or y-axis is born on semiaxis in the projection of body axis system xoy plane.
The hand of rotation of the rotor of described first driver element and the rotor of the 3rd driver element is cw simultaneously or is conter clockwise simultaneously, and the lift component that the first driver element and the 3rd driver element produce and anti-twisted moment make aircraft head produce the moment deflected to same direction;
The hand of rotation of the rotor of described second driver element and the rotor of four-wheel drive unit is conter clockwise simultaneously or is cw simultaneously, and the lift component that the second driver element and four-wheel drive unit produce and anti-twisted moment make aircraft head produce the moment deflected round about;
The rotor of described first driver element is different from the hand of rotation of the rotor of the second adjacent driver element, and the rotor of the 3rd driver element is different from the hand of rotation of the rotor of adjacent four-wheel drive unit.
The rotation axis of described first driver element is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
1, the rotation axis of described second driver element is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
2, the rotation axis of described 3rd driver element is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
3, the rotation axis of described four-wheel drive unit is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
4, θ
1, θ
2, θ
3, θ
4equal and opposite in direction, θ
1with θ
3direction is different, θ
2with θ
4direction is different.
Described four hold-down arms are respectively the first hold-down arm, the second hold-down arm, the 3rd hold-down arm and the 4th hold-down arm, described first hold-down arm is positioned in first quartile or x-axis positive axis in the projection of body axis system xoy plane, described second hold-down arm is positioned in the second quadrant or y-axis positive axis in the projection of body axis system xoy plane, described 3rd hold-down arm is positioned at third quadrant or x-axis is born on semiaxis in the projection of body axis system xoy plane, and described 4th hold-down arm is positioned at fourth quadrant or y-axis is born on semiaxis in the projection of body axis system xoy plane.
Described first hold-down arm and the 3rd hold-down arm are at the projection conllinear of body axis system xoy plane, described second hold-down arm and the 4th hold-down arm are at the projection conllinear of body axis system xoy plane, described first hold-down arm and the 4th hold-down arm project into 60 ° of angles in body axis system xoy plane, and described first hold-down arm and the second hold-down arm project into 120 ° of angles in body axis system xoy plane.
Described first hold-down arm and the 3rd hold-down arm are at the projection conllinear of body axis system xoy plane, described second hold-down arm and the 4th hold-down arm are at the projection conllinear of body axis system xoy plane, described first hold-down arm and the 4th hold-down arm projection angle in 90 ° in body axis system xoy plane, described first hold-down arm and the second hold-down arm projection angle in 90 ° in body axis system xoy plane.
The outside of each driver element is provided with a collision prevention device for the protection of rotor, and collision prevention device is circular ring structure or cylindrical structure, and collision prevention device to be removably mounted on supporting arm and to be surrounded therein by driver element.
The invention has the beneficial effects as follows: quadrotor yawing moment of the present invention is that the anti-twisted moment of moment and the rotor produced at power and the arm of force of the projection section of body axis system xoy plane by rotor lift jointly superposes and obtains, compare existing quadrotor, its yawing moment size can improve an order of magnitude, driftage ability significantly improves, simultaneously, rotor due to four driver elements all has the component of force and moment on three axles of body axis system, effectively increase the stability and control of aircraft, when rotor wing rotation axle and body axis system z-axis angle theta less time, the driftage ability that can improve quadrotor can not cause the loss that the lift in z-axis direction is larger again, energy consumption reduces, load-carrying ability of the present invention is strong, and vehicle mass, volume reduce all to some extent.
Accompanying drawing explanation
Fig. 1 be detailed description of the invention one overlook direction schematic diagram;
Fig. 2 is the schematic diagram of the angle that the rotation axis of the driver element of detailed description of the invention one is formed in projection and the z-axis of body axis system yoz plane;
Fig. 3 be detailed description of the invention two overlook direction schematic diagram;
Fig. 4 is the schematic diagram of the angle that the rotation axis of the driver element of detailed description of the invention two is formed in projection and the z-axis of body axis system yoz plane;
Fig. 5 be detailed description of the invention three overlook direction schematic diagram;
Fig. 6 is the schematic diagram of the angle that the rotation axis of the driver element of detailed description of the invention three is formed in projection and the z-axis of body axis system yoz plane;
Fig. 7 is the structural representation of driver element;
Fig. 8 is the structural representation of take-off and landing device.
In figure: 1, body, 2, avionics system, 3, take-off and landing device, 301, skid bar, 302, skid beam, 401, first hold-down arm, 402, second hold-down arm, 403, 3rd hold-down arm, 404, 4th hold-down arm, 5, first driver element, 501, the rotor of the first driver element, 502, the drive motor of the first driver element, 503, the rotation axis of the first driver element, 6, second driver element, 601, the rotor of the second driver element, 602, the drive motor of the second driver element, 603, the rotation axis of the second driver element, 7, 3rd driver element, 701, the rotor of the 3rd driver element, 702, the drive motor of the 3rd driver element, 703, the rotation axis of the 3rd driver element, 8, four-wheel drive unit, 801, the rotor of four-wheel drive unit, 802, the drive motor of four-wheel drive unit, 803, the rotation axis of four-wheel drive unit.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The barycenter of aircraft is set to the initial point o of body axis system, x-axis, y-axis, z-axis are mutually vertical, and in Fig. 1, Fig. 3, Fig. 5, in paper left, z-axis is outside perpendicular to paper, and in paper upwards, xoy plane is divided into four quadrants to x-axis for y-axis; In Fig. 2, Fig. 4, Fig. 6, x-axis direction perpendicular to paper inwards, is set to the heading of aircraft by x-axis, and z-axis, along aircraft longitudinal surface, points to top.
As shown in Figure 1, quadrotor of the present invention, primarily of body 1, avionics system 2, take-off and landing device 3, working load module, four hold-down arms, four driver elements and collision prevention device composition, the initial point o place being centrally located at body axis system of body 1, the center shaft of body 1 is z-axis, avionics system 2 is arranged on the inside of body 1, for aircraft manufacturing technology and information transmission, avionics system 2 is by control system, sensor, navigationsystem and image capturing and transmitting system composition, sensor is tachogen, acceleration pick-up, gyroscope, baroceptor, magnetometric sensor, ultrasonic transduter, one or more in global positioning system (GPS) sensor and optical pickocff, take-off and landing device 3 is arranged on the outside of body 1, as shown in Figure 8, take-off and landing device 3 comprises skid bar 301 that two heads upwarp and two and intersects the skid beam 302 installed, removable working load module is fixed on below body 1, and working load module is one or more in infrared camera, Visible Light Camera, card camera, pick up camera, laser illuminator and optical spectrometer.
As shown in Figure 1, four isometric supporting arms are removably mounted on body 1 by hinge structure, and each hold-down arm is connected with avionics system 2, four hold-down arms angularly launch along the center shaft of body 1 and z-axis to surrounding, each hold-down arm is equal with the angle that body axis system z-axis is formed, this angle is set to α, its size is: 0 ° of < α < 90 °, these four hold-down arms are equal with body axis system z-axis angle, and this four hold-down arms projection in body axis system xoy plane forms two straight lines, these two straight lines in body axis system xoy plane along x-axis and y-axis all symmetrical, or lay respectively in x-axis and y-axis, two angle sums that hold-down arm is formed in the projection of body axis system xoy plane with two adjacent support arm respectively in the projection of body axis system xoy plane are 180 °, these two angles are all greater than 0 °, being specially the first hold-down arm 401 is positioned in first quartile or x-axis positive axis in the projection of body axis system xoy plane, second hold-down arm 402 is positioned in the second quadrant or y-axis positive axis in the projection of body axis system xoy plane, 3rd hold-down arm 403 is positioned at third quadrant or x-axis is born on semiaxis in the projection of body axis system xoy plane, 4th hold-down arm 404 is positioned at fourth quadrant or y-axis is born on semiaxis in the projection of body axis system xoy plane, first hold-down arm 401 is at the projection of body axis system xoy plane and the 3rd hold-down arm 403 projection conllinear in body axis system xoy plane, second hold-down arm 402 is at the projection of body axis system xoy plane and the 4th hold-down arm 404 projection conllinear in body axis system xoy plane, four hold-down arm ends are equal to the distance at aircraft barycenter and body 1 center, namely these four hold-down arms are equal in the distance projecting to body axis system initial point o of body axis system xoy plane.
As shown in Figure 1, four identical driver elements of structure are arranged on the end of four supporting arms respectively, four driver elements are respectively the first driver element 5, second driver element 6, 3rd driver element 7 and four-wheel drive unit 8, first driver element 5 is positioned in first quartile or x-axis positive axis in the projection of body axis system xoy plane, second driver element 6 is positioned in the second quadrant or y-axis positive axis in the projection of body axis system xoy plane, 3rd driver element 7 is positioned at third quadrant or x-axis is born on semiaxis in the projection of body axis system xoy plane, four-wheel drive unit 8 is positioned at fourth quadrant or y-axis is born on semiaxis in the projection of body axis system xoy plane.
As shown in Fig. 2, Fig. 4, Fig. 6, four rotation axiss of four driver elements have angle with z-axis respectively in the projection of body axis system yoz plane or xoz plane, specific as follows: the rotation axis 503 of the first driver element 5 is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
1,-65 °≤θ
1≤ 65 °, but do not comprise 0, θ
1get on the occasion of time, represent that the projection of the rotation axis 503 of the first driver element 5 in body axis system yoz plane or xoz plane is along the deflection of z-axis conter clockwise, θ
1when getting negative value, represent that the rotation axis 503 of the first driver element 5 deflects along z-axis cw in the projection of body axis system yoz plane or xoz plane, θ
1be preferably-8 ° ,-10 °, 45 °; The rotation axis 603 of the second driver element 6 is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
2,-65 °≤θ
2≤ 65 °, but do not comprise 0, θ
2get on the occasion of time, represent that the projection of the rotation axis 603 of the second driver element 6 in body axis system yoz plane or xoz plane is along the deflection of z-axis conter clockwise, θ
2when getting negative value, represent that the rotation axis 603 of the second driver element 6 deflects along z-axis cw in the projection of body axis system yoz plane or xoz plane, θ
2be preferably-8 °, 10 °, 45 °; The rotation axis 703 of the 3rd driver element 7 is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
3,-65 °≤θ
3≤ 65 °, but do not comprise 0, θ
3get on the occasion of time, represent that the projection of the rotation axis 703 of the 3rd driver element 7 in body axis system yoz plane or xoz plane is along the deflection of z-axis conter clockwise, θ
3when getting negative value, represent that the rotation axis 703 of the 3rd driver element 7 deflects along z-axis cw in the projection of body axis system yoz plane or xoz plane, θ
3be preferably 8 °, 10 ° ,-45 °; The rotation axis 803 of four-wheel drive unit 8 is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
4,-65 °≤θ
4≤ 65 °, but do not comprise 0, θ
4get on the occasion of time, represent that the projection of the rotation axis 803 of four-wheel drive unit 8 in body axis system yoz plane or xoz plane is along the deflection of z-axis conter clockwise, θ
4when getting negative value, represent that the rotation axis 803 of four-wheel drive unit 8 deflects along Z axis cw in the projection of body axis system yoz plane or xoz plane, θ
4be preferably 8 ° ,-10 ° ,-45 °; The rotation axis of each driver element is mutually vertical in the projection of body axis system xoy plane to the line of body axis system initial point o with the centre of gration of corresponding driver element in the projection of the xoy plane of body axis system, the centre of gration of four driver elements lays respectively at four quadrants of the xoy plane of body axis system in the projection of body axis system xoy plane, comprise in four quadrants with in x-axis, y-axis.
The rotation axis 503 of the first driver element 5 is θ in the projection of the yoz plane of body axis system and the angle of z-axis
1, the rotation axis 603 of the second driver element 6 is θ in the projection of the yoz plane of body axis system and the angle of z-axis
2, the rotation axis 703 of the 3rd driver element 7 is θ in the projection of the yoz plane of body axis system and the angle of z-axis
3be θ with the rotation axis 803 of four-wheel drive unit 8 in the projection of the yoz plane of body axis system and the angle of z-axis
4between size identical, but concrete direction is different, θ
1with θ
3direction different, θ
2with θ
4direction different.
As shown in Figure 7, driver element is made up of a rotor and a drive motor, and each driver element adopts a drive motor to drive, and drive motor is for driving rotor wing rotation, rotor is arranged on drive motor by output shaft, and drive motor is fixed on the end of corresponding hold-down arm.
The hand of rotation of the rotor 501 of the first driver element 5 and the rotor 701 of the 3rd driver element 7 is cw simultaneously or is conter clockwise simultaneously, and the lift component that the first driver element 5 and the 3rd driver element 7 produce and anti-twisted moment make aircraft head produce the moment deflected to same direction.
The hand of rotation of the rotor 601 of the second driver element 6 and the rotor 801 of four-wheel drive unit 8 is conter clockwise simultaneously or is cw simultaneously, and the lift component that the second driver element 6 and four-wheel drive unit 8 produce and anti-twisted moment make aircraft head produce the moment deflected round about.
The rotor 501 of the first driver element 5 is different from the hand of rotation of the rotor 601 of the second adjacent driver element 6, and the rotor 701 of the 3rd driver element 7 is different from the hand of rotation of the rotor 801 of adjacent four-wheel drive unit 8.
The outside of each driver element is provided with a collision prevention device; driver element surrounds therein by collision prevention device; for the protection of rotor, four collision prevention device are removably mounted on four supporting arms respectively, and collision prevention device is four circular ring structures or four cylindrical structures.
Quadrotor of the present invention adopt control pitching, rolling, driftage and z-axis lift total amount totally four amounts as the controlling quantitys of pose adjustment, each interchannel operational coupled of aircraft can be reduced to a certain extent, reduce and handle complexity.
In present embodiment, the rotation axis of said each driver element deflects along z-axis cw or conter clockwise in the projection of body axis system yoz plane or xoz plane, specifically refer to, in body axis system yoz plane, the rotation axis of driver element along z-axis cw or conter clockwise deflection, be along the x-axis direction on see; In body axis system xoz plane, the rotation axis of driver element along z-axis cw or conter clockwise deflection, be along the y-axis direction on see.
Detailed description of the invention one, as shown in Figure 1, the barycenter of aircraft is set to the initial point o of body axis system, x-axis, y-axis, z-axis are mutually vertical, in paper left, z-axis is outside perpendicular to paper for y-axis, x-axis in paper upwards, xoy plane is divided into four quadrants, x-axis direction is set to the heading of aircraft, z-axis, along aircraft longitudinal surface, points to top.
Four isometric supporting arms are removably mounted on body 1 by hinge structure, and each hold-down arm is connected with avionics system 2, first hold-down arm 401 and the 3rd hold-down arm 403 are at the projection conllinear of body axis system xoy plane, second hold-down arm 402 and the 4th hold-down arm 404 are at the projection conllinear of body axis system xoy plane, first hold-down arm 401 and the 4th hold-down arm 404 project into 60 ° of angles in body axis system xoy plane, first hold-down arm 401 and the second hold-down arm 402 project into 120 ° of angles in body axis system xoy plane, the end of four hold-down arms connects four drive motor in four driver elements respectively, four drive motor all adopt brushless, permanently excited direct current motor.
In present embodiment, as shown in Figure 2, look, namely look along the x-axis direction from aircraft rear to head, the rotation axis 503 of the first driver element 5 deflects 8 ° in the projection of body axis system yoz plane along z-axis cw, i.e. θ
1=-8 °, the rotation axis 603 of the second driver element 6 deflects 8 ° in the projection of body axis system yoz plane along z-axis cw, i.e. θ
2=-8 °, the rotation axis 703 of the 3rd driver element 7 deflects 8 ° in the projection of body axis system yoz plane along z-axis conter clockwise, i.e. θ
3=8 °, the rotation axis 803 of four-wheel drive unit 8 deflects 8 ° in the projection of body axis system yoz plane along z-axis conter clockwise, i.e. θ
4=8 °.
In present embodiment, rotor 501 left-hand revolution of the first driver element 5, upwards and inclined right front, anti-twisted moment is clockwise direction, has the strength that the Airplane Nose Right of aircraft is deflected for the lift of generation.
In present embodiment, rotor 601 clickwise of the second driver element 6, upwards and inclined right rear, anti-twisted moment is anticlockwise direction, has the strength that the Nose Left of aircraft is deflected for the lift of generation.
In present embodiment, rotor 701 left-hand revolution of the 3rd driver element 7, upwards and inclined left rear, anti-twisted moment is clockwise direction, has the strength that aircraft Airplane Nose Right is deflected for the lift of generation.
In present embodiment, rotor 801 clickwise of four-wheel drive unit 8, upwards and inclined left front, anti-twisted moment is anticlockwise direction, has the strength that the Nose Left of aircraft is deflected for the lift of generation.
In present embodiment, the lift component that the first driver element 5 and the 3rd driver element 7 produce and anti-twisted moment all make the head of aircraft produce the moment deflected to the right.
In present embodiment, the lift component that the second driver element 6 and four-wheel drive unit 8 produce and anti-twisted moment all make the head of aircraft produce the moment deflected left.
In present embodiment, because the inflow velocity of the first driver element 5 and four-wheel drive unit 8 increases, the inflow velocity of the second driver element 6 and the 3rd driver element 7 increases, and wake flow weakens, this kind of layout compares traditional quadrotor of plane figure, and rotor lift increases.
Detailed description of the invention two, as shown in Figure 3, the barycenter of aircraft is set to the initial point o of body axis system, x-axis, y-axis, z-axis are mutually vertical, in paper left, z-axis is outside perpendicular to paper for y-axis, x-axis in paper upwards, xoy plane is divided into four quadrants, x-axis direction is set to the heading of aircraft, z-axis, along aircraft longitudinal surface, points to top.
Four isometric supporting arms are removably mounted on body 1 by hinge structure, and each hold-down arm is connected with avionics system 2, first hold-down arm 401 and the 3rd hold-down arm 403 are at the projection conllinear of body axis system xoy plane, second hold-down arm 402 and the 4th hold-down arm 404 are at the projection conllinear of body axis system xoy plane, first hold-down arm 401 and the projection of the 4th hold-down arm 404 in body axis system xoy plane 90 ° of angles, first hold-down arm 401 and the projection in 90 ° angle of the second hold-down arm 402 in body axis system xoy plane, the end of four hold-down arms connects four drive motor in four driver elements respectively, the end of four hold-down arms connects four drive motor in four driver elements respectively, four drive motor all adopt brushless, permanently excited direct current motor.
In present embodiment, as shown in Figure 4, look, namely look along the x-axis direction from aircraft rear to head, the rotation axis 503 of the first driver element 5 deflects 45 ° in the projection of body axis system yoz plane along z-axis conter clockwise, i.e. θ
1=45 °, the rotation axis 603 of the second driver element 6 deflects 45 ° in the projection of body axis system yoz plane along z-axis conter clockwise, i.e. θ
2=45 °, the rotation axis 703 of the 3rd driver element 7 deflects 45 ° in the projection of body axis system yoz plane along z-axis cw, i.e. θ
3=-45 °, the rotation axis 803 of four-wheel drive unit 8 deflects 45 ° in the projection of body axis system yoz plane along z-axis cw, i.e. θ
4=-45 °.
In present embodiment, rotor 501 clickwise of the first driver element 5, upwards and inclined left rear, anti-twisted moment is anticlockwise direction, has the strength that the Nose Left of aircraft is deflected for the lift of generation.
In present embodiment, rotor 601 left-hand revolution of the second driver element 6, upwards and inclined left front, anti-twisted moment is clockwise direction, has the strength that the Airplane Nose Right of aircraft is deflected for the lift of generation.
In present embodiment, rotor 701 clickwise of the 3rd driver element 7, upwards and inclined right front, anti-twisted moment is anticlockwise direction, has the strength that aircraft Nose Left is deflected for the lift of generation.
In present embodiment, rotor 801 left-hand revolution of four-wheel drive unit 8, upwards and inclined right rear, anti-twisted moment is clockwise direction, has the strength that the Airplane Nose Right of aircraft is deflected for the lift of generation.
In present embodiment, the lift component that the first driver element 5 and the 3rd driver element 7 produce and anti-twisted moment all make the head of aircraft produce the moment deflected left.
In present embodiment, the lift component that the second driver element 6 and four-wheel drive unit 8 produce and anti-twisted moment all make the head of aircraft produce the moment deflected to the right.
Detailed description of the invention three, as shown in Figure 5, the barycenter of aircraft is set to the initial point o of body axis system, x-axis, y-axis, z-axis are mutually vertical, in paper left, z-axis is outside perpendicular to paper for y-axis, x-axis in paper upwards, xoy plane is divided into four quadrants, x-axis direction is set to the heading of aircraft, z-axis, along aircraft longitudinal surface, points to top.
Four isometric supporting arms are removably mounted on body 1 by hinge structure, and each hold-down arm is connected with avionics system 2, first hold-down arm 401 and the 3rd hold-down arm 403 are at the projection conllinear of body axis system xoy plane, second hold-down arm 402 and the 4th hold-down arm 404 are at the projection conllinear of body axis system xoy plane, first hold-down arm 401 and the projection of the 4th hold-down arm 404 in body axis system xoy plane 90 ° of angles, first hold-down arm 401 and the projection in 90 ° angle of the second hold-down arm 402 in body axis system xoy plane, the end of four hold-down arms connects four drive motor in four driver elements respectively, the end of four hold-down arms connects four drive motor in four driver elements respectively, four drive motor all adopt brushless, permanently excited direct current motor.
In present embodiment, as shown in Figure 6, look, namely look along the x-axis direction from aircraft rear to head, the rotation axis 503 of the first driver element 5 deflects 10 ° in the projection of body axis system yoz plane along z-axis cw, i.e. θ
1=-10 °, look along the x-axis direction, the rotation axis 603 of the second driver element 6, in the vertical y-axis of projection of body axis system yoz plane, is looked along the y-axis direction, the rotation axis 603 of the second driver element 6 deflects 10 ° along z-axis conter clockwise hour hands, i.e. θ in the projection of body axis system xoz plane
2=10 °, look along the x-axis direction, the rotation axis 703 of the 3rd driver element 7 deflects 10 ° in the projection of body axis system yoz plane along z-axis conter clockwise, i.e. θ
3=10 °, look along the x-axis direction, the rotation axis 803 of four-wheel drive unit 8, in the vertical y-axis of projection of body axis system yoz plane, is looked along the y-axis direction, the rotation axis 803 of four-wheel drive unit 8 deflects 10 ° in the projection of body axis system xoz plane along z-axis cw, i.e. θ
4=-10 °.
In present embodiment, rotor 501 left-hand revolution of the first driver element 5, upwards and inclined right front, anti-twisted moment is clockwise direction, has the strength that the Airplane Nose Right of aircraft is deflected for the lift of generation.
In present embodiment, rotor 601 clickwise of the second driver element 6, upwards and inclined right rear, anti-twisted moment is anticlockwise direction, has the strength that the Nose Left of aircraft is deflected for the lift of generation.
In present embodiment, rotor 701 left-hand revolution of the 3rd driver element 7, upwards and inclined left rear, anti-twisted moment is clockwise direction, has the strength that aircraft Airplane Nose Right is deflected for the lift of generation.
In present embodiment, rotor 801 clickwise of four-wheel drive unit 8, upwards and inclined left front, anti-twisted moment is anticlockwise direction, has the strength that the Nose Left of aircraft is deflected for the lift of generation.
In present embodiment, the lift component that the first driver element 5 and the 3rd driver element 7 produce and anti-twisted moment all make the head of aircraft produce the moment deflected to the right.
In present embodiment, the lift component that the second driver element 6 and four-wheel drive unit 8 produce and anti-twisted moment all make the head of aircraft produce the moment deflected left.
The flight theory of quadrotor of the present invention is described for specific embodiment one: four driver elements install the rotor of identical aeroperformance and profile, when rotor rotates with identical rotating speed size, it is zero that this aircraft closes torsion, regulate four driver element rotating speeds make the lift of generation z-axis make a concerted effort equal with gravity time, this aircraft hovers at certain altitude; When four driver element rotating speeds increase simultaneously or reduce, aircraft along the center shaft of body 1 and z-axis direction rising or declining, can realize vertical flight; When to increase the rotating speed of the first driver element 5 and the second driver element 6 simultaneously, and reduce the rotating speed of the 3rd driver element 7 and four-wheel drive unit 8, aircraft is rolling to the right, otherwise aircraft is rolling left simultaneously; Maintain now rotating speed constant, aircraft is (or left) flight to the right, realizes horizontal flight; Increase the rotating speed of the 3rd driver element 7 and the second driver element 6 simultaneously, and reduce the rotating speed of the first driver element 5 and four-wheel drive unit 8 simultaneously, aircraft is bowed, otherwise aircraft comes back; Maintain now rotating speed constant, aircraft is (or backward) flight forward, realizes Longitudinal Flight; Increase the rotating speed of the first driver element 5 and the 3rd driver element 7 simultaneously, and reduce the rotating speed of the second driver element 6 and four-wheel drive unit 8 simultaneously, aircraft Airplane Nose Right deflects, otherwise aircraft Nose Left deflects, and realizes aircraft and horizontally rotates.
Claims (8)
1. quadrotor, comprise body (1), be arranged on the take-off and landing device (3) of the inner avionics system (2) of body (1) and outside and be fixed on the working load module of body (1) below, described take-off and landing device (3) comprises skid bar (301) that two heads upwarp and two and intersects the skid beam (302) installed, it is characterized in that, also comprise and to be connected with avionics system (2) and four the isometric hold-down arms be removably mounted on body (1) by the hinge structure driver element identical with four structures being arranged on hold-down arm end respectively, aircraft barycenter is set to body axis system initial point, x-axis direction is set to the heading of aircraft, z-axis is along aircraft longitudinal surface, point to top, four hold-down arms angularly launch along body (1) center shaft to surrounding, each hold-down arm and 0 ° < α < 90 ° equal with the angle α of body (1) center shaft, four hold-down arms are projected as in body axis system xoy plane two straight lines that rotational symmetry intersects, the rotation axis of each driver element forms an angle theta with z-axis respectively in the projection of body axis system yoz plane or xoz plane,-65 °≤θ≤65 °, do not comprise 0, sign represents direction, four corner dimension equal directions are different, the rotation axis of each driver element is mutually vertical in the projection of body axis system xoy plane to the line of body axis system initial point with centre of gration in the projection of body axis system xoy plane, the controlling quantity of this attitude of flight vehicle adjustment comprises pitching, rolling, the lift total amount of driftage and z-axis,
Described four driver elements are respectively the first driver element (5), second driver element (6), 3rd driver element (7) and four-wheel drive unit (8), described first driver element (5) is positioned in first quartile or x-axis positive axis in the projection of body axis system xoy plane, described second driver element (6) is positioned in the second quadrant or y-axis positive axis in the projection of body axis system xoy plane, described 3rd driver element (7) is positioned at third quadrant or x-axis is born on semiaxis in the projection of body axis system xoy plane, described four-wheel drive unit (8) is positioned at fourth quadrant or y-axis is born on semiaxis in the projection of body axis system xoy plane,
The rotation axis (503) of described first driver element (5) is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
1, the rotation axis (603) of described second driver element (6) is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
2, the rotation axis (703) of described 3rd driver element (7) is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
3, the rotation axis (803) of described four-wheel drive unit (8) is θ in body axis system yoz plane or the projection of xoz plane and the angle of z-axis
4, θ
1, θ
2, θ
3, θ
4equal and opposite in direction, θ
1with θ
3direction is different, θ
2with θ
4direction is different.
2. quadrotor according to claim 1, is characterized in that, described driver element is made up of a rotor and a drive motor, and drive motor is fixed on hold-down arm end, and rotor is arranged on drive motor by output shaft.
3. quadrotor according to claim 1, is characterized in that, when θ get on the occasion of time, represent that the rotation axis of driver element deflects along z-axis conter clockwise in body axis system yoz plane or xoz plane; When θ gets negative value, represent that the rotation axis of driver element deflects along z-axis cw in body axis system yoz plane or xoz plane.
4. quadrotor according to claim 1, it is characterized in that, the rotor (501) of described first driver element (5) and the hand of rotation of the rotor (701) of the 3rd driver element (7) are cw simultaneously or are conter clockwise simultaneously, and the lift component that the first driver element (5) and the 3rd driver element (7) produce and anti-twisted moment make aircraft head produce the moment deflected to same direction;
The rotor (601) of described second driver element (6) and the hand of rotation of the rotor (801) of four-wheel drive unit (8) are conter clockwise simultaneously or are cw simultaneously, and the lift component that the second driver element (6) and four-wheel drive unit (8) produce and anti-twisted moment make aircraft head produce the moment deflected round about; The rotor (501) of described first driver element (5) is different from the hand of rotation of the rotor (601) of adjacent the second driver element (6), and the rotor (701) of the 3rd driver element (7) is different from the hand of rotation of the rotor (801) of adjacent four-wheel drive unit (8).
5. quadrotor according to claim 1, it is characterized in that, described four hold-down arms are respectively the first hold-down arm (401), second hold-down arm (402), 3rd hold-down arm (403) and the 4th hold-down arm (404), described first hold-down arm (401) is positioned in first quartile or x-axis positive axis in the projection of body axis system xoy plane, described second hold-down arm (402) is positioned in the second quadrant or y-axis positive axis in the projection of body axis system xoy plane, described 3rd hold-down arm (403) is positioned at third quadrant or x-axis is born on semiaxis in the projection of body axis system xoy plane, described 4th hold-down arm (404) is positioned at fourth quadrant or y-axis is born on semiaxis in the projection of body axis system xoy plane.
6. quadrotor according to claim 5, it is characterized in that, described first hold-down arm (401) and the 3rd hold-down arm (403) are at the projection conllinear of body axis system xoy plane, described second hold-down arm (402) and the projection conllinear of the 4th hold-down arm (404) in body axis system xoy plane, described first hold-down arm (401) and the 4th hold-down arm (404) project into 60 ° of angles in body axis system xoy plane, described first hold-down arm (401) and the second hold-down arm (402) project into 120 ° of angles in body axis system xoy plane.
7. quadrotor according to claim 5, it is characterized in that, described first hold-down arm (401) and the 3rd hold-down arm (403) are at the projection conllinear of body axis system xoy plane, described second hold-down arm (402) and the projection conllinear of the 4th hold-down arm (404) in body axis system xoy plane, described first hold-down arm (401) and the projection in 90 ° angle of the 4th hold-down arm (404) in body axis system xoy plane, described first hold-down arm (401) and the second hold-down arm (402) the projection angle in 90 ° in body axis system xoy plane.
8. quadrotor according to claim 1; it is characterized in that; the outside of each driver element is provided with a collision prevention device for the protection of rotor; collision prevention device is circular ring structure or cylindrical structure, and collision prevention device to be removably mounted on supporting arm and to be surrounded therein by driver element.
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| CN201310310717.1A CN103387051B (en) | 2013-07-23 | 2013-07-23 | Quadrotor |
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| CN201310310717.1A CN103387051B (en) | 2013-07-23 | 2013-07-23 | Quadrotor |
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