CN105539834A - Composite-wing vertical take-off and landing unmanned aerial vehicle - Google Patents
Composite-wing vertical take-off and landing unmanned aerial vehicle Download PDFInfo
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- CN105539834A CN105539834A CN201610017284.4A CN201610017284A CN105539834A CN 105539834 A CN105539834 A CN 105539834A CN 201610017284 A CN201610017284 A CN 201610017284A CN 105539834 A CN105539834 A CN 105539834A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
- B64C5/06—Fins
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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Abstract
The invention discloses a composite-wing vertical take-off and landing unmanned aerial vehicle. A conventional fixed-wing aerodynamic layout is adopted to be combined with an X-shaped four-axis layout, and the aerial vehicle states such as vertical take-off and landing, hovering and high-speed cruising are achieved. The yaw control moment is increased through a variable-pitch propeller installed on a vertical tail and a four-axis motor which is installed on a wing and has a tilt angle, and the robustness and the control precision of the large-rotational-inertia composite-wing unmanned aerial vehicle in the low-speed flying state.
Description
Technical field
The present invention relates to vertical take-off and landing aircraft (VTOL aircraft) technical field, particularly relate to a kind of composite wing VUAV.
Background technology
Fixed-wing VUAV takes into account the vertical takeoff and landing ability of high-speed flight ability, for a long time boat ability and the multiaxis unmanned plane of fixed-wing unmanned plane, therefore, because its practical value, in the extensive high praise that industrial unmanned plane field fixed-wing VUAV obtains.
Existing fixed-wing VUAV is divided into three kinds of forms substantially: vert dynamical type, tailstock formula and composite wing formula.Wherein, composite wing vertical takeoff and landing scheme is based on conventional Fixed Wing AirVehicle, increase multiaxis power unit, according to multiaxis mode flight under vertical takeoff and landing and lower-speed state, overcome gravity by multiple screw propeller pulling force produced upwards and aerodynamic drag is flown; And at high speeds, according to fixed-wing mode flight, overcome gravity by wing aerodynamic lift, overcome aerodynamic drag by pulling force screw propeller forward.Compared with other modes, composite wing vertical takeoff and landing scheme is without the need to additional mechanism, and structure is simple; There is not significantly flight attitude change, navigation calculation is easy.Therefore, composite wing vertical takeoff and landing scheme is that current reliability is the highest, and VUAV scheme when the length that technical risk is minimum is navigated, becomes the focus in industrial unmanned plane research and development field.
But the driftage of multiaxis pattern controls to be restrict the practical difficult point of composite wing VUAV.The control of major part multiaxis unmanned plane completes by adjusting multiple motor speed simultaneously, there is control coupling in rolling, pitching and driftage, when the deviation of three direction command value and observed reading reaches higher level simultaneously, at least one motor speed is saturated, causes control ability to decline.The driftage control torque of multiaxis unmanned plane comes from the rotational resistance torque of screw propeller, its value is lower than the roll unloads moment produced by screw propeller pulling force and the arm of force and pitch control subsystem moment, when three directions or the command value of both direction (comprising yaw direction) and the deviation of observed reading larger time, yaw direction will first get out of hand ability.
Compare multiaxis unmanned plane due to composite wing unmanned plane and add the relative size such as fuselage, wing and the larger parts of weight, its yaw rotation inertia increment is larger, the problem that driftage control ability is on the low side is more sharp-pointed, and the lighter's attitude control accuracy declines, and severe one controls to disperse to cause aircraft accident.Control saturated although the parameter of adjustment controller and structure can delay driftage to a certain extent, fundamentally cannot eliminate the short slab of driftage control ability.
Summary of the invention
For the control problem of composite wing unmanned plane during flying attitude in above-mentioned prior art, the invention provides a kind of composite wing VUAV, for solving the driftage control ability problem under existing composite wing VUAV vertical takeoff and landing and low-speed condition.
For solving the problem, a kind of composite wing VUAV provided by the invention solves problem by following technical essential: a kind of composite wing VUAV, comprise fuselage, be fixed on fuselage and relative to the length direction symmetry of fuselage wing, be fixed on the Vertical Dynamic unit on wing and be fixed on fuselage flatly fly power unit, also comprise the vertical tail be fixed on fuselage, described vertical tail is also provided with driftage control unit and tailplane;
Described wing is fixed on middle fuselage, the trailing edge of described wing is hinged with two panels aileron, and two panels aileron is positioned at the not homonymy of fuselage;
Described Vertical Dynamic unit is four, and Vertical Dynamic unit comprises Vertical Dynamic screw propeller, motor and electronic governor, and described electronic governor is for controlling the rotating speed of motor, and described motor is for braking Vertical Dynamic propeller rotational;
The wing of fuselage both sides is provided with two Vertical Dynamic unit, and two the Vertical Dynamic unit being positioned at fuselage homonymy are positioned at the diverse location in fuselage length direction, four Vertical Dynamic unit are symmetrical between two relative to fuselage;
Described vertical tail is fixed on the upside of back body, and described vertical tail has through hole, and described driftage control unit is installed in described through hole, and described driftage control unit comprises can produce pulling force on the left of fuselage length direction or the feather screw propeller on right side; Described tailplane is symmetrical relative to the length direction of fuselage, and the trailing edge of tailplane is also hinged with elevating rudder; The described flat power unit that flies comprises producing and flies screw propeller along the flat of fuselage length direction pulling force.
Concrete, unmanned plane provided by the invention, when flying, has multiple state of flight: fast state, vertical takeoff and landing and lower-speed state.Under fast state, Vertical Dynamic unit does not work, and the flat pulling force flat screw propeller that flies forward flying power unit overcomes aerodynamic drag, and wing produces aerodynamic lift, overcomes gravity.Aileron provides roll unloads moment, and elevating rudder provides pitch control subsystem moment.
The pulling force that under vertical takeoff and landing and lower-speed state, the Vertical Dynamic screw propeller of Vertical Dynamic unit provides for overcoming full machine gravity, 4 Vertical Dynamic unit all have the rolling arm of force relative to unmanned plane center of gravity and the pitching arm of force, provide required roll unloads moment and pitch control subsystem moment by changing 4 screw propeller pulling force; Yaw direction has provides control torque by following approach: the feather screw propeller of driftage control unit has the driftage arm of force relative to unmanned plane center of gravity.
The composite wing VUAV provided of the present invention adopts the feather screw propeller that vertical tail is installed to provide yawing moment, because pitch speed of response is higher than rotating speed response speed, therefore feather screw propeller change yawing moment is faster, control compared with driftage with prior art by propeller rotational resisting moment, driftage control unit of the present invention improves the speed of response of driftage instruction, improves driftage control effects.
Further technical scheme is:
As the concrete connection scheme of Vertical Dynamic unit on wing, also comprise the two power unit mounting rods be fixedly connected with wing for Vertical Dynamic unit, two power unit mounting rods are individually fixed in the not homonymy of fuselage, and the length direction of mounting rod is parallel with the length direction of fuselage, the end of each power unit mounting rod is all fixed with a Vertical Dynamic unit.
In above structure, be convenient to realize when not changing wing dimension, two the Vertical Dynamic unit being positioned at fuselage homonymy being arranged spacing is comparatively far away, with when changing single Vertical Dynamic unit running state, obtaining the unmanned plane during flying state control effects of more benchmark.
Because unmanned plane provided by the invention is when vertical takeoff and landing, particularly when taking off, the pulling force that Vertical Dynamic unit provides need overcome the gravity of unmanned plane, for the benefit of the stressing conditions of power unit mounting rod and wing point of connection, and described power unit mounting rod is fixedly connected with the bottom surface of wing.
Yawing moment can be provided for this unmanned plane for making Vertical Dynamic unit, the Vertical Dynamic propeller axis of described Vertical Dynamic unit has the mounted angle of non-zero, the direction of tilt of Vertical Dynamic propeller axis is tilt to the left or to the right relative to the length direction of fuselage, with in the process of Vertical Dynamic propeller works, Vertical Dynamic unit can produce on the left of unmanned plane or the component on right side.
In this programme, the driftage control unit that this composite wing VUAV adopts can change yawing moment by changing feather propeller speed, and the pulling force that the mounted angle of Vertical Dynamic unit makes 4 Vertical Dynamic unit produce has horizontal component, namely, on the left of this unmanned plane or the horizontal component of force on right side, also driftage control torque can be provided; These two kinds of approach ensure that unmanned plane maximum yaw control torque of the present invention increases substantially compared to existing technology, avoid driftage and control the saturated negative effect that UAV Attitude is controlled, improve the robustness of unmanned plane, it is more remarkable that this beneficial effect embodies on the composite wing VUAV that yaw rotation inertia is relatively large.
The composite wing VUAV that this programme provides adopts driftage control unit to control driftage together with the inclination angle of Vertical Dynamic unit, makes driftage, rolling and pitch control subsystem decoupling zero become possibility; Distributed by control torque, Vertical Dynamic unit can be used for rolling and pitch control subsystem completely, and its yawing moment produced is offset by control unit of going off course, which decrease the control difficulty of unmanned plane, improve the control accuracy of composite wing VUAV.
In this programme, the screw propeller pulling force of 4 Vertical Dynamic unit has horizontal component and the driftage arm of force relative to center of gravity, driftage control torque can be produced, and the rotational resistance torque of Vertical Dynamic screw propeller is also basic along yaw direction, therefore, the rotating speed of these 4 screw propellers of change coordinated, can change yawing moment.
The trailing edge of described vertical tail is also hinged with yaw rudder.Described yaw rudder controls for realizing the driftage of this unmanned plane under high-speed flight state, in this technical scheme, by Vertical Dynamic unit, driftage control unit and driftage rudder, is convenient to obtain the driftage control torque larger to unmanned plane.Namely yaw rudder, Vertical Dynamic unit and driftage control unit all can independently provide driftage control torque, also can provide yawing moment simultaneously.
As for braking the flat specific implementation form flying the actuating device of propeller rotational, be combustion engine or motor for braking the flat actuating device flying propeller rotational.Preferably be set to actuating device and comprise combustion engine and motor, to make to fly screw propeller to flat there are two kinds of drive forms, be beneficial to the safety under the high-speed flight of this unmanned plane.
As the specific implementation form of driftage control unit, described driftage control unit also comprises yaw motor, driftage electronic governor and yaw control motor, described driftage electronic governor is for controlling the rotating speed of yaw motor, described yaw motor is for braking feather propeller rotational, and described yaw control motor is for changing the pitch of feather screw propeller.In this programme, the feather screw propeller of driftage control unit has the driftage arm of force relative to center of gravity, and the instruction coordinating to change driftage electronic governor and yaw control motor can adjust rotating speed and the pitch of feather screw propeller, corresponding change driftage control torque.
For ease of changing wing under unmanned plane high-speed flight state, the yawing moment that unmanned plane is produced and the size of rolling moment, the inclination angle of described aileron and wing, and the inclination angle of aileron and fuselage is all adjustable.
The present invention has following beneficial effect:
1, unmanned plane provided by the invention is when flying, and has multiple state of flight: fast state, vertical takeoff and landing and lower-speed state.Under fast state, Vertical Dynamic unit does not work, and the flat pulling force flat screw propeller that flies forward flying power unit overcomes aerodynamic drag, and wing produces aerodynamic lift, overcomes gravity.Aileron provides roll unloads moment, and elevating rudder provides pitch control subsystem moment.
2, the pulling force that under vertical takeoff and landing and lower-speed state, the Vertical Dynamic screw propeller of Vertical Dynamic unit provides for overcoming full machine gravity, 4 Vertical Dynamic unit all have the rolling arm of force relative to unmanned plane center of gravity and the pitching arm of force, provide required roll unloads moment and pitch control subsystem moment by changing 4 screw propeller pulling force; Yaw direction has provides control torque by following approach: the feather screw propeller of driftage control unit has the driftage arm of force relative to unmanned plane center of gravity.
3, the composite wing VUAV provided of the present invention adopts the feather screw propeller that vertical tail is installed to provide yawing moment, because pitch speed of response is higher than rotating speed response speed, therefore feather screw propeller change yawing moment is faster, control compared with driftage with prior art by propeller rotational resisting moment, driftage control unit of the present invention improves the speed of response of driftage instruction, improves driftage control effects.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of composite wing VUAV of the present invention specific embodiment;
Fig. 2 is the lateral plan of a kind of composite wing VUAV of the present invention specific embodiment.
Figure acceptance of the bid note is respectively: 1, fuselage, 2, wing, 3, power unit mounting rod, 4, Vertical Dynamic unit, 5, vertical tail, 6, driftage control unit, 7, tailplane, 8, flatly fly power unit.
Detailed description of the invention
The invention provides a kind of composite wing VUAV, for for the control problem of composite wing unmanned plane during flying attitude in prior art, technical scheme provided by the invention, can solve the driftage control ability problem under existing composite wing VUAV vertical takeoff and landing and low-speed condition.
Below in conjunction with embodiment, the present invention is described in further detail, but the present invention is not limited only to following examples:
Embodiment 1:
As depicted in figs. 1 and 2, a kind of composite wing VUAV, comprise fuselage 1, be fixed on fuselage 1 and relative to the length direction symmetry of fuselage 1 wing 2, be fixed on the Vertical Dynamic unit 4 on wing 2 and be fixed on fuselage 1 flatly fly power unit 8, also comprise the vertical tail 5 be fixed on fuselage 1, described vertical tail 5 is also provided with driftage control unit 6 and tailplane 7;
Described wing 2 is fixed on fuselage 1 stage casing, and the trailing edge of described wing 2 is hinged with two panels aileron, and two panels aileron is positioned at the not homonymy of fuselage 1;
Described Vertical Dynamic unit 4 is four, and Vertical Dynamic unit 4 comprises Vertical Dynamic screw propeller, motor and electronic governor, and described electronic governor is for controlling the rotating speed of motor, and described motor is for braking Vertical Dynamic propeller rotational;
The wing 2 of fuselage 1 both sides is provided with two Vertical Dynamic unit 4, and two the Vertical Dynamic unit 4 being positioned at fuselage 1 homonymy are positioned at the diverse location of fuselage 1 length direction, four Vertical Dynamic unit 4 are symmetrical between two relative to fuselage 1;
Described vertical tail 5 is fixed on the upside of fuselage 1 rear end, described vertical tail 5 has through hole, described driftage control unit 6 is installed in described through hole, and described driftage control unit 6 comprises can produce pulling force on the left of fuselage 1 length direction or the feather screw propeller on right side; Described tailplane 7 is symmetrical relative to the length direction of fuselage 1, and the trailing edge of tailplane 7 is also hinged with elevating rudder; The described flat power unit 8 that flies comprises producing and flies screw propeller along the flat of fuselage 1 length direction pulling force.
In the present embodiment, airborne equipment is arranged at the inside of fuselage 1.
Concrete, unmanned plane provided by the invention, when flying, has multiple state of flight: fast state, vertical takeoff and landing and lower-speed state.Under fast state, Vertical Dynamic unit 4 does not work, and the flat pulling force flat screw propeller that flies forward flying power unit 8 overcomes aerodynamic drag, and wing 2 produces aerodynamic lift, overcomes gravity.Aileron provides roll unloads moment, and elevating rudder provides pitch control subsystem moment.
The pulling force that under vertical takeoff and landing and lower-speed state, the Vertical Dynamic screw propeller of Vertical Dynamic unit 4 provides for overcoming full machine gravity, 4 Vertical Dynamic unit 4 all have the rolling arm of force relative to unmanned plane center of gravity and the pitching arm of force, provide required roll unloads moment and pitch control subsystem moment by changing 4 screw propeller pulling force; Yaw direction has provides control torque by following approach: the feather screw propeller of driftage control unit 6 has the driftage arm of force relative to unmanned plane center of gravity.
The composite wing VUAV provided of the present invention adopts the feather screw propeller that vertical tail 5 is installed to provide yawing moment, because pitch speed of response is higher than rotating speed response speed, therefore feather screw propeller change yawing moment is faster, control compared with driftage with prior art by propeller rotational resisting moment, driftage control unit 6 of the present invention improves the speed of response of driftage instruction, improves driftage control effects.
Embodiment 2:
The present embodiment is further qualified on the basis of embodiment 1, as depicted in figs. 1 and 2, as the concrete connection scheme of Vertical Dynamic unit 4 on wing 2, also comprise the two power unit mounting rods 3 be fixedly connected with wing 2 for Vertical Dynamic unit 4, two power unit mounting rods 3 are individually fixed in the not homonymy of fuselage 1, and the length direction of mounting rod is parallel with the length direction of fuselage 1, the end of each power unit mounting rod 3 is all fixed with a Vertical Dynamic unit 4.
In above structure, be convenient to realize when not changing wing 2 size, two the Vertical Dynamic unit 4 being positioned at fuselage 1 homonymy being arranged spacing is comparatively far away, with when changing single Vertical Dynamic unit 4 running state, obtaining the unmanned plane during flying state control effects of more benchmark.
Because unmanned plane provided by the invention is when vertical takeoff and landing, particularly when taking off, the pulling force that Vertical Dynamic unit 4 provides need overcome the gravity of unmanned plane, for the benefit of the stressing conditions of power unit mounting rod 3 and wing 2 point of connection, and described power unit mounting rod 3 is fixedly connected with the bottom surface of wing 2.
Yawing moment can be provided for this unmanned plane for making Vertical Dynamic unit 4, the Vertical Dynamic propeller axis of described Vertical Dynamic unit 4 has the mounted angle of non-zero, the direction of tilt of Vertical Dynamic propeller axis is tilt to the left or to the right relative to the length direction of fuselage 1, with in the process of Vertical Dynamic propeller works, Vertical Dynamic unit 4 can produce on the left of unmanned plane or the component on right side.
In this programme, the driftage control unit 6 that this composite wing VUAV adopts can change yawing moment by changing feather propeller speed, and the pulling force that the mounted angle of Vertical Dynamic unit 4 makes 4 Vertical Dynamic unit 4 produce has horizontal component, namely, on the left of this unmanned plane or the horizontal component of force on right side, also driftage control torque can be provided; These two kinds of approach ensure that unmanned plane maximum yaw control torque of the present invention increases substantially compared to existing technology, avoid driftage and control the saturated negative effect that UAV Attitude is controlled, improve the robustness of unmanned plane, it is more remarkable that this beneficial effect embodies on the composite wing VUAV that yaw rotation inertia is relatively large.
The composite wing VUAV that this programme provides adopts driftage control unit 6 to control driftage together with the inclination angle of Vertical Dynamic unit 4, makes driftage, rolling and pitch control subsystem decoupling zero become possibility; Distributed by control torque, Vertical Dynamic unit 4 can be used for rolling and pitch control subsystem completely, and its yawing moment produced is offset by control unit 6 of going off course, which decrease the control difficulty of unmanned plane, improve the control accuracy of composite wing VUAV.
In this programme, the screw propeller pulling force of 4 Vertical Dynamic unit 4 has horizontal component and the driftage arm of force relative to center of gravity, driftage control torque can be produced, and the rotational resistance torque of Vertical Dynamic screw propeller is also basic along yaw direction, therefore, the rotating speed of these 4 screw propellers of change coordinated, can change yawing moment.
The trailing edge of described vertical tail 5 is also hinged with yaw rudder.Described yaw rudder controls for realizing the driftage of this unmanned plane under high-speed flight state, in this technical scheme, by Vertical Dynamic unit 4, driftage control unit 6 and driftage rudder, is convenient to obtain the driftage control torque larger to unmanned plane.Namely yaw rudder, Vertical Dynamic unit 4 and driftage control unit 6 all can independently provide driftage control torque, also can provide yawing moment simultaneously.
As for braking the flat specific implementation form flying the actuating device of propeller rotational, be combustion engine or motor for braking the flat actuating device flying propeller rotational.Preferably be set to actuating device and comprise combustion engine and motor, to make to fly screw propeller to flat there are two kinds of drive forms, be beneficial to the safety under the high-speed flight of this unmanned plane.
As the specific implementation form of driftage control unit 6, described driftage control unit 6 also comprises yaw motor, driftage electronic governor and yaw control motor, described driftage electronic governor is for controlling the rotating speed of yaw motor, described yaw motor is for braking feather propeller rotational, and described yaw control motor is for changing the pitch of feather screw propeller.In this programme, the feather screw propeller of driftage control unit 6 has the driftage arm of force relative to center of gravity, and the instruction coordinating to change driftage electronic governor and yaw control motor can adjust rotating speed and the pitch of feather screw propeller, corresponding change driftage control torque.
Embodiment 3:
The basis of any one technical scheme that the present embodiment provides in above embodiment is further qualified, for ease of changing wing 2 under unmanned plane high-speed flight state, the yawing moment that unmanned plane is produced and the size of rolling moment, the inclination angle of described aileron and wing 2, and the inclination angle of aileron and fuselage 1 is all adjustable.
Embodiment 4:
Present embodiments provide a kind of specific implementation form of scheme of the present invention: a kind of composite wing VUAV, Gross Weight Takeoff 30kg, span 3.5m, mean aerodynamic chord 0.36m, wing 2 area 1.26m
2; Taper ratio 0.7, i.e. root chord length 0.425m, tip chord length 0.3m, 0 degree, the sweepback angle at 50% chord length place, unmanned plane center of gravity is positioned at root string 32% position, then rolling moment of inertia 4.267kgm
2, pitch rotation inertia 6.635kgm
2, yaw rotation inertia 9.577kgm
2visible, owing to adding all larger parts of fuselage 1, wing 2 equidimension and weight, the yaw rotation inertia of composite wing VUAV reaches 1.5 times of pitch rotation inertia, 2 times of rolling moment of inertia, this requirement for driftage control ability is more harsh.Vertical tail 5 area 0.4m
2, vertical tail 5 tail capacity 0.17, vertical end arm of force 1.87m.
The Vertical Dynamic diameter of propeller 0.7m of Vertical Dynamic unit 4, geometrical pitch 0.3m, outer rotor brushless motor KV value 95, input voltage 50V, screw propeller maximum speed 3800rpm, Maximum static pull force 95N, power 1280W; The longitudinal separation of the relative unmanned plane center of gravity in Vertical Dynamic unit 4 center is 0.8m, and left and right distance is 0.8m.
Under vertical takeoff and landing and lower-speed state, adopt the inverting adaptive control algorithm based on Vertical Dynamic unit 4 mechanical model to carry out aircraft manufacturing technology, namely navigation algorithm calculates the attitude angle instruction carried out needed for autonomous flight, comprise rolling, pitching, driftage instruction, then the difference passing through attitude angle instruction and observed reading calculates the instruction of body axle system angular acceleration, the instruction of electricity tune is provided eventually through motor model and model propeller, adjustment motor speed, under this control logic, gesture stability ability is embodied directly in and changes control torque aspect.
Prior art is carried out driftage by Vertical Dynamic propeller rotational resisting moment and is controlled, and do not have lateral tilting corner, the propeller speed 3400rpm that unmanned plane is hovered, quiet pulling force 75N, power 950W, electricity adjusts pwm signal 74.3%; The corresponding Vertical Dynamic screw propeller of left front motor and right back driven by motor rotates counterclockwise overlooking direction, produces positive yawing moment; The corresponding Vertical Dynamic screw propeller of right front motor and left back driven by motor rotates clockwise overlooking direction, produces negative yawing moment.First need to ensure full machine pulling force, left front motor and right back motor speed maximum time pulling force 95N, propeller rotational resisting moment 1.68Nm, then right front motor and left back motor need use pulling force 55N, rotating speed 2900rpm need be used, rotational resistance torque 0.6132Nm, in the case, the maximum yaw moment that can produce is 1.72Nm, and corresponding maximum yaw angle rate of acceleration is 0.179rad/s
2; And under square one, the maximum rolling that can produce or pitching moment are 32Nm, corresponding maximum roll angle acceleration/accel 7.51rad/s
2, maximum pitch angle acceleration/accel 4.82rad/s
2.As can be seen here, in the prior art scheme, maximum controlled yawrate is about 10% of two other direction, mean that the possibility that driftage instruction causes motor speed saturated is higher than two other direction 10 times, this control accuracy for lower three directions of low-speed condition and robustness all have material impact, and unmanned plane even can be caused to crash.
The driftage control unit 6 that the present invention adopts adopts diameter 0.3m, pitch 0.175m, outer rotor brushless motor KV value 300, input voltage 24V, maximum speed 5700rpm, maximum pull 11.6N, due to vertical tail 5 tail force arm 1.87m, the then driftage arm of force 1.9m of driftage control unit 6, the maximum yaw moment 22.4Nm that can produce, maximum yaw angle rate of acceleration 2.26rad/s
2.
The Vertical Dynamic unit 4 that the present invention adopts has left and right introversion 10deg, namely 10 °, then the screw propeller pulling force normal component offset needed for unmanned plane gravity is 75N, and pulling force is 76.1N, motor hovering rotating speed 3420rpm; In order to reach maximum yaw moment, when then left front and right back motor reaches maximum speed, horizontal direction component maxim is 15.9N, in order to ensure that overall tension is equal with gravity, the normal component 56N of other two motor pulling force, rotating speed 2950mpr, then horizontal component of force that is right front and left back motor pulling force is 9.79N, then maximum yaw moment 9.92Nm, maximum yaw angle rate of acceleration 1.05rad/s
2.
As can be seen here, the control ability of driftage control unit 6 of the present invention is 12 times of prior art, the driftage control ability that the inclination angle, left and right of Vertical Dynamic unit 4 provides is 5.7 times of prior art, adopt two schemes of the present invention, then the ability of the change yaw angle rate of acceleration of composite wing VUAV is 3.31rad/s simultaneously
2, reach 18 times of prior art, control ability and rolling (7.51rad/s
2) and pitching (4.82rad/s
2) substantially suitable level.This controls surplus for guarantee, and the motor delaying to be caused by driftage instruction is saturated, increases and controls robustness, improve control accuracy significance.
Above content is the further description done the present invention in conjunction with concrete preferred implementation, can not assert that the specific embodiment of the present invention is confined to these explanations.For general technical staff of the technical field of the invention, not departing from other embodiments drawn under technical scheme of the present invention, all should be included in protection scope of the present invention.
Claims (8)
1. a composite wing VUAV, comprise fuselage (1), be fixed on fuselage (1) upper and relative to the length direction symmetry of fuselage (1) wing (2), be fixed on the Vertical Dynamic unit (4) on wing (2) and be fixed on fuselage (1) flatly fly power unit (8), it is characterized in that, also comprise the vertical tail (5) be fixed on fuselage (1), described vertical tail (5) is also provided with driftage control unit (6) and tailplane (7);
Described wing (2) is fixed on fuselage (1) stage casing, and the trailing edge of described wing (2) is hinged with two panels aileron, and two panels aileron is positioned at the not homonymy of fuselage (1);
Described Vertical Dynamic unit (4) is four, and Vertical Dynamic unit (4) comprises Vertical Dynamic screw propeller, motor and electronic governor, and described electronic governor is for controlling the rotating speed of motor, and described motor is for braking Vertical Dynamic propeller rotational;
The wing (2) of fuselage (1) both sides is provided with two Vertical Dynamic unit (4), and two the Vertical Dynamic unit (4) being positioned at fuselage (1) homonymy are positioned at the diverse location of fuselage (1) length direction, four Vertical Dynamic unit (4) are symmetrical between two relative to fuselage (1);
Described vertical tail (5) is fixed on the upside of fuselage (1) rear end, (5) have through hole to described vertical tail, described driftage control unit (6) is installed in described through hole, and described driftage control unit (6) comprises can produce pulling force on the left of fuselage (1) length direction or the feather screw propeller on right side; Described tailplane (7) is symmetrical relative to the length direction of fuselage (1), and the trailing edge of tailplane (7) is also hinged with elevating rudder; The described flat power unit (8) that flies comprises producing and flies screw propeller along the flat of fuselage (1) length direction pulling force.
2. a kind of composite wing VUAV according to claim 1, it is characterized in that, also comprise the two power unit mounting rods (3) be fixedly connected with wing (2) for Vertical Dynamic unit (4), two power unit mounting rods (3) are individually fixed in the not homonymy of fuselage (1), and the length direction of mounting rod (3) is parallel with the length direction of fuselage (1), the end of each power unit mounting rod (3) is all fixed with a Vertical Dynamic unit (4).
3. a kind of composite wing VUAV according to claim 2, is characterized in that, described power unit mounting rod (3) is fixedly connected with the bottom surface of wing (2).
4. a kind of composite wing VUAV according to claim 1, it is characterized in that, the Vertical Dynamic propeller axis of described Vertical Dynamic unit (4) has the mounted angle of non-zero, the direction of tilt of Vertical Dynamic propeller axis is tilt to the left or to the right relative to the length direction of fuselage (1), with in the process of Vertical Dynamic propeller works, Vertical Dynamic unit (4) can produce on the left of unmanned plane or the component on right side.
5. a kind of composite wing VUAV according to claim 1, is characterized in that, the trailing edge of described vertical tail (5) is also hinged with yaw rudder.
6. a kind of composite wing VUAV according to claim 1, is characterized in that, is combustion engine or motor for braking the flat actuating device flying propeller rotational.
7. a kind of composite wing VUAV as claimed in any of claims 1 to 6, it is characterized in that, described driftage control unit (6) also comprises yaw motor, driftage electronic governor and yaw control motor, described driftage electronic governor is for controlling the rotating speed of yaw motor, described yaw motor is for braking feather propeller rotational, and described yaw control motor is for changing the pitch of feather screw propeller.
8. a kind of composite wing VUAV as claimed in any of claims 1 to 6, is characterized in that, the inclination angle of described aileron and wing (2), and the inclination angle of aileron and fuselage (1) is all adjustable.
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| CN201610017284.4A CN105539834B (en) | 2016-01-12 | 2016-01-12 | A kind of composite wing vertical take-off and landing drone |
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| CN111619800A (en) * | 2020-06-05 | 2020-09-04 | 中国科学院长春光学精密机械与物理研究所 | Tail sitting type vertical take-off and landing unmanned aerial vehicle |
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| WO2023122717A1 (en) * | 2021-12-26 | 2023-06-29 | Corvidair Inc. | Vertical takeoff and landing (vtol) aircraft system and method |
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