CN105730692B - One kind is verted the long endurance combined type aircraft of quadrotor - Google Patents
One kind is verted the long endurance combined type aircraft of quadrotor Download PDFInfo
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- CN105730692B CN105730692B CN201610245363.0A CN201610245363A CN105730692B CN 105730692 B CN105730692 B CN 105730692B CN 201610245363 A CN201610245363 A CN 201610245363A CN 105730692 B CN105730692 B CN 105730692B
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- quadrotor
- aircraft
- fuselage
- wing
- tiliting axis
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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
-
- 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
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The present invention discloses one kind and verts the long endurance combined type aircraft of quadrotor, is divided into quadrotor system, inclining rotary mechanism and aircraft body.The quadrotor dynamical system is four four propellers driven by airscrew engine；The inclining rotary mechanism is installed on waist by tiliting axis；With four circumferentially distributed motor support mechanisms, every motor support mechanism end is provided with an above-mentioned airscrew engine；When tiliting axis is perpendicular to horizontal plane, respectively there are two airscrew engines with rear in front of wing, and respectively at left and right sides of fuselage, symmetrically；It is symmetrical with two airscrew engines on right side on the left of fuselage at the same time.When taking off vertically, the lift of vertical direction is mainly provided by quadrotor dynamical system；After taking off, realize that the entirety of quadrotor is verted and locked by inclining rotary mechanism, into flat winged pattern.Advantages of the present invention is：The security reliability of aircraft is higher, and propeller blocks from wing in quadrotor dynamical system, the efficient efficiency for improving wing.
Description
Technical field
The invention belongs to field of airplane design, is related to a kind of distribution form of new vertical takeoff and landing vehicle, and in particular to
Verted using the entirety of four rotors to realize that the aircraft that flat winged state is converted to after VTOL is laid out.
Background technology
China has wide maritime control waters, and only South Sea part water surface area just has 3,560,000 square kilometres, most south
Zengmu Reef far from continent be up to 2000 kilometers.And what current China maritime sector was mainly equipped is middle-size and small-size naval vessel, by naval vessel
Condition limitation is only capable of landing carrier-based helicopter or small-sized fixed wing aircraft.Carrier-based helicopter speed is slow, endurance is short, and small-sized fixation
Then function is single, endurance is shorter and recycling is difficult for wing aircraft, and when there is emergency case, existing aircraft, which is difficult to make, effectively should
Anxious response.Therefore, can be in middle-size and small-size ship deck VTOL, long endurance there is an urgent need to one kind, and can be high as fixed-wing
The unmanned plane of speed cruise, to strengthen China's maritime control ability.Meanwhile the unmanned plane can be additionally used in city, forest, gobi etc. and lack
Few sliding area for running landing condition, to perform the tasks such as urban planning, security monitoring, disaster area observation or battle reconnaissance.
Current existing unmanned VTOL scheme is broadly divided into following a few classes：Unmanned helicopter, power tilting type, tailstock
Formula, composite power formula and the rotor change type derived by it.The cruising speed and advance efficiency of unmanned helicopter are not as good as solid
Determine the wing；Each engine respectively forwardly verts after power tilting type aircraft takeoff, during verting, paddle disk and engine and machine
The kinetics relation of body makes control system sufficiently complex, and safe coefficient is not high；Tailstock formula changes pitching using vertical takeoff and turns
Enter to put down winged flying method, however its in vertical place, center of gravity is excessive, front face area is excessive, is unfavorable for making under complex environment
With；Composite power formula carries out VTOL using dedicated engine, reuse dedicated engine switch to it is flat fly, fly each
Row order Duan Jun has partial engine not play a role, and forms deadweight；Rotor change type uses the mode landing of unmanned helicopter, makes
Switch to put down with ongoing engine and fly, rotor, which locks, when flat winged becomes wing, and efficiency is higher than composite power formula and unmanned helicopter, scarce
Point is that rotor produces reaction torque effect, and dynamical system complexity is, it is necessary to dedicated deflection, stop, locking device.Comparatively speaking, revolve
Wing change type aircraft flies more suitable for high-speed remote, as U.S. V-22 " osprey " aircraft employs the form scheme.So
And V-22 " osprey " aircraft inclining rotary mechanism is complex, technical difficulty and of high cost.In addition, two of V-22 " osprey " aircraft
Engine arrangement section outside wing, Structural strength calls are high, and weight is big, and rotor also receives blocking for wing, and efficiency receives
Certain influence.
The content of the invention
In view of the above-mentioned problems, the present invention proposes the combined type aircraft layout that a kind of quadrotor is integrally verted, by that can incline
Turntable frame connects quadrotor dynamical system and fixed-wing, realizes VTOL to flat winged by the rack that can vert dynamical system of verting
Conversion process.
The present invention is verted the long endurance combined type aircraft of quadrotor, including fuselage, wing, tailplane and vertical empennage
Aircraft body, it is characterised in that：Also there is quadrotor dynamical system and inclining rotary mechanism；
The quadrotor dynamical system is four four propellers driven by airscrew engine；The inclining rotary mechanism leads to
Cross tiliting axis and be installed on waist；With four circumferentially distributed motor support mechanisms, each motor support mechanism
On an above-mentioned airscrew engine is installed；When tiliting axis is perpendicular to horizontal plane, respectively there are two with rear in front of wing
Airscrew engine, and respectively at left and right sides of fuselage, symmetrically；It is spiral with two of right side on the left of fuselage at the same time
Paddle motor is symmetrical.
When aircraft vertical takes off, quadrotor dynamical system mainly provides the lift of vertical direction, by flight control system pair
Four airscrew engines are controlled in quadrotor dynamical system, quadrotor dynamical system is in regular flight condition at this time
Four airscrew engine rotating speeds are identical, and turning center is symmetrical.After aircraft rises to predetermined altitude, revert to level flight pattern,
Tiliting axis is controlled to turn to parallel with horizontal plane, aircraft, which is in, at this time stablizes flat winged state.When aircraft lands, control is verted
Axis turns to and horizontal plane, and control aircraft, which slowly declines, realizes vertical landing.
The advantage of the invention is that：
1st, the present invention is verted the long endurance combined type aircraft of quadrotor, and the position of centre of gravity of itself is low before taking off vertically, and more can
Complicated sea condition is adapted to, suitable for islands and reefs, military civilian naval vessel.
2nd, the present invention is verted the long endurance combined type aircraft of quadrotor, and dynamical system is integrally verted, and vert front and rear equivalent axis
Away from waiting, the parameter for influencing mechanical characteristics is almost unchanged, and flight control system greatly simplifies.
3rd, the present invention is verted the long endurance combined type aircraft of quadrotor, after verting, propeller position in quadrotor dynamical system
Near wing, the flow velocity of wing upper and lower surface air-flow is accelerated, regional area equivalent airspeed increases, and improves the effect of wing
Rate.
4th, the present invention is verted the long endurance combined type aircraft of quadrotor, and propeller hides from wing in quadrotor dynamical system
Gear, it is efficient.
5th, the present invention is verted the long endurance combined type aircraft of quadrotor, and quadrotor dynamical system is in VTOL, hovering rank
Than conventional vertically taking off and landing flyer advantageously, security reliability is higher for the control mode of section.
Brief description of the drawings
Fig. 1 for one kind of the present invention vert quadrotor long endurance combined type aircraft vertical landing pattern when schematic elevation view；
Fig. 2 for one kind of the present invention vert quadrotor long endurance combined type aircraft vertical landing pattern when schematic top plan view；
Fig. 3 for one kind of the present invention vert quadrotor long endurance combined type aircraft vertical landing pattern when schematic side view；
Fig. 4 for one kind of the present invention vert the long endurance combined type aircraft of quadrotor equal winged pattern when schematic side view.
In figure：
1- quadrotor dynamical system 2- inclining rotary mechanism 3- aircraft bodies
101- propeller 102- airscrew engine 201- tiliting axis
202- rotor system mounting bracket 202a- motor supports mechanism
Embodiment
The present invention is described in further details below in conjunction with the accompanying drawings.
The present invention is verted the long endurance combined type aircraft of quadrotor, including quadrotor dynamical system 1, inclining rotary mechanism 2 are with flying
Row device main body 3, as shown in Figure 1.
The quadrotor dynamical system 1 is to be made of four propellers, 101, four airscrew engines 102, there is provided flight
The dynamical system of the flying power of device main body, as shown in Figure 2.Each propeller 101 corresponds to an airscrew engine 102, Gu
Dingan County drives propeller 101 to rotate on the output shaft of airscrew engine 102, by airscrew engine 102, for flight
Device provides flying power.Four airscrew engines 102 are installed in can be on inclining rotary mechanism 2.
The inclining rotary mechanism 2 includes tiliting axis 201 and rotor system mounting bracket 202, such as Fig. 3, Fig. 4, shown.Wherein, incline
Shaft 201 is horizontally disposed, is arranged at by bearing below the waist of aircraft body, both ends respectively with 1 left and right sides of fuselage
Wall is connected by bearing.Rotor system mounting bracket 202 is the integrative-structure that is made of 4 motor support mechanisms, in embodiment
L-shaped supporting bar structure 202a is used using motor support mechanism；4 motor support mechanism 202a are circumferentially distributed and connect,
Connecting position is installed on tiliting axis 501.Installed respectively in quadrotor dynamical system 1 on 4 motor support mechanism 202a
Four airscrew engines 102.Thus, rotor system mounting bracket 202 can be realized parallel with horizontal plane to vertical during verting
Rotation change, affect tiliting axis 201 to rotate, and then can realize the power output side of four propellers 401 in quadrotor system 1
To change；And in order to inclining rotary mechanism 2 in rotary course from the obstruction of fuselage, therefore by aircraft fuselage in the present invention
Fuselage bottom design positioned at 201 rear of tiliting axis is located at that is, in aircraft fuselage and verts less than the bottom surface of fuselage other positions
The fuselage bottom at 201 rear of axis is inner concave.
It is respectively airscrew engine A, airscrew engine B, airscrew engine C to make four airscrew engines 102
With airscrew engine D；When controlling inclining rotary mechanism 2 perpendicular to horizontal plane, the power output side of four airscrew engines 202
To towards underface, as shown in Figure 2；And airscrew engine A, airscrew engine B are respectively positioned on wing in aircraft body
Front, positioned at the left and right sides of fuselage, symmetrically；Airscrew engine C and airscrew engine D is respectively positioned at wing
Rear, positioned at the left and right sides of fuselage, symmetrically.The wing that four airscrew engines 102 are respectively positioned on aircraft body 3 is put down
Above face, and the projection of whole quadrotor dynamical system 1 in the horizontal plane positioned at aircraft body top wing in the horizontal plane
Projection is exterior, and aircraft flight pattern is VTOL pattern at this time；And when inclining rotary mechanism 2 verts to parallel to horizontal plane,
Aircraft flight pattern is flat winged pattern, as shown in figure 3, and at this time, four propellers 101 in quadrotor dynamical system 1 push away
Air-flow into generation will be avoided in aircraft body 3 horizontal with vertical empennage in fixed-wing, avoid aerodynamic interference, meanwhile, four
In rotor power system 1, two propellers 101 positioned at 3 fuselage homonymy of aircraft body lean on respectively positioned at both sides above and below wing
Nearly aerofoil surface, and then the flow velocity of wing upper and lower surface air-flow is accelerated, the increase of regional area equivalent airspeed, improves wing
Efficiency.It is above-mentioned during inclining rotary mechanism 2 verts, the barycenter of quadrotor dynamical system 1 is always positioned at the vertical side of tiliting axis 201
Upward, the burden of inclining rotary mechanism 2 is mitigated.
By above-mentioned inclining rotary mechanism 2, hardly held in aircraft flight pattern (VTOL peace flies) transfer process
Torque is carried on a shoulder pole, main to play a part of to maintain and change tilt angle, tiliting axis 201 is locked when aircraft equals winged pattern and hovering pattern
Extremely, main risen transmits moment loading.And in the present invention, during aircraft flight, without carry out pitching, rolling and partially
When boat manipulates, four 102 rotating speeds of airscrew engine are identical, and turning center is symmetrical.
The vert flight course of the long endurance combined type aircraft of quadrotor of the present invention is specially：
When taking off vertically, quadrotor dynamical system 1 mainly provides the lift of vertical direction, and quadrotor is moved by flight control system
Four airscrew engines 102 are controlled in Force system 1, quadrotor dynamical system 1 is in regular flight condition；Needing
When carrying out pitching, rolling and yaw control, also by flight control system four airscrew engines 102 can be controlled to drive four respectively
The differential of propeller 101 power is realized.After aircraft rises to predetermined altitude, revert to level flight pattern, by flight control system pair
Four 102 Differential Controls of airscrew engine, make quadrotor dynamical system 1 produce the nose-down pitching moment (power rotated around tiliting axis 201
Square), and then make itself to rotate, inclining rotary mechanism 2 carries out servo-actuated rotation, until inclining rotary mechanism 2 turns to and aircraft head direction
(when putting down winged, that is, horizontal direction) parallel, tiliting axis 201 is locked, and aircraft, which is in stablize to put down, at this time flies state.In the above process, fly
When row device is in flat winged acceleration mode, the flying speed of aircraft gradually increases, and wing starts to produce lift, by quadrotor power
The proportion that the lift that four propellers directly produce in system 1 accounts for total life is gradually reduced.Pitching, the rolling of aircraft when flat winged
And yaw control is mainly completed by wing and flat vertical fin, quadrotor dynamical system 1 can be used as auxiliary.Aircraft descent
Similar, four airscrew engines 102 are carried out Differential Control by flight control system, move quadrotor by 201 latch-release of tiliting axis
Force system 1 slowly adjusts self-view, and producing the positive elevation angle makes thrust produce the horizontal direction component for the device advance that socks in, and inclines
Shaft 201 is servo-actuated, and aircraft enters horizontal deceleration regime, and tiliting axis 201 turns to and water when the horizontal velocity of aircraft is kept to 0
Plane is vertical, and control aircraft, which slowly declines, realizes vertical landing.
Claims (3)
- The long endurance combined type aircraft of quadrotor 1. one kind is verted, including aircraft body；Aircraft body has fuselage, machine The wing, tailplane and vertical empennage, it is characterised in that：Also there is quadrotor dynamical system and inclining rotary mechanism；The quadrotor dynamical system is four four propellers driven by airscrew engine；The inclining rotary mechanism is by inclining Shaft is installed on waist；Inclining rotary mechanism includes tiliting axis and rotor system mounting bracket；Wherein, tiliting axis is arranged at aircraft Below the waist of main body, both ends are connected with fuselage left and right sidewall by bearing respectively；Rotor system mounting bracket is by 4 hairs The integrative-structure that motivation supporting mechanism is formed, motor support mechanism use L-shaped supporting bar structure；4 motor support mechanisms Circumferentially distributed and connect, connecting position is installed on tiliting axis；Quadrotor dynamical system is installed respectively in 4 motor support mechanisms Four airscrew engines in system；Thus, rotor system mounting bracket can be realized parallel with horizontal plane to vertical during verting Rotation change, affect tiliting axis to rotate, and then can realize changing for the power output direction of four propellers in quadrotor system Become；And bottom surface of the fuselage bottom design less than fuselage other positions that tiliting axis rear will be located in the fuselage of aircraft body；When above-mentioned tiliting axis is perpendicular to horizontal plane, respectively there are two airscrew engines with rear in front of wing, and be located at respectively At left and right sides of fuselage, symmetrically；It is symmetrical with two airscrew engines on right side on the left of fuselage at the same time.
- The long endurance combined type aircraft of quadrotor 2. one kind as claimed in claim 1 is verted, it is characterised in that：Quadrotor dynamical system The barycenter of system is always positioned above the vertical of tiliting axis.
- The long endurance combined type aircraft of quadrotor 3. one kind as claimed in claim 1 is verted, it is characterised in that：When tiliting axis is vertical When horizontal plane, the projection of quadrotor dynamical system in the horizontal plane is located at the projection of aircraft body top wing in the horizontal plane It is exterior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610245363.0A CN105730692B (en) | 2016-04-19 | 2016-04-19 | One kind is verted the long endurance combined type aircraft of quadrotor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610245363.0A CN105730692B (en) | 2016-04-19 | 2016-04-19 | One kind is verted the long endurance combined type aircraft of quadrotor |
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| CN105730692A CN105730692A (en) | 2016-07-06 |
| CN105730692B true CN105730692B (en) | 2018-04-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106976558B (en) * | 2017-04-28 | 2023-06-23 | 南京航空航天大学 | Patch type piezoelectric driving four-rotor flying device and working method thereof |
| CN107128489A (en) * | 2017-05-10 | 2017-09-05 | 优飞科技（苏州）有限公司 | A kind of VTOL fixed wing aircraft of oil electricity mixing |
| US10513334B2 (en) * | 2017-06-12 | 2019-12-24 | Textron Innovations Inc. | X-tiltwing aircraft |
| EP4219303A1 (en) * | 2017-09-22 | 2023-08-02 | AMSL Innovations Pty Ltd | Wing tilt actuation system for electric vertical take-off and landing (vtol) aircraft |
| CN108106814B (en) * | 2017-10-31 | 2022-06-28 | 中航通飞华南飞机工业有限公司 | Four-engine propeller aircraft wind tunnel test model based on air motor |
| CN110294104A (en) * | 2019-07-02 | 2019-10-01 | 刘璐 | It is a kind of can VTOL the stealthy Fixed Wing AirVehicle of high speed |
| CN111532428B (en) * | 2020-04-28 | 2021-12-28 | 北京航空航天大学 | Tilting power micro fixed wing unmanned aerial vehicle capable of freely taking off and landing |
| CN111891348B (en) * | 2020-08-12 | 2021-10-22 | 天津斑斓航空科技有限公司 | Vertical take-off and landing aircraft with universally-tiltable rotor wings and control method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1660668A (en) * | 2004-02-24 | 2005-08-31 | 陈启星 | Attack angle changeable aircraft wing |
| CN205034338U (en) * | 2015-09-06 | 2016-02-17 | 湖北航天飞行器研究所 | Tilted four -rotor aircraft |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130134264A1 (en) * | 2011-11-28 | 2013-05-30 | Carter Aviation Technologies, Llc | Electric Motor Powered Rotor Drive for Slowed Rotor Winged Aircraft |
-
2016
- 2016-04-19 CN CN201610245363.0A patent/CN105730692B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1660668A (en) * | 2004-02-24 | 2005-08-31 | 陈启星 | Attack angle changeable aircraft wing |
| CN205034338U (en) * | 2015-09-06 | 2016-02-17 | 湖北航天飞行器研究所 | Tilted four -rotor aircraft |
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| CN105730692A (en) | 2016-07-06 |
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