CN105217053B

CN105217053B - Parallel speed regulation method for asynchronous motor multi-shaft aircraft with transformer and product

Info

Publication number: CN105217053B
Application number: CN201510595391.0A
Authority: CN
Inventors: 施国樑
Original assignee: Haining Yimange Solar Energy Technology Co Ltd
Current assignee: Haining Yimange Solar Energy Technology Co Ltd
Priority date: 2015-09-18
Filing date: 2015-09-18
Publication date: 2020-12-18
Anticipated expiration: 2035-09-18
Also published as: CN105217053A

Abstract

The asynchronous motor multi-shaft aircraft with the transformer adopts a parallel speed regulation method of the asynchronous motor multi-shaft aircraft with the transformer, comprises an aircraft body, an electric rotor, a flight state computer control system and the transformer, and is characterized in that a power transmission line, an external alternating current power supply and an electrical load of the aircraft form a loop; grouping the motors, and connecting three-phase windings of each group of motors in series to form three branches, wherein each branch is connected with a power supply; connecting the multifunctional modules in parallel for each motor winding; the multifunctional module comprises a flight control circuit, a controllable rectifier, a rechargeable battery, an electric load and a dummy load; the flight control circuit is in signal connection with the flight state computer control system host and is controlled by the flight control circuit, and the state of each motor and the state of the aircraft are changed and controlled by changing the state of the multifunctional module. The invention can save the weight of a plurality of batteries by means of an external power supply facility and has the capability of long-time flight in the air.

Description

Parallel speed regulation method for asynchronous motor multi-shaft aircraft with transformer and product

Technical Field

The invention relates to a parallel speed regulation method of an asynchronous motor multi-shaft aircraft with a transformer and a product.

Background

The existing multi-axis aircraft is driven by a battery and can fly freely within a certain space range. However, since the dead time is limited by the battery capacity, a new power supply method needs to be developed. The multi-axis aircraft adopts multi-axis rotor wing symmetrical arrangement, when the initial state is hovering, the rotating speed of one or 2 to 3 adjacent rotor wings is properly slowed down and the total lift force is unchanged, and the axial lead of the aircraft tilts due to the fact that the lift force of the rotor wing with the slowed speed is correspondingly reduced, so that the wind power of each rotor wing generates a horizontal component to push the aircraft to move horizontally along the direction of the position of the rotor wing with the slowed speed. The existing multi-axis aircraft is mostly powered by batteries, and the dead time of the existing multi-axis aircraft is relative to the battery capacity and is relatively short. In view of the advantages of asynchronous motors and the fact that we propose wired power supply from an external power source, there is a need to develop ac governor technology suitable for multi-axis aircraft.

Disclosure of Invention

The invention aims to provide a parallel speed regulation method of an asynchronous motor multi-shaft aircraft with a transformer and a product.

The invention solves the technical problem by adopting a parallel speed regulation method of an asynchronous motor multi-shaft aircraft with a transformer, which comprises the following steps: manufacturing an asynchronous motor multi-shaft aircraft with a transformer, wherein the aircraft comprises an aircraft body, a plurality of electric rotors, an aircraft load, a flight state computer control system, a remote controller and the transformer, the flight state computer control system comprises a satellite positioning terminal, an accelerometer, a magnetometer, an air pressure sensor, a gyroscope and a communication module, and an alternating current power supply comprises an alternating current power supply introduced from the outside by adopting a power transmission line; the motor of the electric rotor wing is introduced by taking a three-phase alternating current asynchronous motor as an example, and the conditions except the three-phase alternating current asynchronous motor can be realized by referring to the contents;

dividing each alternating current asynchronous motor for driving the electric rotor into more than one motor set according to two groups which are spatially and axially symmetrically distributed, connecting three-phase windings of the motor of each motor set in series to form three branches, and connecting all the branches formed by each motor set with a power supply in a series or parallel mode;

at least one phase winding or part of windings of each motor are symmetrically connected in parallel with a multifunctional module, and the multifunctional modules are uniformly distributed on each phase power supply as far as possible;

the multifunctional module comprises a flight control circuit, a controllable rectifier, a rechargeable battery, an electric load and a dummy load. Controllable rectification regulates its power output by varying the on-time of the rectifying device. The electricity utilization load comprises a voltage stabilizing filter circuit, a flight state computer control system, a flight control circuit, a detection device for detecting the current and the voltage of each multifunctional module, a radio receiving and transmitting circuit and all other possible electricity utilization devices; the dummy load comprises a variable resistor, a fixed resistor device and a controllable silicon connected in series with the fixed resistor device, and is used for consuming electric energy to influence the states of the parallel rotor motors and all the rotor motors; when the flight control circuit works normally, the flight control circuit can completely take electricity from the rechargeable battery and does not take electricity from the controllable rectification; the flight control circuit is used as one part of the flight state computer control system and is in signal connection with and controlled by the flight state computer control system host. Changing the state of controlling the motors and the aircraft by changing the state of the multifunctional module comprises: according to the requirement, when the state control of the aircraft requires to fly to a certain direction, the multifunctional module connected in parallel with the rotor motor in the direction can consume a certain amount of current under the guidance of a gyroscope, specifically, the method comprises the step of prolonging the turn-on time of a thyristor of a dummy load branch of the related multifunctional module or reducing the resistance value of a variable resistor, so that the lift force of the rotor is reduced due to the fact that the bypass current of the motor is increased, the input power of the rotor is reduced, the lift force is also reduced, the axis line of the aircraft is inclined, and the lift force of the aircraft generates a horizontal component towards the direction to push the aircraft to move towards the direction. And the silicon controlled rectifier connected with the dummy load in series is used as an execution component of the flight control circuit, so that the power control of the flight control circuit on each multifunctional module is ensured. Problems that may result in insufficient lift of the aircraft because of increased use of electrical energy by the multi-function module may be addressed in other ways, including increasing the voltage of an external three-phase ac power supply. The electric load with proper properties can also be connected with the branches formed by all the motors in series or in parallel.

The invention realizes the technical scheme of the purpose according to the method: manufacturing an asynchronous motor multi-shaft aircraft, wherein the asynchronous motor multi-shaft aircraft with the transformer parallel speed regulation method comprises an aircraft body, a plurality of electric rotors, aircraft loads, a flight state computer control system, a remote controller and a transformer, wherein the flight state computer control system comprises a satellite positioning terminal, an accelerometer, a magnetometer, an air pressure sensor, a gyroscope and a communication module, and three power transmission lines, an external three-phase alternating current power supply and the electric loads of the aircraft form a loop;

at least one winding or a part of one winding of each motor is connected with a multifunctional module in parallel, and each branch circuit at least comprises one multifunctional module; the multifunctional module comprises a flight control circuit, a controllable rectifier, a rechargeable battery, an electric load and a dummy load; the controllable rectification adjusts the electric energy output of the rectifying device by changing the turn-on time of the rectifying device; the electricity utilization load comprises a voltage stabilizing filter circuit, a flight state computer control system, a flight control circuit, a detection device for detecting the current and the voltage of each multifunctional module, a radio receiving and transmitting circuit and all other possible electricity utilization devices; the dummy load comprises a variable resistor, a fixed resistor device and a controllable silicon connected in series with the fixed resistor device; when the flight control circuit works normally, the flight control circuit can completely take electricity from the rechargeable battery and does not take electricity from the controllable rectification; the flight control circuit is used as a part of the flight state computer control system, is in signal connection with the flight state computer control system host and is controlled by the flight control circuit host, and the state of each motor is changed and controlled by changing the state of the multifunctional module.

The spraying machine set can also be formed and comprises two multi-axis aircrafts, a pesticide spraying aircraft, an auxiliary aircraft and a tracking trolley, wherein the tracking trolley is provided with an automatic coiling device, an automatic coiling and uncoiling device of a water delivery pipe, an external power supply and a pesticide tank; connecting an external power supply with an electric load on an aircraft unit by using a power transmission line, wherein the spraying aircraft comprises a spraying port, and a conveying pipe of which two ends are respectively communicated with the spraying port and a pesticide tank is adopted, or;

forming a seeding unit which comprises two multi-axis aircraft seeding aircrafts, an auxiliary aircraft and a tracking trolley, wherein the tracking trolley is loaded with an automatic coiling device, an external power supply, an automatic coiling and uncoiling device of a seed conveying pipe and a seed bin; the seeding aircraft is connected with an external power supply and an electric load on an aircraft unit by a power transmission line, comprises a seeding module and adopts a seed conveying pipe, and two ends of the seed conveying pipe are respectively communicated with the seeding module and a seed bin.

Governing as used herein includes controlling the condition of the aircraft.

Rotorcraft includes a mast that includes a single wing and two wings and a multi-axis rotorcraft.

The invention has the beneficial effects that: the asynchronous motor multi-shaft aircraft with the transformer can save the weight of a plurality of batteries and has the capacity of long-time idle flight by means of an external power supply facility when only a fixed point or a small range of the relevant aircraft is needed. Amateur photographers can also use the aircraft of the invention to shoot to obtain a semi-empty shooting effect similar to that of large-scale shooting facilities.

Drawings

Fig. 1 is a schematic diagram of a power line load sharing configuration for an upper aircraft using a lower aircraft.

Fig. 2 is a schematic top view of a 4-axis rotary wing drone.

FIG. 3 is a functional block diagram of a multifunction module.

Fig. 4 is a circuit diagram of a 4-axis aircraft with 4 asynchronous motors connected in series.

Figure 5 is a schematic diagram of the operation of an agricultural spray rotor aircraft unit.

FIG. 1. an aircraft; 2. a body; 4. a remote controller; 5. an external power supply; 6. a power transmission line; 7. an automatic wire winding device; 13. three-terminal double-plug automatic wire connectors; 14. an unmanned ship; 15. a water surface; 16. a socket; 17. a plug; 18. an automatic plug locker; 19. an electric rotor; 21. a spring; 22. a resisting block; 23. electrically pressing the tongue; 24. an electric reel; 25. a base; 26. a bifurcated terminal; 27. a monitor; 28. an acceleration sensor; 29. an automatic wire winding device; 42. 43, 44, 45. electric rotor; 42.1, 43.1, 44.1, 45.1 motors; 46. a parachute; 47. a variable resistor; 48-51, a multifunction module; 53. controllable rectification; 54. a rechargeable battery; 55. an electricity load; 56. a dummy load; 57. a transformer; 58. a winding; 68. a pesticide spraying aircraft; 69. an auxiliary aircraft; 70. a take-off and landing platform; 71. an agricultural chemical tank; 72. tracking the trolley; 73. a spray port; 74. a delivery pipe; 75. a seeding aircraft; 76. a seed bin; 77. a seeding module; 78. seed conveying pipe.

Detailed Description

Example 1 is given in figure 1.

In embodiment 1, two asynchronous motor multi-shaft rotor craft 1 are connected in series with an automatic winding device 7 on the ground through a common group of power transmission lines 6 and take power from an external power supply 5. The automatic wire winding device 7 includes an electric reel 24 and two bases 25 connected to the electric reel 24. And inside the upper aircraft 1 there is also provided an automatic line reeling device 29, including an electrically powered reel 24. For receiving and storing the power transmission line 6 located below. The series connection mode and the power transmission line arrangement mode are beneficial to the flying of the upper aircraft to be higher and more free because the lower aircraft bears a large part of the weight of the power transmission line.

The single aircraft adopts the automatic wire coiling device 29, is suitable for flying close to the ground without dragging the power transmission line, can avoid or greatly reduce the abrasion and trip of the power transmission line, and can pack up the power transmission line to realize the reutilization.

In example 1, the following aircraft uses three bare steel wires as power lines, and three power lines 6 are led out using a bifurcated terminal 26, each of which is individually housed using an automatic winding device. The bare steel wire does not need an insulating layer, is favorable for heat dissipation, has light weight and does not have the problem of insulating layer abrasion.

The surface of the three bare steel wire power lines near the upper bifurcated terminal 26 may also be provided with an insulating layer because the upper portions will collide first once the three power lines are wound.

A monitor 27 may also be provided on the aircraft in signal communication with the flight status computer control system host, the monitor 27 reporting to the flight status computer control system when it is known that the three power lines are in a dangerous condition, so that power is cut off in time to avoid an accident.

An acceleration sensor 28 is also provided on the aircraft in signal communication with the flight status computer control system host, and reports to the flight status computer control system when it is known that a problem with the status of the aircraft includes a horizontal rotation of more than 100 degrees making it possible for three power lines to wind, in order to cut off power in time to avoid an accident.

The automatic wire winding device may further include a wire winding and unwinding control circuit and a wire winding and unwinding execution section. The wire take-up and pay-off executing component comprises an interface circuit in signal connection with the wire take-up and pay-off control circuit, and the state of the automatic wire take-up device is changed according to the change of the state of the control circuit; the control circuit is networked with the flight state computer control system.

In embodiment 1, the inner surface of the electric reel 24 is connected to the heat absorbing coil of a compressor cooling device in a heat-transferring manner, so that the temperatures of two layers of power transmission lines tightly attached to the inner surface of the electric reel 24 are greatly reduced to maintain good working conditions. When most of the power lines are left on the surface of the electric reel, the aircraft has fewer loaded power lines, light load and smaller current of the power lines.

Two layers of transmission lines with the diameter of 2 millimeters are wound on an electric reel with the length of 1 meter and the outer diameter of 0.67 meter, and the length of the transmission lines reaches 2 kilometers.

Example 2 is given in figures 2 to 4.

In embodiment 2, a 4-axis asynchronous motor rotor aircraft 1 includes a fuselage 2,

electric rotors

42, 43, 44, 45 driven by 4 ac asynchronous motors 42.1, 43.1, 44.1, 45.1, and a parachute 46. The three-phase stator coils of 4 motors 42.1, 43.1, 44.1 and 45.1 which are circled by a round-corner rectangular dashed frame are respectively connected in series two by two to form three branches; the ends of the three branches are connected in parallel. The three-phase stator coils of the 4 motors 42.1, 43.1, 44.1 and 45.1 are connected to the corresponding taps of the autotransformer 57.

The transformer 57 is connected with the external controllable three-phase alternating current power supply 5 through the bare steel wire power transmission line 6, the automatic winding device 7 and the variable resistor 47. Since the voltage and current of all the corresponding phase windings 58 of the motor are equal, the state of the motor is also equal, but the rotation directions of the motor are required to be two positive and two negative.

The 4 motors 42.1, 43.1, 44.1 and 45.1 are divided into two groups, each group of motors is symmetrically arranged in the space by the axial lead of the aircraft, and the rotating directions are opposite to mutually counteract the rotating reaction force of the motor rotor and the rotor wing. It can be seen from the rectangular plane coordinate system of fig. 2 that: the

electric rotors

42, 43, 44, 45 are respectively positioned in the 1 st, 2 nd, 3 rd, 4 th and four th quadrants.

By tapping the motor windings 58 of the 4

electric rotors

42, 43, 44, 45, a total of 4

multifunctional modules

48, 49, 50, 51 are connected in parallel at the taps and the ends of the relevant windings 58. The windings 58 of the motor are tapped to obtain a lower voltage to match the weak current load.

The

multifunction modules

48, 49, 50, 51 include flight control circuitry, controllable rectifier 53, rechargeable battery 54, electrical load 55, and dummy load 56. Controllable rectifier 53 regulates its power output by varying the on-time of the rectifying device. The electricity utilization load 55 comprises a voltage-stabilizing filter circuit, a flight state computer control system, a flight control circuit, a radio receiving and transmitting circuit and all other possible electricity utilization devices; the dummy load 56 includes a resistor device and is connected in series with a thyristor. The rechargeable battery 54 also has a voltage-stabilizing and filtering function; when each flight mission is finished, the residual electric energy is detected and charged and discharged to a set range, such as 62% to 65% of full charge. The function of the flight control circuit includes control of the motor. The flight control circuit can take power from the rechargeable battery 54 completely without controlled rectification during normal operation. The flight control circuit is used as one part of the flight state computer control system and is in signal connection with and controlled by the flight state computer control system host. According to the requirement, when the state control of the aircraft requires to fly to a certain direction, the multifunctional module connected in parallel with the rotor motor in the certain direction can consume a certain amount of current, specifically, the on-time of the silicon controlled rectifier of the dummy load branch of the related multifunctional module is longer, so that the lift force of the rotor is reduced because the bypass current of the motor is increased, the self input power of the rotor is reduced, the lift force is also reduced, the axial lead of the aircraft is inclined, and the lift force of the aircraft generates a horizontal component towards the direction to push the aircraft to move towards the direction. And the silicon controlled rectifier connected with the dummy load in series is used as an execution component of the flight control circuit, so that the power control of the flight control circuit on each multifunctional module is ensured.

The power of the asynchronous machines 42.1, 43.1, 44.1, 45.1 is from maximum to minimum when the current through the

multifunctional modules

48, 49, 50, 51 is from zero to maximum.

The state control of the aircraft comprises:

by adjusting the voltage and/or frequency of the externally controllable three-phase ac supply, and adjusting the respective variable resistors 52, power control and/or speed control of the motors can be achieved to achieve state control of the aircraft 1 including ascent, airborne standstill, descent and stoppage.

The principle of using the

multifunctional modules

48, 49, 50, 51 to adjust the flight status can be briefly described as follows: the control of the state of the aircraft is achieved by changing the state of one or several of the motors by synchronously adjusting the power of one or several of the

multifunctional modules

48, 49, 50, 51 when the aircraft 1 is in the hovering state. Such as:

having the electrical power of the

multifunctional module

48, 51 connected in parallel with the motor windings 58 of the two

electric rotors

42, 45 in

quadrants

1 and 4 greater than the electrical power of the other two

multifunctional modules

49, 50 reduces the power of the motors associated with the

electric rotors

45, 42 while increasing the power of the motors associated with the

electric rotors

43, 44 and causes the spatial altitude of the

electric rotors

45, 42 to be slightly lower than the spatial altitude of the

electric rotors

43, 44, which causes the aircraft 1 to start flying in the direction of the Y-axis arrow or in the due north direction. At this point, by balancing the electrical power of the 4

multifunction modules

48, 49, 50, 51 in synchronism, the power of the

electric rotors

45, 42 will be restored and cause the

electric rotors

42, 43, 44, 45 to be at the same altitude and the aircraft to resume an airborne state of rest.

In the same way, reducing the power of the two electric rotor related motors in the two right quadrants in the 4 quadrants can cause the aircraft to fly in the direction of the right east. … … and, because the mechanisms for changing the flight of the aircraft can be superimposed, it is possible to achieve that the aircraft can fly in any direction. The techniques for controlling the state of an aircraft may also be referred to utilizing existing techniques.

It is of course also possible to supply the relevant multifunctional module with power not tapped from the middle of the winding 58 of the motor but directly from both ends of the winding of the motor, and the above-described manner of changing the flight state of the aircraft 1 still holds.

Even if all three multifunctional modules are in a full power and charging state, the aircraft can still fly normally because the input of an external power supply can be increased.

When the external power supply 5 can not supply power normally, the power line 6 is pulled out through the automatic wire connector and each parachute 46 is opened, and the aircraft 1 descends at a sufficiently slow speed under the action of the parachutes 46; each power line 6 is also lowered at a slower speed by the parachute 46 so that the automatic wire winding device 7 normally winds the wire.

The beneficial effects of embodiment 2 include: the controllable three-phase alternating current power supply of about 1520 volts loaded on the aircraft is used for driving 4 alternating current asynchronous motors of electric rotors with the working voltage of 380 volts, and because the power supply voltage is high, the current of a power transmission line is correspondingly reduced, the heat loss in a square relation with the current is greatly reduced, and the thinner and lighter power transmission line is convenient to adopt; the flight power control is conveniently realized by adjusting the power supply voltage of the external controllable three-phase alternating-current power supply by adopting a regulating transformer.

Although the danger of using an ac power supply is increased, it is more reasonable than using four inverter modules for powering the motors of 4 electric rotors. Although the high voltage power supply increases the insulation requirements of the motor, the current is reduced to a quarter, which is considered to be worth.

This grouping of the motors of the electric rotor, with the associated windings 58 of each motor in series, can also be used to use higher voltage designs when other motors are used.

In fig. 3, there are two dotted frames, and the circuit of the right dotted frame is connected in series with the circuit of the left side.

Example 3 is given in figure 5.

In embodiment 3, the spraying unit comprises two multi-axis aircraft spraying aircrafts 68, an auxiliary aircraft 69 and a tracking trolley 72, wherein the tracking trolley 72 is provided with an automatic wire winding device 7, an automatic winding and unwinding device of a water delivery pipe 74, an external power supply 5, a take-off and landing platform 70 and a pesticide tank 71. An external power supply 5 is connected with an electric load on an aircraft unit by a power transmission line 6, a spraying port 73 is arranged on the spraying aircraft, and a conveying pipe 74 with two ends respectively communicated with the spraying port 73 and the pesticide tank 71 is adopted. The pesticide tank 71 is provided with a liquid medicine lifting device including a booster pump. The tracking trolley 72 automatically tracks the auxiliary aircraft 69. The spraying port 73 is a tube with a row of holes on one side, and the spraying port 73 can be referred to the prior art.

The working principle outline of the embodiment 3 is as follows: the system power-on self-test comprises that the auxiliary aircraft 69 and the pesticide spraying aircraft 68 are sequentially lifted from the take-off and landing platform 70 to hover; then the tracking trolley 72 arrives at the site along with the spraying machine set, and the pesticide tank 71 starts a pesticide lifting device to carry out pesticide spraying operation. And a supply vehicle is adopted to timely add the pesticide into the pesticide tank. During the operation, the automatic winding device 7 and the automatic winding and unwinding device of the water delivery pipe 74 automatically wind and unwind the power line 6 and the water delivery pipe 74. After the operation is finished, the liquid medicine lifting device reversely sucks the liquid medicine back to the pesticide tank 71. The two aircraft are then landed on the take-off and landing platform 70 and the warehouse is withdrawn.

Because the long-time continuous operation can be realized, the working efficiency of the pesticide spraying aircraft is 3 times higher than that of the existing pesticide spraying aircraft which can only work for minutes, and staff for replacing batteries are not needed. And the spraying operation is not interrupted, so that the spraying is not missed or excessive. High efficiency also means that locusts can be killed within hours without letting them escape. The wind of the rotorcraft helps the agent to reach the back of the plant foliage, which is a unique advantage.

The auxiliary aircraft 69 shares the weight of the water delivery pipe 74 and the power transmission line 6, so that the pesticide spraying aircraft 68 is connected with the power transmission line 6 from the upper part of the aircraft body, and the freedom degree of pesticide spraying is increased; the support of the auxiliary vehicle 69 also makes it possible to increase the distance and the area over which the spraying vehicle 68 operates.

The alternating current power supply can be obtained by other modes including the inversion of a storage battery and other direct current.

Claims

1. The parallel speed regulation method of the asynchronous motor multi-shaft aircraft with the transformer comprises the following steps: manufacturing an asynchronous motor multi-axis aircraft, which comprises an aircraft body, a plurality of electric rotors, an aircraft load, a flight state computer control system, a remote controller and a transformer, wherein the flight state computer control system comprises a satellite positioning terminal, an accelerometer, a magnetometer, an air pressure sensor, a gyroscope and a communication module; the motor of the electric rotor wing is introduced by taking a three-phase alternating current asynchronous motor as an example, and the conditions except the three-phase alternating current asynchronous motor can be realized by referring to the contents;

the multifunctional module comprises a flight control circuit, a controllable rectifier, a rechargeable battery, an electric load and a dummy load; the controllable rectification adjusts the electric energy output of the rectifying device by changing the turn-on time of the rectifying device; the electricity utilization load comprises a voltage stabilizing filter circuit, a flight state computer control system, a flight control circuit, a detection device for detecting the current and the voltage of each multifunctional module, a radio receiving and transmitting circuit and all other possible electricity utilization devices; the dummy load comprises a variable resistor, a fixed resistor device and a controllable silicon connected in series with the fixed resistor device; when the flight control circuit works normally, the flight control circuit can completely take electricity from the rechargeable battery instead of the controllable rectification, which means the increase of the lift force; the flight control circuit is used as one part of the flight state computer control system and is in signal connection with and controlled by a flight state computer control system host; changing the state of controlling the motors by changing the state of the multi-function module includes: according to the requirement, when the state control of the aircraft requires to fly to a certain direction, the multifunctional module connected in parallel with the rotor motor in the direction can consume a certain amount of current under the guidance of a gyroscope, specifically, the method comprises the steps of prolonging the turn-on time of a thyristor of a dummy load branch of the related multifunctional module or reducing the resistance value of a variable resistor, so that the lift force of the rotor is reduced due to the fact that the bypass current of the motor is increased, the input power of the rotor is reduced, the lift force is also reduced, the axis line of the aircraft is inclined, and the lift force of the aircraft generates a horizontal component towards the direction to push the aircraft to move towards the direction; the controllable silicon connected with the dummy load in series is used as an execution component of the flight control circuit to ensure the power control of the flight control circuit on each multifunctional module; problems that may result in insufficient lift of the aircraft due to increased use of electrical energy by the multi-function module may be addressed in other ways, including increasing the voltage of an external three-phase ac power supply; the electric load with proper properties can also be connected with the branches formed by all the motors in series or in parallel.

2. The asynchronous motor multi-axis aircraft with the transformer adopts the parallel speed regulation method of the asynchronous motor multi-axis aircraft with the transformer of claim 1, the aircraft comprises an aircraft body, a plurality of electric rotors, an aircraft load, a flight state computer control system, a remote controller and the transformer, the flight state computer control system comprises a satellite positioning terminal and a communication module, and the asynchronous motor multi-axis aircraft is characterized in that three power transmission lines, an external three-phase alternating current power supply and an electric load of the aircraft form a loop;

at least one winding or a part of one winding of each motor is connected with a multifunctional module in parallel, and each branch circuit at least comprises one multifunctional module; the multifunctional module comprises a flight control circuit, a controllable rectifier, a rechargeable battery, an electric load and a dummy load; the controllable rectification adjusts the electric energy output of the rectifying device by changing the turn-on time of the rectifying device; the electricity utilization load comprises a voltage stabilizing filter circuit, a flight state computer control system, a flight control circuit, a detection device for detecting the current and the voltage of each multifunctional module, a radio receiving and transmitting circuit and all other possible electricity utilization devices; the dummy load comprises a variable resistor, a fixed resistor device and a controllable silicon connected in series with the fixed resistor device; when the flight control circuit works normally, the flight control circuit can completely take electricity from the rechargeable battery and does not take electricity from the controllable rectification; the flight control circuit is used as one part of the flight state computer control system and is in signal connection with and controlled by the flight state computer control system host.

3. The asynchronous motor multi-shaft aircraft with the transformer as claimed in claim 1, wherein a spraying unit is formed, comprising two multi-shaft aircraft spraying aircrafts, an auxiliary aircraft and a tracking trolley, wherein the tracking trolley is loaded with an automatic winding device, an automatic winding and unwinding device of a water delivery pipe, an external power supply and a pesticide tank; connecting an external power supply with an electric load on an aircraft unit by using a power transmission line, wherein the spraying aircraft comprises a spraying port, and a conveying pipe of which two ends are respectively communicated with the spraying port and a pesticide tank is adopted, or;