CN107161354A - A kind of high aspect ratio solar energy unmanned plane is without undercarriage landing system - Google Patents
A kind of high aspect ratio solar energy unmanned plane is without undercarriage landing system Download PDFInfo
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- CN107161354A CN107161354A CN201710319684.5A CN201710319684A CN107161354A CN 107161354 A CN107161354 A CN 107161354A CN 201710319684 A CN201710319684 A CN 201710319684A CN 107161354 A CN107161354 A CN 107161354A
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- unmanned plane
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- unmanned vehicle
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- 230000015572 biosynthetic process Effects 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 16
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
- B64F1/10—Ground or aircraft-carrier-deck installations for launching aircraft using self-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of high aspect ratio solar energy unmanned plane without undercarriage landing system, when solar energy unmanned plane takes off, solar energy unmanned plane is docked locked with unmanned vehicle by sliding block clamping device, after unmanned vehicle automatic running to race start, load aircraft accelerates along runway, reaches after takeoff speed, and sliding block clamping device unclamps release unmanned plane, solar energy unmanned plane is separated with unmanned vehicle, and automatic takeoff climbs；During solar energy UAV Landing, unmanned plane glides along glissade, pull-up descends slowly and lightly when close to ground, after unmanned plane enters runway with certain altitude, unmanned vehicle runs through guidance system and run simultaneously with unmanned plane formation, it is maintained at immediately below unmanned plane, with unmanned plane automatic butt after unmanned plane is down to proper height.The present invention aids in the full-automatic landing of solar energy unmanned plane using unmanned vehicle, can save undercarriage, improves unmanned plane endurance, reduces unmanned plane structure design difficulty, strengthens load-carrying ability.
Description
Technical field
The present invention relates to intelligentized control method field, and in particular to a kind of high aspect ratio solar energy unmanned plane is without undercarriage landing
System.
Background technology
Solar energy unmanned plane is a kind of high aspect ratio, big span aircraft, the energy characteristics needed for its integral layout and flight
The ideal design for determining solar energy unmanned plane is strict control weight, no undercarriage.Because unmanned plane is whole in flight course
The approximate uniform load of aerodynamic force that body is born, overall structure equal strength only increases structure in key positions such as motor apparatus cabins
Intensity.And for devising the solar energy unmanned plane of undercarriage, undercarriage first itself has an increased weight, secondly undercarriage is installed
Partial structurtes intensity requirement it is very high.And because undercarriage is all a limited number of several strong points for body, this
The structural strength of model machine body in itself also requires that higher, and so this high-aspect-ratio aircraft can just bear to take off landing phases generation
Overload.But these designs can undoubtedly increase many unnecessary weight.So for loss of weight, it is necessary to remove undercarriage.And nothing
Landing Gear Design frequently results in aircraft wrap up in descent.So the landing problem of solar energy unmanned plane is all the time
All without good solution, existing landing mode is not suitable for this high-aspect-ratio aircraft of solar energy unmanned plane.
The content of the invention
To solve the above problems, the invention provides a kind of high aspect ratio solar energy unmanned plane without undercarriage landing system,
Intelligent, the intelligent formation control between dolly and unmanned plane between dolly and dolly by the dragging accessory cart that takes off, allows formationization
Dolly and unmanned plane independently complete landing.
To achieve the above object, the technical scheme taken of the present invention is：
A kind of high aspect ratio solar energy unmanned plane is without undercarriage landing system, including earth station and unmanned vehicle, earth station, nothing
People's car realizes real-time Communication for Power with solar energy unmanned plane by high-speed data chain；The unmanned vehicle includes car body, slide rail and sliding block folder
Hold mechanism, the slide rail is arranged on top surface on car body by rotary shaft, can controlled rotation, move up and down, slide rail is connected with car body
Place is provided with the damping mechanism parallel to rotary shaft, and it is two that the sliding block, which accommodates mechanism, sliding with slide rail, can controlled slip simultaneously
With self-lock ability；
When solar energy unmanned plane takes off, solar energy unmanned plane docks locked, nothing with unmanned vehicle by sliding block clamping device
After people's car automatic running to race start, load aircraft accelerates along runway, reaches after takeoff speed, and sliding block, which accommodates mechanism release, to be released
Unmanned plane is put, solar energy unmanned plane is separated with unmanned vehicle, and automatic takeoff climbs；
During solar energy UAV Landing, unmanned plane glides along glissade, and pull-up descends slowly and lightly when close to ground, in nothing
Man-machine to be entered with certain altitude after runway, unmanned vehicle runs through guidance system and run simultaneously with unmanned plane formation, is maintained at nothing
Man-machine underface, with unmanned plane automatic butt after unmanned plane is down to proper height；Because certain reason unmanned vehicle can not be with nobody
When machine is synchronous, unmanned plane pull-up is gone around.Unmanned vehicle slows down rapidly after being docked with unmanned plane, and automatic running is to the parking area specified
Domain；
When the solar energy unmanned plane span is larger, need multi-section unmanned vehicle cooperate with formation completion take off, landing mission；Take off
When, only need unmanned vehicle to form into columns and run；During landing, unmanned plane and unmanned vehicle, common operation of forming into columns between unmanned vehicle, during formation
Unmanned aerial vehicle vision is that target is actively formed into columns by unmanned plane normal flight, unmanned vehicle, synchronizes operation.
Preferably, the guidance system by differential GPS, visual guidance including fixing end and mobile terminal high-speed data chain
Communication system is constituted；Initial guiding uses differential GPS, and unmanned vehicle receives the unmanned plane position data with timestamp, passes through card
Kalman Filtering compensating time delay influences, and final relative guidance accuracy reaches sub-meter grade；Terminal section guiding uses visual guidance, nobody
Visual guidance cooperative target is set on machine, passes through the Integrated guidance with inertia so that terminal section guidance accuracy reaches Centimeter Level.
Preferably, the car body is a cuboid lorry, vehicle driven by power.
Preferably, top surface offers a slide rail mounting hole on the car body.
Preferably, the slide rail is lightweight frame, and self-locking screw mandrel drive mechanism is installed in inside, and sliding block clamping device passes through certainly
Lock screw mandrel drive mechanism is flexibly connected with slide rail.
Preferably, the interior contact surface of the sliding block clamping device is provided with pressure sensor.
The present invention aids in the full-automatic landing of solar energy unmanned plane using unmanned vehicle, can save undercarriage, improves unmanned plane and continues
Boat ability, reduces unmanned plane structure design difficulty, strengthens load-carrying ability.Unmanned vehicle can carry out many planar supports to unmanned plane,
So as to avoid a series of structure-reinforced design problems.Unmanned plane descent is directly dropped on unmanned vehicle simultaneously, will not also be made
Into damage, descent is also provided with higher degree of controllability.
Brief description of the drawings
Fig. 1 is that a kind of high aspect ratio solar energy unmanned plane of the embodiment of the present invention is illustrated without undercarriage landing system takeoff condition
Figure.
Fig. 2 is that a kind of high aspect ratio solar energy unmanned plane of the embodiment of the present invention declines state signal without undercarriage landing system
Figure.
Fig. 3 is the structural representation of unmanned vehicle in the embodiment of the present invention.
Fig. 4 is the structural representation of car body in the embodiment of the present invention.
Embodiment
In order that objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments further
Describe in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
As Figure 3-Figure 4, the embodiments of the invention provide a kind of high aspect ratio solar energy unmanned plane without undercarriage landing
System, including earth station and unmanned vehicle, earth station, unmanned vehicle and solar energy unmanned plane are realized logical in real time by high-speed data chain
Letter；The unmanned vehicle includes car body, slide rail and sliding block clamping device, and the slide rail is arranged on top surface on car body by rotary shaft,
Can controlled rotation, move up and down, slide rail and car body junction are provided with the damping mechanism parallel to rotary shaft, the sliding block clamping
Mechanism is two, sliding with slide rail, can controlled slip and with self-lock ability；The car body is a cuboid lorry, whole
Car driven by power.Top surface offers a slide rail mounting hole on the car body.The slide rail is lightweight frame, and self-locking silk is installed in inside
Bar drive mechanism, sliding block clamping device is flexibly connected by self-locking screw mandrel drive mechanism with slide rail.The sliding block clamping device
Interior contact surface is provided with pressure sensor.
As shown in figure 1, when solar energy unmanned plane takes off, solar energy unmanned plane accommodates mechanism pair with unmanned vehicle by sliding block
Connect locked, after unmanned vehicle automatic running to race start, load aircraft accelerates along runway, reaches after takeoff speed, and sliding block accommodates
Release unmanned plane unclamps in mechanism, and solar energy unmanned plane is separated with unmanned vehicle, and automatic takeoff climbs, and whole process is all automatic complete
Into.
As shown in Fig. 2 during solar energy UAV Landing, unmanned plane glides along glissade, drawn when close to ground
Rise and descend slowly and lightly, after unmanned plane enters runway with certain altitude, unmanned vehicle runs through guidance system fortune synchronous with unmanned plane formation
OK, it is maintained at immediately below unmanned plane, with unmanned plane automatic butt after unmanned plane is down to proper height；Because of certain reason unmanned vehicle
When can not be synchronous with unmanned plane, unmanned plane pull-up be gone around.Unmanned vehicle slows down rapidly after being docked with unmanned plane, and automatic running to refer to
Fixed shutdown region；The guidance system is led to by the high-speed data chain of differential GPS, visual guidance including fixing end and mobile terminal
Letter system is constituted；Initial guiding uses differential GPS, and unmanned vehicle receives the unmanned plane position data with timestamp, passes through karr
Graceful filtering compensation Time Delay Impact, final relative guidance accuracy reaches sub-meter grade；Terminal section guiding uses visual guidance, unmanned plane
Upper setting visual guidance cooperative target, passes through the Integrated guidance with inertia so that terminal section guidance accuracy reaches Centimeter Level.
When the solar energy unmanned plane span is larger, need multi-section unmanned vehicle cooperate with formation completion take off, landing mission；Take off
When, only need unmanned vehicle to form into columns and run；During landing, unmanned plane and unmanned vehicle, common operation of forming into columns between unmanned vehicle, during formation
Unmanned aerial vehicle vision is that target is actively formed into columns by unmanned plane normal flight, unmanned vehicle, synchronizes operation.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of high aspect ratio solar energy unmanned plane is without undercarriage landing system, it is characterised in that including earth station and unmanned vehicle,
Earth station, unmanned vehicle and solar energy unmanned plane realize real-time Communication for Power by high-speed data chain；The unmanned vehicle includes car body, slide rail
With sliding block clamping device, the slide rail by rotary shaft be arranged on car body on top surface, can controlled rotation, move up and down, slide rail with
Car body junction is provided with the damping mechanism parallel to rotary shaft, and the sliding block clamping device is two, sliding with slide rail, can be by
Control is slided and with self-lock ability；
When solar energy unmanned plane takes off, solar energy unmanned plane docks locked, unmanned vehicle with unmanned vehicle by sliding block clamping device
After automatic running to race start, load aircraft accelerates along runway, reaches after takeoff speed, and sliding block accommodates mechanism and unclamps release nothing
Man-machine, solar energy unmanned plane is separated with unmanned vehicle, and automatic takeoff climbs；
During solar energy UAV Landing, unmanned plane glides along glissade, and pull-up descends slowly and lightly when close to ground, in unmanned plane
Entered with certain altitude after runway, unmanned vehicle runs through guidance system and run simultaneously with unmanned plane formation, is maintained at unmanned plane
Underface, with unmanned plane automatic butt after unmanned plane is down to proper height；Because certain reason unmanned vehicle can not be same with unmanned plane
During step, unmanned plane pull-up is gone around.Unmanned vehicle slows down rapidly after being docked with unmanned plane, and automatic running is to the shutdown region specified；
When the solar energy unmanned plane span is larger, need multi-section unmanned vehicle cooperate with formation completion take off, landing mission；When taking off, only
Need unmanned vehicle to form into columns to run；During landing, unmanned plane and unmanned vehicle, common operation of forming into columns between unmanned vehicle, during formation nobody
Unmanned aerial vehicle vision is that target is actively formed into columns by machine normal flight, unmanned vehicle, synchronizes operation.
2. a kind of high aspect ratio solar energy unmanned plane as claimed in claim 1 is without undercarriage landing system, it is characterised in that institute
Guidance system is stated to be made up of the high-speed data chain communication system of differential GPS, visual guidance including fixing end and mobile terminal；Initially
Guiding uses differential GPS, and unmanned vehicle receives the unmanned plane position data with timestamp, is prolonged by the Kalman filtering compensation time
Influence late, final relative guidance accuracy reaches sub-meter grade；Terminal section guiding is used sets visual guidance to close on visual guidance, unmanned plane
Make target, pass through the Integrated guidance with inertia so that terminal section guidance accuracy reaches Centimeter Level.
3. a kind of high aspect ratio solar energy unmanned plane as claimed in claim 1 is without undercarriage landing system, it is characterised in that institute
Car body is stated for a cuboid lorry, vehicle driven by power.
4. a kind of high aspect ratio solar energy unmanned plane as claimed in claim 1 is without undercarriage landing system, it is characterised in that institute
State top surface on car body and offer a slide rail mounting hole.
5. a kind of high aspect ratio solar energy unmanned plane as claimed in claim 1 is without undercarriage landing system, it is characterised in that institute
Slide rail is stated for lightweight frame, self-locking screw mandrel drive mechanism is installed in inside, sliding block clamping device by self-locking screw mandrel drive mechanism with
Slide rail is flexibly connected.
6. a kind of high aspect ratio solar energy unmanned plane as claimed in claim 1 is without undercarriage landing system, it is characterised in that institute
The interior contact surface for stating sliding block clamping device is provided with pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710319684.5A CN107161354A (en) | 2017-04-28 | 2017-04-28 | A kind of high aspect ratio solar energy unmanned plane is without undercarriage landing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710319684.5A CN107161354A (en) | 2017-04-28 | 2017-04-28 | A kind of high aspect ratio solar energy unmanned plane is without undercarriage landing system |
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| CN107161354A true CN107161354A (en) | 2017-09-15 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557081A (en) * | 2018-03-23 | 2018-09-21 | 西北工业大学 | A kind of solar united wing unmanned plane and its control method |
| CN109552152A (en) * | 2018-12-18 | 2019-04-02 | 常州机电职业技术学院 | Unmanned aerial vehicle loading system and working method thereof |
| CN111324147A (en) * | 2020-04-15 | 2020-06-23 | 北京共创晶桔科技服务有限公司 | Automatic unmanned aerial vehicle driving-in and driving-out control system |
| CN111422371A (en) * | 2020-03-12 | 2020-07-17 | 西安羚控电子科技有限公司 | Ground launching system and control method for fixed-wing unmanned aerial vehicle |
| CN111619805A (en) * | 2020-04-27 | 2020-09-04 | 北京航空航天大学 | Aerial take-off and landing device suitable for solar unmanned aerial vehicle and aerial flight platform |
| CN111688946A (en) * | 2020-05-29 | 2020-09-22 | 南京航空航天大学 | Vehicle-mounted launching method and device for unmanned aerial vehicle |
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| CN206050096U (en) * | 2016-09-22 | 2017-03-29 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Aircraft and the overlap-connected landing system of railcar |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557081A (en) * | 2018-03-23 | 2018-09-21 | 西北工业大学 | A kind of solar united wing unmanned plane and its control method |
| CN109552152A (en) * | 2018-12-18 | 2019-04-02 | 常州机电职业技术学院 | Unmanned aerial vehicle loading system and working method thereof |
| CN111422371A (en) * | 2020-03-12 | 2020-07-17 | 西安羚控电子科技有限公司 | Ground launching system and control method for fixed-wing unmanned aerial vehicle |
| CN111422371B (en) * | 2020-03-12 | 2023-02-17 | 西安羚控电子科技有限公司 | Ground launching system and control method for fixed-wing unmanned aerial vehicle |
| CN111324147A (en) * | 2020-04-15 | 2020-06-23 | 北京共创晶桔科技服务有限公司 | Automatic unmanned aerial vehicle driving-in and driving-out control system |
| CN111619805A (en) * | 2020-04-27 | 2020-09-04 | 北京航空航天大学 | Aerial take-off and landing device suitable for solar unmanned aerial vehicle and aerial flight platform |
| CN111619805B (en) * | 2020-04-27 | 2021-11-05 | 北京航空航天大学 | Aerial take-off and landing device suitable for solar unmanned aerial vehicle and aerial flight platform |
| CN111688946A (en) * | 2020-05-29 | 2020-09-22 | 南京航空航天大学 | Vehicle-mounted launching method and device for unmanned aerial vehicle |
| CN111688946B (en) * | 2020-05-29 | 2022-08-09 | 南京航空航天大学 | Vehicle-mounted launching method and device for unmanned aerial vehicle |
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Application publication date: 20170915 |