CN105652886B - A kind of internet unmanned plane persistently continued a journey - Google Patents
A kind of internet unmanned plane persistently continued a journey Download PDFInfo
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- CN105652886B CN105652886B CN201610155565.6A CN201610155565A CN105652886B CN 105652886 B CN105652886 B CN 105652886B CN 201610155565 A CN201610155565 A CN 201610155565A CN 105652886 B CN105652886 B CN 105652886B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention is suitable for telerobotics field, provide a kind of internet unmanned plane persistently continued a journey, including flight instruments, continuation of the journey cable, coiling apparatus and remote controler with folding and unfolding cable function, the remote controler connects the flight instruments by wireless communication, the remote controler also connects the coiling apparatus by wireless communication, the input terminal of the power supply unit of the flight instruments connects one end of the continuation of the journey cable, and the other end of the continuation of the journey cable connects the coiling apparatus.The unmanned plane can continue to continue a journey, and realize continued power, unmanned plane is enabled to be constantly in working condition, and wind loading rating more higher than multi-rotor unmanned aerial vehicle, in addition rain-proof is protected, it can be in continuing working in addition to extremely bad weather.The unmanned plane structure is simple, easy to use, realizes Long-range links net operation, and automatic intelligent folding and unfolding cable saves manpower, and saving solves the problems, such as that high altitude operation, monitoring etc. usually can only be just able to achieve with someone's aircraft at low cost.
Description
Technical field
The invention belongs to remote-controlled robot field more particularly to a kind of internet unmanned planes persistently continued a journey.
Background technique
The kind person of attacking, moves in up in the ninth heaven！Aerial advantage is bigger more than ground.Therefore unmanned plane becomes current heat for the moment
Point is exactly that can keep absolutely aerial high-order because the aerial visual field is wider, establish Air Operation Center, global control.Such as nobody
1000 meters of the height of machine records various equipment, such as 3D modeling, and high power camera, infrared night vision, laser light filling can be to 10 kilometers
Radius region is monitored.
It is such as military: military investigation, information acquisition, individual combat investigation, border patrol, forbidden zone；
It is police: special policeman's anti-terrorism, People's Armed Police, fire-fighting monitoring, large-scale security, traffic police, high speed, Forest Police, rescue and relief work, sea
It closes, environmentally friendly (such as haze), ocean, municipal administration's application；
It is civilian: meteorology, water conservancy, electric power, communication, logistics, warehouse, territory, real estate, mining industry, petroleum, oil and gas pipeline, port
The applications such as mouth, mapping archaeology, video display, scenic spot, fishing ground, farm, pasture, industry, agricultural, business；
Multi-rotor unmanned aerial vehicle is small and exquisite, low in cost.But it has fatal defects, be exactly cruise duration it is short, at more than 10 minutes.Separately
The structure of more rotors causes its wind resistance too poor, once weather is greater than the wind such as 4 grades or more, cannot fly, and cannot adapt to big
Part weather.
Summary of the invention
The purpose of the present invention is to provide a kind of internet unmanned planes persistently continued a journey, it is intended to solve above-mentioned technology and ask
Topic.
The invention is realized in this way a kind of internet unmanned plane persistently continued a journey, the unmanned plane include flight instruments,
Continuation of the journey cable, coiling apparatus and remote controler with folding and unfolding cable function, the remote controler connect described fly by wireless communication
Luggage is set, and the remote controler also connects the coiling apparatus, the input of the power supply unit of the flight instruments by wireless communication
The other end of one end of the end connection continuation of the journey cable, the continuation of the journey cable connects the coiling apparatus.
A further technical solution of the present invention is: the coiling apparatus include control system, pedestal, winder, gearbox,
Thread tension sensor and contact conductive contact with circle rotation, one end of the winder be set on pedestal be placed in it is described
It is connect in gearbox with gear, the other end of the winder connects the contact conductive contact, and the thread tension sensor is set
In the top for being placed in the winder on the pedestal, the control system is set on the pedestal and connects with the gearbox
It connects, the output end of the contact conductive contact is electrically connected the other end of the continuation of the journey cable.
A further technical solution of the present invention is: the control system includes power supply unit, microprocessor, the first communication unit
Member, the first electron speed regulator, thread tension sensor and motor (such as stepper motor), the output end of the microprocessor pass through described
First electron speed regulator connects the control terminal of the motor (such as stepper motor), and the output end of first communication unit connects institute
The input terminal of microprocessor is stated, first communication unit connects the flight instruments by wireless communication, and the line tension passes
The output end of sensor connects the input terminal of the microprocessor, and the thread tension sensor is set on the winder, the electricity
The microprocessor, the first communication unit, the first electron speed regulator and motor is electrically connected (as walked in the output end of source unit
Into motor), the output end of the power supply unit is also connected with the input terminal of the contact conductive contact.
A further technical solution of the present invention is: the length of the continuation of the journey cable is 10-3000 meters, the continuation of the journey cable is adopted
Cable with extremely low resistivity, line footpath less than 3 square millimeters.
A further technical solution of the present invention is: the flight instruments include rack, electric control system, Vertical Dynamic dress
It sets and several rotor power devices, the electrical control gear is set in the rack, the Vertical Dynamic device is set to described
The top surface of rack, several rotor power devices are separately connected in the rack, the rotor power device of adjacent two
Between spacing it is equal.
A further technical solution of the present invention is: the Vertical Dynamic device include connecting rod, it is coaxial clockwise and anticlockwise motor, same
Positive and negative rotating propeller and base above and below axis, one end of the connecting rod connect the base, the other end connection of the connecting rod
The rack, the coaxial clockwise and anticlockwise motor are set on the base, and the coaxial positive and negative rotating propeller up and down is set to described same
On the arbor of axis clockwise and anticlockwise motor.The wind loading rating of integrated airplane is promoted by Vertical Dynamic device.
A further technical solution of the present invention is: the rotor power device includes connecting rod, installation base, motor or rudder
One end of machine and propeller, the connecting rod connects the installation base, and the motor or steering engine are installed on the installation base
On, the propeller is set on the arbor of the motor or steering engine.
A further technical solution of the present invention is: the electric control system includes central processing unit, remote controler reception mould
Block, gyroscope, global position system, the second communication unit, power supply unit and several electron speed regulators or channel, the remote controler
The output end of receiving module connects the input terminal of the central processing unit, and the global position system connects the central processing unit
Two-way communication, the output end of the gyroscope connect the input terminal of the central processing unit, described in the central processing unit connection
The one end in the second communication unit two-way communication, several electron speed regulators or channel is separately connected the defeated of the central processing unit
The other end in outlet, several electron speed regulators or channel is separately connected the control terminal of the motor or steering engine.The power supply
Device be electrically connected central processing unit, remote controler receiving module, gyroscope, global position system and the second communication unit.
A further technical solution of the present invention is: the power supply unit includes power distribution unit and DC decompression module,
The input terminal of the power distribution unit connects the output end of the DC decompression module；The global position system includes positioning
Unit and antenna, the input terminal of the positioning unit connect the output end of the antenna；Second communication unit includes wireless
Telecommunication circuit connects internet.
A further technical solution of the present invention is: second communication unit further includes wireless communications relay circuit, it is described
Wireless communications relay circuit connects the radio communication circuit by wireless communication, connects internet；First communication unit
And second communication unit be all made of wireless telecommunications；The antenna uses big-dipper satellite antenna or GPS satellite antenna.
The beneficial effects of the present invention are: the unmanned plane can continue to continue a journey, continued power is realized, enables unmanned plane
It is constantly in working condition, and wind loading rating more higher than multi-rotor unmanned aerial vehicle, in addition rain-proof is protected, can extremely be disliked removing
Continuing working outside bad weather.The unmanned plane structure is simple, easy to use, realizes Long-range links net operation, automatic intelligent
Folding and unfolding cable solves the problems, such as that high altitude operation, monitoring etc. usually can only be just able to achieve with someone's aircraft at low cost.
Detailed description of the invention
Fig. 1 is the structure chart of the internet unmanned plane provided in an embodiment of the present invention persistently continued a journey.
Fig. 2 is the structural block diagram of electrical control provided in an embodiment of the present invention.
Specific embodiment
Appended drawing reference: 10- flight instruments 20- coiling apparatus 30- continuation of the journey cable 101- Vertical Dynamic device
102- rotor power device 103- rack 201- winder 202- contacts conductive contact 203- pedestal 204- power supply
Unit 205- microprocessor 206- the first electron speed regulator 207- gearbox 208- thread tension sensor
As shown in Figs. 1-2, a kind of internet unmanned plane persistently continued a journey provided by the invention, the unmanned plane include flight
Device 10, continuation of the journey cable 30, coiling apparatus 20 and remote controler with folding and unfolding cable function, the remote controler is by wireless communication
The flight instruments 10 are connected, the remote controler also connects the coiling apparatus 20, the flight instruments 10 by wireless communication
The input terminal of power supply unit connect one end of the continuation of the journey cable 30, the other end of the continuation of the journey cable 30 connects the spiral
Device 20.Wherein coiling apparatus 20 can be automation, is also possible to machinery, can also be manually.
The coiling apparatus 20 includes control system, pedestal 203, winder 201, gearbox 207, thread tension sensor
208 and the contact conductive contact 202 with circle rotation, one end of the winder 201 be set on pedestal 203 be placed in it is described
It is connect in gearbox 207 with gear, the other end of the winder 201 connects the contact conductive contact 202, the line tension
Sensor 208 is set on the pedestal 203 top for being placed in the winder 201, and the control system is set to the pedestal
It is connect on 203 and with the gearbox 207, the output end of the contact conductive contact 202 is electrically connected the continuation of the journey cable 30
The other end.Control system can be with remote controler by wireless communication, can also be with unmanned plane using remote control control retractable cable
Central processing unit communicated, obtain the data information of central processing unit to automatically control folding and unfolding cable, it is total in practical application
It can come free flexibly adjustment, which kind of type it uses and controls the process of folding and unfolding cable according to the demand at scene.
The control system includes power supply unit 204, microprocessor 205, the first communication unit, the first electron speed regulator
206, the output end of thread tension sensor and motor (such as stepper motor), the microprocessor 205 passes through the first electronics tune
Fast device 206 connects the control terminal of the motor (such as stepper motor), and the output end of first communication unit connects micro- place
The input terminal of device is managed, first communication unit connects the flight instruments by wireless communication, the thread tension sensor
Output end connects the input terminal of the microprocessor, and the thread tension sensor is set on the winder, the power supply unit
The microprocessor 205, the first communication unit, the first electron speed regulator 206 and motor is electrically connected in 204 output end
(such as stepper motor), the output end of the power supply unit 204 are also connected with the input terminal of the contact conductive contact 202.
It is described continuation of the journey cable length be 10-3000 meter, the continuation of the journey cable use extremely low resistivity (such as gold, silver),
Cable of the line footpath less than 3 square millimeters.
The flight instruments include rack 103, electric control system, Vertical Dynamic device 101 and several rotor powers dress
102 are set, the electrical control gear is set to the top surface of the rack 103, and the Vertical Dynamic device 102 is set to the rack
103 top surface, several rotor power devices 102 are separately connected the rack 102, the rotor power dress of adjacent two
Spacing between setting 102 is equal.
The Vertical Dynamic device includes connecting rod, coaxial clockwise and anticlockwise motor, coaxial positive and negative rotating propeller and base up and down,
One end of the connecting rod connects the base, and the other end of the connecting rod connects the rack, the coaxial positive and negative rotation electricity
Machine is set on the base, and the coaxial positive and negative rotating propeller up and down is set on the arbor of the coaxial clockwise and anticlockwise motor.Pass through
Vertical Dynamic device promotes the wind loading rating of integrated airplane.
The Vertical Dynamic device include 101, three connecting rods of positioning set square, coaxial clockwise and anticlockwise motor, it is coaxial up and down
One end of positive and negative rotating propeller and base, three connecting rod section settings triangular in shape, three connecting rods connects institute
State base, the other end of three connecting rods connects the rack, three vertex of the positioning set square respectively with three
The connecting rod connection, the coaxial clockwise and anticlockwise motor are set on the base, and the coaxial positive and negative rotating propeller up and down is set to
On the arbor of the coaxial clockwise and anticlockwise motor.
The rotor power device includes connecting rod, installation base, motor or steering engine and propeller, and the one of the connecting rod
End connects the installation base, and the motor or steering engine are installed on the installation base, and the propeller is set to the motor
Or on the arbor of steering engine.
The electric control system includes central processing unit, remote controler receiving module, gyroscope, global position system,
Two communication units, power supply unit and several electron speed regulators or channel, the remote controler receiving module output end connection described in
The input terminal of central processing unit, the global position system connect the central processing unit two-way communication, the gyroscope it is defeated
Outlet connects the input terminal of the central processing unit, and the central processing unit connects the second communication unit two-way communication, if
The one end for doing the electron speed regulator or channel is separately connected the output end of the central processing unit, several electron speed regulators
Or the other end in channel is separately connected the control terminal of the motor or steering engine.Central processing is electrically connected in the power supply unit
Device, remote controler receiving module, gyroscope, global position system and the second communication unit.
The power supply unit includes power distribution unit and DC decompression module, and the input terminal of the power distribution unit connects
Connect the output end of the DC decompression module.
The global position system includes positioning unit and antenna, and the input terminal of the positioning unit connects the antenna
Output end.
Second communication unit includes radio communication circuit, connects internet.
Second communication unit further includes wireless communications relay circuit, and the wireless communications relay circuit passes through channel radio
Letter connects the radio communication circuit.
First communication unit and the second communication unit are all made of wireless telecommunications.
The antenna uses big-dipper satellite antenna or GPS satellite antenna.
(1), master-plan
A kind of internet unmanned plane persistently continued a journey, fully considers aerodynamics and motor technology, specifically:
1, fuselage: increasing load-carrying, improves cruise duration, it is necessary to reduce the weight of the machine.Fuselage ring designs first, material
Using high-strength carbon fiber structure, aircraft aluminum CNC, light material.
2, the energy: unmanned aerial vehicle power is broadly divided into fuel power, electronic and other three classes.It is other mainly to have jet hair
Motivation, turbogenerator and rocket engine etc. are several；And fuel power refers to engine fuels such as gasoline, kerosene and methanol
Do power；It is electronic, refer to the dynamical system for pushing motor to do power with battery.In comparison, preceding two class is traditional moves
Force system develops several last 100 years, and electronic, is that recent years just grows up and be due to mobile phone producer is increase
Stand-by time and mitigation mobile phone weight constantly are promoted premised on big, small in size, the light-weight lithium battery of release capacity
's.Therefore, the basic characteristics advantage based on battery and convenient and fast rechargeable mode, it is reliably, conveniently, small in size, therefore select
Battery is exactly a kind of power used in the present invention designs, and works to components such as motors and provide energy.
3, dynamical system: currently, the wing of the power device of minute vehicle mainly has: motor or internal-combustion engine drives spiral shell
Revolve paddle driving, micro turbine engine driving etc..Although internal combustion engine has the characteristics that fuel efficiency height, output power,
The disadvantages of its speed regulation is inconvenient, difficulty in starting limits its application on minute vehicle.Micro turbine engine is from reason
It is optimal selection by upper say, but also is not enough to reach the water of practical application to the research of micro turbine engine in the world
It is flat.Although and motor due to battery capacity limitation, there are the flight time it is short the features such as, it has high reliable
Property, low noise and the advantages that price economy, use motor dress propeller in the wing of the power device of minute vehicle
It is the most universal.
4, flight control system: by be remotely controlled and (controlled by earth station's telecommand) and autonomous flight control (two dimension, three
Dimension is four-dimensional) two kinds.Under remote control mode, terrestrial operation hand controls unmanned plane according to the status information and mission requirements of unmanned plane
Flight.Under autonomous control mode, aircraft state information and mission planning that flight control system is obtained according to sensor
The flight of information automatic control unmanned plane.Under semi-autonomous control mode, on the one hand flight control system is obtained according to sensor
Aircraft state information and mission planning information independence control unmanned plane flight, on the other hand, receive ground control station
Telecommand, change of flight state.
(2), branch designs
Rotor wing unmanned aerial vehicle is that energy is originated from battery, adjusts by electricity, is transmitted to motor, and longer blade high speed is directly driven to revolve
Turn, make air relative vane quick flow, generates pressure difference above and below aerofoil to obtain lift, flown to resist gravity
Row.
1, propeller: heavy-duty uses carbon fiber paddle.Load-carrying can choose beech paddle greatly very much, be unlikely to deform.Spiral
Paddle specification is generally indicated that front two number indicates diameter, rear two expressions screw pitch by 4 bit digitals.By taking 1060 slurries as an example, 10 are indicated
The diameter of paddle is 10 inches, 60 expression blade angles (screw pitch, 6.0 inches, that is, 152.4mm).
According to hydrodynamics, air and water are different, and density is different, and the density of water is 800 times of air.Atmospheric density
It is small, thrust to aircraft is flowed backward in order to accelerate air, and the gap of aircraft propeller is bigger.If aircraft
Blade is too close, and air flow amount backward is with regard to small.The efficiency of three leaves can be high, and lift is bigger than same two leaf, but engine horse
Power is big, and paddle balance is also difficult to solve, and two leaf paddles, which do once balance, can prepare a pair, and three leaf paddles do to balance twice and can just prepare
One group, if 8 axis, two leaves do 8 balances；Hell to pay, therefore generally use two leaf paddles.Propeller blade surface area is relatively bigger,
Generation thrust is bigger, efficiency is higher.But relatively large propeller, aircraft flight get up can very power consumption because propeller produce
Raw resistance can be bigger.So the voltage for selecting the propeller of what model that must be provided according to motor KV value and battery
And capacity is arranged in pairs or groups, and the motor of higher KV value cannot be especially selected, and motor is mainly avoided to adjust burn-up together with electricity.
Propeller pulling force calculation formula are as follows: diameter (rice) × screw pitch (rice) × slurry width (rice) × such as P(revolutions per seconds of revolving speed) ×
1 atmospheric pressure (1 standard atmospheric pressure) × empirical coefficient (0.25)=pulling force (kilogram), on condition that the slurry of general ratio, precision compared with
Good, atmospheric pressure will consider the reduction of atmospheric pressure, such as Tibet if highlands for 1 standard atmospheric pressure, and pressure is in 0.6-
0.7.1000 meters or less can take 1 substantially.Such as: 100 × 50 slurry, maximum width 10 or so, what propeller-parachuting used, revolving speed
3000 revs/min, 50 revolutions per seconds are closed, can be calculated: 100 × 50 × 10 × 50P × 1 × 0.00025=31.25 kilogram.If revolving speed
Reach 6000 revs/min, then pulling force is equal to: 100 × 50 × 10 × 100P × 1 × 0.00025=125 kilogram
3, electricity is adjusted: electricity adjusts full name electron speed regulator, English electronic speed controller, abbreviation ESC.Needle
To motor difference, can be divided into has brush electron speed regulator and brushless electronic governor.It turns according to control Signal Regulation motor
Speed.This aircraft be exactly by being remotely controlled control to brushless electronic governor with the various flight attitudes that reach adjustment aircraft and
Movement.Electricity adjusts parameter: fan-out capability, such as: 80A；The output that electricity is adjusted is that three~tetra- steering engine power supplies are out of question
4, battery: there are many battery variety of model power, ni-mh (Ni-MH), nickel manganese (NiOH-MnO2), lithium metal (Li),
The batteries such as lighium polymer (Li-Poly) are all right.But in order to reduce weight, electricity is improved, we are polymerize using high-performance lithium ion
Object battery pack；Its parameter: voltage+capacity+discharge-rate, such as: 3S (11.1V), 4200mAh, 30C
A, battery capacity: citing 5200mAh, it is meant that with 5.2A current discharge, can put 1 hour.
B, discharge capability: 30C battery refers to the discharge capability of battery.For 30C battery, maximum continuous discharge electric current
Are as follows: battery capacity X electric discharge C.Such as: 5200MA, 30C battery, then maximum follow current is exactly=5.2X30=156A(amperes).
If the battery is for a long time more than 156 peaces or the above current work, the service life of battery can shorten.
C, voltage: should be 4.15-4.20 for the monolithic voltage of battery, when fully charged, appropriate (3S battery is exactly 3
Monolithic voltage concatenation, is exactly 4.20 V * 3, corresponding 12.6V), the minimum voltage after is that (3S is corresponding for 3.7 or more monolithic
11.1V, making sure to keep in mind should not over-discharge), long-term unused preservation voltage is preferably that 3.9(3S corresponds to 11.7V).It is continuous in order to improve aircraft
Boat ability, it is big that we can select battery capacity, but the weight of battery itself is too heavy, reduces cruise duration instead.It should be noted that
, the series connection of battery requires the performance of single battery or battery pack consistent with parallel connection, this is because in circuit if there is a
The brownout of other battery, other batteries will be its charging, that total voltage or total current will be lower than our requirement, simultaneously
Will also result in the damage of battery, this be also why lithium battery equilibrium charging.Longevity of the charging process to battery
Life has considerable influence.In general, the charging time of battery is associated with the electric current of charger.So for
The battery of 16000mAH, charging voltage are its voltage ratings, and the electric current of charger is 5000 milliamperes, then the charging time is just etc.
In 16000 ÷ 5000=3.2 hours.But this only says fill up from no-voltage in the case of, belong to perfect condition, actual charging
Time will also see the time electricity of battery.But this cannot illustrate save the time using large current charge, it is demonstrated experimentally that greatly
Electric current charging can cause a degree of destruction to the performance of battery.
5, motor: there is traditional brush DC motors brush to change direction equipment, be mechanically to commutate, and exist
The disadvantages of noise, short spark and service life.Micro brushless dc motor using electronic commutation, output power and efficiency compared with
Height, while noise is small, controllability is strong, lasts a long time and has no other distinct disadvantages, this selected secondary design is brushless dc
Machine.Its parameter: maximum current (A), maximum voltage (V), KV value for example: 2860, maximum current 80A, maximum voltage
17V, 3400KV。
Identical motor, different KV values, propeller is also different, and each motor can have the spiral of a recommendation
Paddle.Comparatively propeller is matched too small, cannot play maximum thrust；With too much, motor can overheat propeller, can make motor
Demagnetization, causes the permanent decline of motor performance；
A, motor KV value: big KV matches small paddle, and small KV matches big paddle.KV value is turn that the electric press down motor of every 1V dallies per minute
Speed, such as KV800, idler revolutions are 800 rpms under the voltage of 1V.It is 8000 rpms of sky under the voltage of 10V
It walks around speed.
More than number of turns, KV value is low, and most High Output Current is small, but torsion is big, can the bigger paddle of band, shake it is also small;
Number of turns is few, and KV value is high, and most High Output Current is big, but torsion is small, can only be but high-efficient with small paddle;
B, motor model: stator is thick, and strength is big.Motor model, such as 2212,3508,4010, these digital representation motors
The diameter and height of stator.Front two is stator diameter, behind two be stator height, unit is millimeter.Front two is bigger,
Motor is more fertile, and latter two bigger, motor is higher.Big but also high motor not only, strength is big, high-efficient, price, and motor is self-possessed
It will be very big.For driving force increase, it is necessary to the power a that each unit exports be become n*a, by Ampere force F=BIL it is found that quite
In increasing electric current or conductor length, it is contemplated that the magnetization curve of silicon steel sheet reduces to export same revolving speed and torque
The radius of motor, even if increasing the stator height of response, will also result in silicon steel sheet reduces close to efficiency caused by magnetic saturation, is electric
Stream, which increases, leads to problems such as efficiency reduction and coiling difficult.So we design using disc type electric machine (also known as small bell motor).Electricity
The slot number of machine is theoretically The more the better.The length of magnetic path of the motor is very short, using flat shape, stator height
It is very small, be conducive to generate biggish torque and lower revolving speed with lesser electric current in this way, it could be with major diameter slow-speed of revolution spiral shell
Revolve paddle matching.
C, electric efficiency: 3 ~ 5A, it is high-efficient;The notation methods of efficiency are: the power and pulling force of g/W (gram/every watt) motor
It is not directly proportional, that is to say, that 450g pulling force when 50W, 100W when are not just 900g, may there was only 700g.
Specific efficiency looks into the efficiency table of motor.
Energy consumption of electrical machinery management: it for energy saving, improves efficiency.We use bigger diameter spiral paddle, to improve
Propeller efficiency and electric efficiency.Open loop policy that present industry uses (flight control system control the PWM value that electricity is adjusted by all means,
Regardless of whether motor speed increases, the posture of aircraft is only differentiated by gyroscope), motor frequently does variable motion and draws
The additional energy loss risen.Present unmanned plane multiaxis dynamical system this partition losses when gentle breeze are up to 25% or so, wind-force
Wind direction becomes much larger if this partition losses of acute variation.We design electricity the conducting wire of output are adjusted to have 6 thus, and thicker one
Point should be power supply line, remaining four should be signal wire, be carried out using serial ports or other modes and flight control system double
To communication, flight control system can be readjusted the distribution to electricity send instruction, electricity adjust can also by the information of dynamical system (for example motor turns
Speed) flight control system is fed back to, such flight control system is exactly closed-loop control to the control of dynamical system.
6, each unit coordinates design of propulsion system:
The design principle that battery and electricity are adjusted:
1) cell voltage adjusts highest to carry voltage no more than electricity；
2) battery current, which persistently exports, is greater than electricity tune sustained ceiling current output；
The electric current that motor is born is determined by the load of motor, as long as bearing power, without departing from Rated motor, motor would not
It is problematic, and battery and electricity tune are only provided to the power output up to this load, ability is more than the power, is not represented
The battery electricity tune that ability is greater than the power combines the Maximum Power Output that is bound to.
The principle of battery and motor:
1) motor operating voltage is determined by electricity tune, and electricity adjusts voltage to be determined by battery output, so the voltage of battery will wait
In or less than motor maximum voltage；
2) electricity adjusts maximum voltage no more than the maximum voltage that motor can be born；
7, the design of rack:
2kg unmanned plane below can select glass rack；2kg's or more uses 3K carbon fiber.
Carbon fibre composite is mainly used in opportunity of combat main structure, secondary structural member and war in unmanned fighter and helicopter
The features component of machine privileged sites.Foreign countries apply carbon fiber/epoxy and carbon fiber/span composite material in opportunity of combat machine
The positions such as body, main wing, the vertical fin wing, the horizontal tail wing and covering, play the role of apparent loss of weight, substantially increase antifatigue, corrosion resistant
The performances such as erosion.Carbon fiber answers aerospace industry to grow up the urgent need of resistance to ablation and light-weight high-strength material, it mainly by
A kind of special fibre of carbon composition is the second generation fibre reinforced composites occurred after glass fibre.Carbon fiber
Phosphorus content 90% or more, there is excellent mechanical property, with highest specific strength and highest with other high-performance fibers compared with
Specific modulus.In 2000 DEG C or more high temperature inert environment, carbon fiber is a kind of unique substance that intensity does not decline, more valuable
Be that carbon fiber and other materials have very high compatibility, have both the soft machinability of textile fabric, and be easy it is compound,
With very big design freedom.
By paddle length, rack wheelbase=(inch * 25.4/0.8/ radical sign 2 of paddle) * 2 is calculated.
Rack wheelbase calculates size (inch)=(rack wheelbase/2) * radical sign 2*0.8/25.4 of paddle.
Here is the collocation suggestion of some paddles and wheelbase:
10 cun of paddles collocation wheelbase 450MM racks
11 cun of paddles collocation wheelbase 500MM racks
12 cun of paddles collocation wheelbase 550MM racks
13 cun of paddles collocation wheelbase 600MM racks
14 cun of paddles collocation wheelbase 650MM racks
15 cun of paddles collocation wheelbase 680MM racks
16 cun of paddles collocation wheelbase 720MM racks
17 cun of paddles collocation wheelbase 780MM racks
18 cun of paddles collocation wheelbase 820MM racks
19 cun of paddles collocation wheelbase 860MM racks
20 cun of paddles collocation wheelbase 900MM racks
The balanced design of rack:
The unmanned plane of especially high foot prop, the center of gravity for having to complete machine drop into the geometric center of aircraft.
8, the power drive and balanced design (pressing four axis for example :) of rotor wing unmanned aerial vehicle
Its construction features of four-axle aircraft are to be driven respectively by motor, blade on its four angles respectively equipped with a rotor
It can rotate forward, can also invert.In order to keep the stabilized flight of aircraft, the gyro in 3 directions is housed on four-axle aircraft
Instrument and 3 axle acceleration sensors form inertial navigation module, it also passes through electricity and transfers to guarantee its rapid flight.Four motor shafts
Being equidistant away from geometric center can guarantee the balance of torque when the lift that diagonal two axis generate is identical, and four axis are not
It can vert to any one direction;And four motor a pair rotate forward, a pair of reversion, so that around the anti-twisted of vertical axis direction rotation
Square balance, ensure that the stabilization in four axis courses.According to the drive lacking dynamics that four input powers and six coordinates export, four
The revolving speed of motor does the corresponding movement that changes and can be realized on four axis transverse directions, longitudinal direction, vertical direction and yaw direction；Aircraft
Realize the movement of 6, space freedom degree (making translational and rotational movement along 3 reference axis respectively).In practical usage situations, have
Main movement is to make translational motion along 3 reference axis and be around the rotary motion of vertical axis, pitching movement and tumbling motion
The induced motion of horizontal movement.The thrust that four paddles generate, be more than or lower than four axis gravity itself when can be realized it is perpendicular
Histogram ramps up the movement with decline, and hovering is realized when the lift of paddle is equal with the gravity of four axis itself.
9, the principle of gyroscope be exactly the rotary shaft meaning an of rotating object direction when not influenced by external force, use it
Direction is kept, the instrument manufactured is just gyroscope.For example, cycling is in fact also with this principle.Wheel
Turn to be less susceptible to down fastlyer, because axle has the strength of one holding level.Telecontrolled aircraft gyroscope will give it at work
One power, rotates it quickly, can generally reach hundreds of thousands per minute and turn, can be with work really long days.Then with a variety of
Method reads direction indicated by axis, and data-signal is transmitted to control system automatically.
Multi-rotor unmanned aerial vehicle be a kind of installation according to geometrically symmetric figure come the line shaft of quantification and propeller can
Unmanned flight's system of VTOL, is also Multi-axis aircraft, common are the unmanned planes such as 4 axis, 6 axis, 8 axis.Determine more rotors
Aircraft rotor number, be exactly the balance of stability of aircraft, geometric dimension and single-shot power performance three.Quantity it is more more more
Stablize, and double hairs/single-shot failure can be born, but the diminution for the rotor diameter that compares, in rotor centers and aircraft geometry
The distance of the heart increases faster, and the size of aircraft will also be made bigger.This aircraft can with plug-in many equipment, instrument,
Tool, weapon etc. are used for various uses.Can certainly we plug-in carrier, such as all kinds of transport goods, liquid medicine.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of internet unmanned plane persistently continued a journey, which is characterized in that the unmanned plane include flight instruments, continuation of the journey cable,
Coiling apparatus and remote controler with folding and unfolding cable function, the remote controler connect the flight instruments, institute by wireless communication
It states remote controler and also connects the coiling apparatus by wireless communication, described in the input terminal connection of the power supply unit of the flight instruments
The other end of one end of continuation of the journey cable, the continuation of the journey cable connects the coiling apparatus；
The coiling apparatus includes control system, pedestal, winder, gearbox, thread tension sensor and with circle rotation
Conductive contact is contacted, one end of the winder is set on pedestal to be placed in the gearbox and connect with gear, the spiral
The other end of device connects the contact conductive contact, and the thread tension sensor is set on the pedestal and is placed in the winder
Top, the control system is set on the pedestal and connect with the gearbox, the output end for contacting conductive contact
It is electrically connected the other end of the continuation of the journey cable；
The control system includes power supply unit, microprocessor, the first communication unit, the first electron speed regulator, motor and described
Thread tension sensor, the output end of the microprocessor connect the control terminal of the motor by first electron speed regulator,
The output end of first communication unit connects the input terminal of the microprocessor, and first communication unit is by wireless communication
The flight instruments are connected, the output end of the thread tension sensor connects the input terminal of the microprocessor, the line tension
Sensor is set on the winder, and the microprocessor, the first communication is electrically connected in the output end of the power supply unit
Unit, the first electron speed regulator and motor, the output end of the power supply unit are also connected with the input terminal of the contact conductive contact.
2. internet unmanned plane according to claim 1, which is characterized in that the length of the continuation of the journey cable is 10-3000
Rice, the continuation of the journey cable use cable of the line footpath less than 3 square millimeters.
3. internet unmanned plane according to claim 2, which is characterized in that the flight instruments include rack, electric-controlled
System, Vertical Dynamic device and several rotor power devices processed, the electrical control gear are set in the rack, described vertical
Power device is set to the top surface of the rack, and several rotor power devices are separately connected in the rack, and adjacent two
Spacing between the rotor power device is equal.
4. internet unmanned plane according to claim 3, which is characterized in that the Vertical Dynamic device includes Vertical Dynamic
Connecting rod, coaxial clockwise and anticlockwise motor, coaxial positive and negative rotating propeller and base up and down, one end connection of the Vertical Dynamic connecting rod
The base, the other end of the Vertical Dynamic connecting rod connect the rack, and the coaxial clockwise and anticlockwise motor is set to the machine
On seat, the coaxial positive and negative rotating propeller up and down is set on the arbor of the coaxial clockwise and anticlockwise motor.
5. internet unmanned plane according to claim 4, which is characterized in that the rotor power device includes rotor power
Connecting rod, installation base, motor or steering engine and rotor power propeller, one end of the rotor power connecting rod connect the peace
Installation seat, the motor or steering engine are installed on the installation base, and the rotor power propeller is set to the motor or rudder
On the arbor of machine.
6. internet unmanned plane according to claim 5, which is characterized in that the electric control system includes central processing
Device, remote controler receiving module, gyroscope, global position system, the second communication unit, power supply unit and several electron speed regulators or
Channel, the output end of the remote controler receiving module connect the input terminal of the central processing unit, and the global position system connects
Connect the central processing unit two-way communication, the output end of the gyroscope connects the input terminal of the central processing unit, it is described in
The one end in central processor connection the second communication unit two-way communication, several electron speed regulators or channel is separately connected institute
State the output end of central processing unit, the other end in several electron speed regulators or channel is separately connected the motor or steering engine
Central processing unit, remote controler receiving module, gyroscope, global position system is electrically connected in control terminal, the power supply unit
And second communication unit.
7. internet unmanned plane according to claim 6, which is characterized in that the power supply unit includes power distribution unit
And DC decompression module, the input terminal of the power distribution unit connect the output end of the DC decompression module；The satellite
Positioning system includes positioning unit and antenna, and the input terminal of the positioning unit connects the output end of the antenna；Described second
Communication unit includes radio communication circuit.
8. internet unmanned plane according to claim 7, which is characterized in that second communication unit further includes channel radio
Believe that repeat circuit, the wireless communications relay circuit connect the radio communication circuit by wireless communication；First communication
Unit and the second communication unit are all made of wireless telecommunications；The antenna uses big-dipper satellite antenna or GPS satellite antenna.
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| CN106144926B (en) * | 2016-07-07 | 2018-12-04 | 衢州赋腾信息科技有限公司 | A kind of winch used for unmanned plane |
| CN106292713A (en) * | 2016-10-28 | 2017-01-04 | 天津城建大学 | A kind of multi-rotor aerocraft control system |
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| CN107264792A (en) * | 2017-07-04 | 2017-10-20 | 张洋 | A kind of modular unmanned plane of dynamical system |
| WO2019019090A1 (en) * | 2017-07-27 | 2019-01-31 | 深圳蓝胖子机器人有限公司 | Robot energy supply system, method and robot |
| CN107810585B (en) * | 2017-08-09 | 2021-01-29 | 深圳微孚智能信息科技有限公司 | Multifunctional concentrator and underwater vehicle |
| CN108657073A (en) * | 2018-05-21 | 2018-10-16 | 哈尔滨商业大学 | A kind of automobile safety protection system based on Internet of Things |
| CN109298721A (en) * | 2018-10-30 | 2019-02-01 | 佛山市神风航空科技有限公司 | A kind of multi-rotor aerocraft of express delivery handling |
| CN115057300A (en) * | 2022-07-07 | 2022-09-16 | 江苏宏飞线缆科技有限公司 | Winding device and method for special cable for wind power |
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