CN105947187A - Posture control device and control method for vertical take-off and landing aircraft - Google Patents
Posture control device and control method for vertical take-off and landing aircraft Download PDFInfo
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- CN105947187A CN105947187A CN201610321261.2A CN201610321261A CN105947187A CN 105947187 A CN105947187 A CN 105947187A CN 201610321261 A CN201610321261 A CN 201610321261A CN 105947187 A CN105947187 A CN 105947187A
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- nozzle
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- posture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C15/00—Attitude, flight direction, or altitude control by jet reaction
- B64C15/14—Attitude, flight direction, or altitude control by jet reaction the jets being other than main propulsion jets
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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
- B64C29/04—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 characterised by jet-reaction propulsion
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention provides a posture control device and control method for a vertical take-off and landing aircraft. The posture control device and control method are used for posture stabilization and control of the aircraft in vertical taken-off and landing/hovering modes. An air compressor located in a fuselage is adopted to serve as an independent air pressure source, air is guided from the air compressor to counter-acting force nozzles at the two ends and the tail of a wing correspondingly, and the posture of the aircraft in the vertical take-off and landing stages is controlled through the operating torque generated by changing the opening angles of the nozzles. Compared with the way that a thrust vector engine is directly adopted to control the posture or air is guided to nozzles from an air compressor of an engine to control the posture, the problems that thrust loss of the engine is caused when air is guided from the engine, and coupling of lifting force and required posture control operating force is caused are solved by the adoption of the method, and the reliability is higher.
Description
Technical field
The invention belongs to aviation aircraft design and flight control method, be specifically related to the appearance of a kind of vertically taking off and landing flyer
State controls device and control method.
Background technology
Vertically taking off and landing flyer possesses the ability of VTOL and cruising flight, it is adaptable to landing site limited carrier-borne,
Small-sized island etc. use environment, are suitably executed the tasks such as battlefield supply, search and rescue, all have extensively in dual-use market
Use demand.
Existing vertically taking off and landing flyer VTOL stage flight attitude controls mostly use thrust vectoring electromotor or push away
Force vector electromotor adds engine bleed to the mode of counteracting force Jet control.Motor power is big, but dynamic response
Slowly, the main lift that the VTOL stage is provided, be not suitable for realizing quick pose stabilization control.Individually use thrust
Approach vector requires that aircraft has exact figure formula engine control system, and good electromotor followability,
Engine performance is required the highest.And can bring, from the bleed air of electromotor, the problem that motor power loses,
Cause coupling of gesture stability demand and other demand for control, greatly increase the design difficulty of thrust vectoring electromotor.
So, the present invention proposes independent to the demand of gesture stability and the demand of lift for the VTOL stage, thus greatly
Reduce the demand to thrust vectoring electromotor, and improve the control performance of whole VTOL stage attitude control system.
Summary of the invention
Solve the technical problem that
In place of the deficiencies in the prior art, the present invention proposes a kind of attitude control being applicable to vertically taking off and landing flyer
Device processed and control method, the attitude operating torque of aircraft is produced by the thrust of counteracting force nozzle, for aircraft
Attitude stabilization under VTOL/hovering mode and control.
Technical scheme
A kind of attitude-control device being applicable to vertically taking off and landing flyer, it is characterised in that: include compressor and some instead
Active force nozzle, described compressor is installed on fuselage interior, as independent pneumatic supply bleed to each nozzle, described
Nozzle include being symmetrically distributed in the nozzle 1 of both sides wing tip, nozzle 2 and the nozzle 3 being distributed in afterbody, spray
Mouth 4, nozzle 5, wherein, nozzle 1 be positioned at right side wing, Open Side Down, nozzle 2 be positioned at left side wing, opening to
Under, nozzle 3 is positioned on body longitudinal axis, Open Side Down, and nozzle 4, nozzle 5 are about the longitudinally asymmetric plane pair of body
Claim distribution, the oblique upper left side of nozzle 4 opening and horizontal plane angle are 30 degree, the oblique upper left side of nozzle 5 opening and
Horizontal plane angle is 30 degree；
Wherein, nozzle 1, nozzle 2 Differential Control provide roll guidance moment, and nozzle 3, nozzle 4, nozzle 5 are differential
Pitch control moment, nozzle 4, nozzle 5 differential offer directional control moment are provided.
The method using above-mentioned control device to carry out gesture stability is:
Roll guidance: right rolling moment is provided when nozzle 1 aperture is more than nozzle 2 aperture, otherwise the torque that rolls left is provided；
Pitch control: nozzle 4 is synchronized with the movement with nozzle 5, nozzle 3 aperture is opened less than the symmetry of nozzle 4 with nozzle 5
Nose-up pitching moment is provided when spending, otherwise, it is provided that nose-down pitching moment；
Directional control: provide right yawing when nozzle 4 aperture is less than nozzle 5 aperture, otherwise, it is provided that left drift power
Square；For eliminating the interference to pitch axis, carry out directional control and must control nozzle 3 according to equilibrium about pitching axis conditional synchronization
Aperture.
Beneficial effect
A kind of attitude-control device being applicable to vertically taking off and landing flyer of present invention proposition and control method, for tradition
Possess the vertically taking off and landing flyer of thrust vectoring, increase independent attitude control system, use independent compressor as pressure
Power source replaces engine bleed, and is only operated in the VTOL stage, does not affect the work of thrust vectoring electromotor,
Reduce control coupling, there is more preferable VTOL performance；After using independent attitude-control device, reduce pushing away
The demand of force vector engine response speed, reliability is higher；It is distributed in opening of wing and empennage nozzle by control
Angle provides operating torque, it is achieved that the gesture stability in aircraft vertical landing stage, and simple in construction is convenient and easy,
Reliability is high, has the strongest using value.Use the vertically taking off and landing flyer of the present invention, send out reducing thrust vectoring
In the case of motivation burden, improve the gesture stability ability in VTOL stage, reliable and stable, there is the strongest fitting
Ying Xing.
Accompanying drawing explanation
Fig. 1 is the monnolithic case figure of the vertically taking off and landing flyer using the present invention.
Fig. 2 is the top view of the vertically taking off and landing flyer using the present invention.
Fig. 3 is to use assembly of the invention schematic diagram.
Fig. 4 is the nozzle opening controlling mechanism schematic diagram using the present invention.
In figure: 1-5. nozzle 6. compressor 7. fuselage 8. fixes wing 9. aileron 10. empennage
Detailed description of the invention
In conjunction with embodiment, accompanying drawing, the invention will be further described:
The present invention is mainly by a kind of attitude-control device being applicable to vertically taking off and landing flyer and control method, it is achieved hang down
The three-axis attitude of straight landing/hovering phase controls.
Seeing Fig. 1, Fig. 2, VUAV comprises fuselage 7, fixing wing 8, aileron 9, empennage 10, this
Invention device includes the independent compressor 6 being installed within fuselage 7, is connected to 5 nozzles by pipeline.Fig. 3
Showing apparatus of the present invention schematic diagram, in the present embodiment, nozzle uses the square-section shown in Fig. 4, by two catch
Control nozzle opening size, thus realize nozzle thrust and control.
Nozzle 1 and nozzle 2 are arranged on wing two ends, and Differential Control provides roll guidance moment；Nozzle 3, nozzle 4,
Nozzle 5 is arranged on fuselage 7 afterbody, it is provided that pitching and yaw control moment.Nozzle 1, nozzle 2 and nozzle 3 opening
Under vertical body Y-direction, the oblique upper left side of nozzle 4 opening, the oblique upper right side of nozzle 5 opening, all presss from both sides with horizontal plane
Angle is 30 degree.
Under VTOL/hovering mode, independent compressor provide source of the gas, adjust by controlling counteracting force nozzle aperture
Whole thrust, and then change UAV Attitude.
The computing formula of nozzle operating torque is:
Wherein: T1、T2、T3、T4、T5The counteracting force of the most corresponding 5 nozzles, L12For nozzle 1, nozzle 2 away from
From the distance of longitudinally asymmetric plane, L345For nozzle 3, nozzle 4 and nozzle 5 apart from the distance of center of gravity, θrFor nozzle 4,
Nozzle 5 and the angle of horizontal plane, L, M, N represent rolling moment, pitching moment and yawing respectively.Assuming that nozzle
1 and nozzle 2 do not produce pitch control moment (i.e. the line of nozzle 1 and nozzle 2 is through the center of gravity of aircraft), then by formula
(1) understanding, in the VTOL stage, nozzle 1 does not produce rolling moment time equal with the active force of nozzle 2, needs to handle
During the right rolling of aircraft, nozzle 2 first closes, it is provided that right rolling moment, during fast close setting roll angle instruction, and nozzle 1
Guan Bi, nozzle 2 are opened；Nozzle 4, nozzle 5 along body vertical pivot make a concerted effort the most equal with nozzle 3 active force time do not produce pitching
Moment, when needing manipulation aircraft to bow, nozzle 3 first closes, it is provided that nose-up pitching moment, fast close to setting angle of pitch instruction
Time, nozzle 4 and nozzle 5 close, nozzle 3 is opened, and during pitch control, nozzle 4 is synchronized with the movement with nozzle 5；Nozzle
4, yawing is not produced when the active force of nozzle 5 is equal, when needing to handle aircraft change head sensing right avertence, spray
Mouth 4 first closes, it is provided that right yawing, and when instructing close to set course angle soon, nozzle 5 closes, nozzle 4 is opened.Boat
In manipulation process, for eliminating the interference to pitch axis, need to control nozzle 3 and be synchronized with the movement, permissible by formula (1)
The active force obtaining nozzle 3 need to meet:
T3=-(M/L345-T4sinθr-T5sinθr) (2)
The vertically taking off and landing flyer using the present invention to control device is compared conventional aircraft and is added independent compressor conduct
Pressure source replaces engine bleed, and is only operated in the VTOL stage, does not affect the work of thrust vectoring electromotor,
Eliminate coupling between lift demand with operating torque demand, there is more preferable VTOL performance；And to the power that verts
Requirement lower, reliability is higher, the shortcoming overcoming other described power category vertically taking off and landing flyer that vert, property
Can be excellent, reliable and stable, there is the strongest adaptability, have a extensive future.
Claims (2)
1. the attitude-control device being applicable to vertically taking off and landing flyer, it is characterised in that: include compressor and some anti-works
Firmly nozzle, described compressor is installed on fuselage interior, as independent pneumatic supply bleed to each nozzle, described
Nozzle include being symmetrically distributed in the nozzle (1) of both sides wing tip, nozzle (2) and the nozzle (3) being distributed in afterbody,
Nozzle (4), nozzle (5), wherein, nozzle (1) is positioned at right side wing, Open Side Down, and nozzle (2) is positioned at a left side
Side wing, Open Side Down, and nozzle (3) is positioned on body longitudinal axis, Open Side Down, nozzle (4), nozzle (5)
Being distributed about the longitudinally asymmetric plane symmetry of body, the oblique upper left side of nozzle (4) opening and horizontal plane angle are 30 degree,
The oblique upper left side of nozzle (5) opening and horizontal plane angle are 30 degree；
Wherein, nozzle (1) and nozzle (2) Differential Control provide roll guidance moment, nozzle (3), nozzle (4),
Nozzle (5) differential offer pitch control moment, nozzle (4), nozzle (5) differential offer directional control moment.
2. one kind uses the method that control device carries out gesture stability as claimed in claim 1, it is characterised in that:
Roll guidance: right rolling moment is provided when nozzle (1) aperture is more than nozzle (2) aperture, otherwise provides and roll left
Torque；
Pitch control: nozzle (4) is synchronized with the movement with nozzle (5), nozzle (3) aperture is less than nozzle (4) and spray
Nose-up pitching moment is provided during the symmetrical aperture of mouth (5), otherwise, it is provided that nose-down pitching moment；
Directional control: provide right yawing when nozzle (4) aperture is less than nozzle (5) aperture, otherwise, it is provided that left
Yawing；For eliminating the interference to pitch axis, carrying out directional control must control according to equilibrium about pitching axis conditional synchronization
The aperture of nozzle (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610321261.2A CN105947187A (en) | 2016-05-16 | 2016-05-16 | Posture control device and control method for vertical take-off and landing aircraft |
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| CN201610321261.2A CN105947187A (en) | 2016-05-16 | 2016-05-16 | Posture control device and control method for vertical take-off and landing aircraft |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828885A (en) * | 2016-12-30 | 2017-06-13 | 上海牧羽航空科技有限公司 | A kind of use jet form control driftage and the tiltrotor of pitching |
| CN107269399A (en) * | 2017-05-17 | 2017-10-20 | 南京航空航天大学 | Fluid vectors engine control based on PWM technologies |
| CN107512386A (en) * | 2017-08-19 | 2017-12-26 | 中国矿业大学 | A kind of mine air power high-speed aircraft and control method |
| CN108107902A (en) * | 2017-12-20 | 2018-06-01 | 成都纵横自动化技术有限公司 | Horizontal course attitude control method and relevant apparatus |
| CN108121338A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of flight path closed loop control method of USV |
| CN108116662A (en) * | 2016-11-28 | 2018-06-05 | 成都飞机工业（集团）有限责任公司 | A kind of no empennage airplane yawing control method |
| CN109334948A (en) * | 2018-11-27 | 2019-02-15 | 中国航空研究院 | Without rudder face aircraft |
| EP3659911A1 (en) * | 2018-11-30 | 2020-06-03 | Bell Helicopter Textron Inc. | Electric reaction control system |
| CN112173143A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Emergency substitution device for helicopter tail rotor in failure state and control method |
| CN114275157A (en) * | 2021-12-31 | 2022-04-05 | 重庆交通大学绿色航空技术研究院 | Composite wing unmanned aerial vehicle and pneumatic balancing method |
| WO2022068022A1 (en) * | 2020-09-30 | 2022-04-07 | 浙江大学 | Tailsitter-type vertical take-off and landing unmanned aerial vehicle and control method therefor |
| US20220258852A1 (en) * | 2019-08-02 | 2022-08-18 | Changinaviation Co., Ltd. | Aircraft controlled by compressed air |
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| GB2390884A (en) * | 2002-07-16 | 2004-01-21 | John William Rees | A VSTL aircraft |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108116662A (en) * | 2016-11-28 | 2018-06-05 | 成都飞机工业（集团）有限责任公司 | A kind of no empennage airplane yawing control method |
| CN108121338B (en) * | 2016-11-30 | 2019-12-03 | 中国科学院沈阳自动化研究所 | A kind of track closed loop control method of USV |
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| CN106828885A (en) * | 2016-12-30 | 2017-06-13 | 上海牧羽航空科技有限公司 | A kind of use jet form control driftage and the tiltrotor of pitching |
| CN107269399B (en) * | 2017-05-17 | 2019-04-19 | 南京航空航天大学 | Fluid vectors engine control based on PWM technology |
| CN107269399A (en) * | 2017-05-17 | 2017-10-20 | 南京航空航天大学 | Fluid vectors engine control based on PWM technologies |
| CN107512386A (en) * | 2017-08-19 | 2017-12-26 | 中国矿业大学 | A kind of mine air power high-speed aircraft and control method |
| CN108107902B (en) * | 2017-12-20 | 2021-06-18 | 成都纵横自动化技术股份有限公司 | Lateral heading attitude control method and related device |
| CN108107902A (en) * | 2017-12-20 | 2018-06-01 | 成都纵横自动化技术有限公司 | Horizontal course attitude control method and relevant apparatus |
| CN109334948A (en) * | 2018-11-27 | 2019-02-15 | 中国航空研究院 | Without rudder face aircraft |
| EP3659911A1 (en) * | 2018-11-30 | 2020-06-03 | Bell Helicopter Textron Inc. | Electric reaction control system |
| US10829204B2 (en) | 2018-11-30 | 2020-11-10 | Textron Innovations Inc. | Electric reaction control system |
| US11697491B2 (en) | 2018-11-30 | 2023-07-11 | Textron Innovations Inc. | Electric reaction control system |
| US20220258852A1 (en) * | 2019-08-02 | 2022-08-18 | Changinaviation Co., Ltd. | Aircraft controlled by compressed air |
| CN112173143A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Emergency substitution device for helicopter tail rotor in failure state and control method |
| WO2022068022A1 (en) * | 2020-09-30 | 2022-04-07 | 浙江大学 | Tailsitter-type vertical take-off and landing unmanned aerial vehicle and control method therefor |
| CN114275157A (en) * | 2021-12-31 | 2022-04-05 | 重庆交通大学绿色航空技术研究院 | Composite wing unmanned aerial vehicle and pneumatic balancing method |
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Application publication date: 20160921 |