CN107323653A - One kind vertical lift tilting rotor wing unmanned aerial vehicle and its control method - Google Patents
One kind vertical lift tilting rotor wing unmanned aerial vehicle and its control method Download PDFInfo
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- CN107323653A CN107323653A CN201710715916.9A CN201710715916A CN107323653A CN 107323653 A CN107323653 A CN 107323653A CN 201710715916 A CN201710715916 A CN 201710715916A CN 107323653 A CN107323653 A CN 107323653A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 230000009471 action Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical group [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- 229910052799 carbon Inorganic materials 0.000 claims description 2
- 239000002002 slurry Substances 0.000 claims description 2
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 229920002472 Starch Polymers 0.000 claims 1
- 235000019698 starch Nutrition 0.000 claims 1
- 239000008107 starch Substances 0.000 claims 1
- 230000004044 response Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C9/12—Adjustable control surfaces or members, e.g. rudders surfaces of different type or function being simultaneously adjusted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention discloses one kind vertical lift tilting rotor wing unmanned aerial vehicle and its control method, belong to unmanned air vehicle technique field, the vertical lift tilting rotor wing unmanned aerial vehicle includes fuselage, wing, empennage and inclining rotary mechanism；The wing is arranged on the forward position in upper end of fuselage, and vertical with fuselage；The inclining rotary mechanism includes：First to fourth connecting rod, the first and second steering wheels, first to fourth execution unit；First to fourth execution unit includes electron speed regulator, DC brushless motor and propeller, and first to fourth execution unit is separately mounted to the end of first to fourth connecting rod；First and second steering wheel is separately mounted to fuselage interior, and is connected with the first and second universal driving shafts being connected in connecting rod.Easy to operate, the autonomous landing of the present invention and the characteristics of without take-off venue, substantially reduce the technical requirements to unmanned plane operating personnel, operation can be just familiar with the zero-base plinth short time, the limitation of unmanned plane manipulator shortage is broken through, breaks the bottleneck of unmanned plane industry development.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, and in particular to one kind vertical lift tilting rotor wing unmanned aerial vehicle and its controlling party
Method.
Background technology
Unmanned plane is the not manned aircraft manipulated using radio robot and presetting apparatus, in the prior art,
Fixed-wing aircraft has site requirements, it is necessary to compared with long runway, the departure time is long, and VTOL machine is without higher site requirements, still
Endurance is lacked due to no wing.Not yet develop miniaturization, the high and low cost of integrated level both at home and abroad at present, meet multiple
The innovative SUAV product of miscellaneous landing conditioning tasks requirement.
People are seeking to have the aircraft of many gyroplanes and fixed-wing aircraft advantage concurrently always for a long time.I.e. one kind can not
VTOL and the action of flight forward can be completed by relying on place, while there is the VTOL tilting rotor of longer endurance
Unmanned plane.
Therefore, a miniaturization accorded with the demands of the market, the high and low cost of integrated level are developed, suitable for complicated landing condition
Mission requirements, meets emergent quick response, and the new quick response VTOL of the market demand such as road vehicles monitoring is verted rotation
Wing unmanned plane product is necessary.
The content of the invention
It is existing to solve it is an object of the invention to provide one kind vertical lift tilting rotor wing unmanned aerial vehicle and its control method
There is unmanned plane to have place limitation, cruising time is short, the problem of inconvenient operation.
To achieve the above object, tilting rotor wing unmanned aerial vehicle is vertically moved up or down the invention discloses one kind, the unmanned plane includes
Fuselage, wing, empennage and inclining rotary mechanism；The wing is arranged on the forward position in upper end of fuselage and vertical with fuselage；The tail
The wing is arranged on the afterbody of fuselage；The inclining rotary mechanism includes：First to fourth connecting rod, first to fourth execution unit and first to
Second steering wheel；First to fourth connecting rod is separately mounted to the both sides of fuselage, and the first and second connecting rods are symmetrically distributed in fuselage
First universal driving shaft is installed inside the both sides on head, the first and second connecting rods, the third and fourth connecting rod be symmetrically distributed in wing and
The second universal driving shaft is installed inside fuselage both sides between empennage, the third and fourth connecting rod；First to fourth execution unit
It is separately mounted to the end of first to fourth connecting rod；The first to the second steering wheel is separately mounted to fuselage interior and respectively with
One to the second universal driving shaft is connected.
Tilting rotor wing unmanned aerial vehicle is vertically moved up or down the invention discloses one kind, the wing is upper for saving fuselage interior space
Single-blade, wing area is 0.711m2, the back edge of wing is provided with the aileron of adjustment UAV Attitude.
Tilting rotor wing unmanned aerial vehicle is vertically moved up or down the invention discloses one kind, first to fourth execution unit includes first
To the 4th electron speed regulator, first to fourth DC brushless motor and first to fourth propeller, the first to the second direct current
Brushless electric machine is connected by the first universal driving shaft, and the 3rd to the 4th DC brushless motor is connected by the second universal driving shaft, and described first
It is connected respectively with first to fourth DC brushless motor to the 4th electron speed regulator, first to fourth propeller passes through rotating shaft
It is separately mounted to above first to fourth DC brushless motor.
Tilting rotor wing unmanned aerial vehicle is vertically moved up or down the invention discloses one kind, first to fourth propeller is starched for two leaves,
Two leaves slurry rotates around the rotating shaft of DC brushless motor.
Tilting rotor wing unmanned aerial vehicle is vertically moved up or down the invention discloses one kind, first to fourth execution unit has four rotations
Under two kinds of gesture modes of the wing and fixed-wing, four rotor gesture modes, first to fourth propeller rotates in the horizontal plane, fixed-wing
Under gesture mode, first to fourth propeller rotates on the vertical plane.
Tilting rotor wing unmanned aerial vehicle is vertically moved up or down the invention discloses one kind, first to fourth connecting rod is carbon pipe.
Tilting rotor wing unmanned aerial vehicle is vertically moved up or down the invention discloses one kind, the head of the fuselage is provided with photoelectric nacelle.
Tilting rotor wing unmanned aerial vehicle, the first to fourth DC brushless motor separate unit are vertically moved up or down the invention discloses one kind
Motor maximum pull 3.05kg, voltage stabilizing input 24v motor.
Tilting rotor wing unmanned aerial vehicle is vertically moved up or down the invention discloses one kind, the empennage is T-shaped empennage, and the empennage has
Vertical fin and horizontal tail, vertical fin rear end are provided with rudder, and horizontal tail rear end is provided with elevator.
The invention discloses a kind of control method for being vertically moved up or down tilting rotor wing unmanned aerial vehicle, the control method includes：
First and second steering wheels can control execution unit action according to the control instruction on ground, and the first to the second steering wheel is received
To after instruction of taking off, first the first universal driving shaft of servo driving makes the surfaces of revolution of the first and second propellers adjust to horizontal plane,
Second the second universal driving shaft of servo driving makes the surfaces of revolution of the third and fourth propeller adjust to horizontal plane, first to fourth direct current
Brushless electric machine drives first to fourth propeller to start rotation respectively, and unmanned plane is taken off with four rotor gesture modes；
First to fourth electron speed regulator controls nobody by adjusting the rotating speed of first to fourth propeller in take-off process
The flight attitude of machine, after unmanned plane successfully goes up to the air, the first to the second steering wheel receives offline mode switching command, the first steering wheel control
Make the first and second execution units to tilt forward, second the third and fourth execution unit of servos control is tilted forward, and is being verted
Cheng Zhong, because first to fourth propeller produces aerodynamic force forward, unmanned plane will accelerate flight forward, in first to fourth spiral shell
When the surfaces of revolution of rotation oar is turning fully on vertical plane, the speed of unmanned plane makes wing produce the lift more than its own gravity, nothing
It is man-machine with aerodynamic lift cruising flight, adjusted in flight course by the first to the second steering wheel, first to fourth propeller and aileron
Complete machine body posture；
When unmanned plane completes aerial mission preparation landing, the first to the second steering wheel is received after landing instruction, the first steering wheel
Adjust on the surfaces of revolution to the horizontal plane of the first and second propellers, the second steering wheel adjusts the surfaces of revolution of the third and fourth propeller extremely
On horizontal plane, unmanned plane is switched to four rotor gesture modes from fixed-wing gesture mode, slows down simultaneously under four rotor gesture modes
Vertical landing.
The inventive method has the following advantages that：
A kind of tilting rotor wing unmanned aerial vehicle that is vertically moved up or down can turn into the interface needed for the various application processes of offer
One minimizes, manipulates convenient, landing and flexible, the general unmanned machine flying platform of endurance length that flies.The type VTOL is inclined
Switch rotor unmanned plane can in city or landing condition difference region, designated area and target are carried out prolonged inspection and
Tracking, the problems such as solving to the quick emergency response of accident and road and vehicle monitoring.Easy to operate, autonomous landing simultaneously
The characteristics of with without take-off venue, the technical requirements to unmanned plane operating personnel are greatly reduced, can in the zero-base plinth short time
To be familiar with operation, the bottleneck of the limitation unmanned plane industry development of unmanned plane manipulator shortage is breached.
Brief description of the drawings
A kind of flat and stereo figures for being vertically moved up or down tilting rotor wing unmanned aerial vehicle of Fig. 1.
A kind of overlooking the structure diagrams for being vertically moved up or down tilting rotor wing unmanned aerial vehicle of Fig. 2.
Embodiment
Following examples are used to illustrate the present invention, but are not limited to the scope of the present invention.
Embodiment 1
With reference to Fig. 1, unmanned plane described in one kind vertical lift tilting rotor wing unmanned aerial vehicle includes fuselage 10, wing 06, empennage 08
And inclining rotary mechanism, wing 06 is arranged on the forward position in upper end of fuselage 10 and vertical with fuselage；The empennage 08 is arranged on fuselage
Afterbody；The inclining rotary mechanism includes：Connecting rod 03, execution unit and steering wheel 05；The connecting rod 03 includes first to fourth connecting rod,
The both sides of fuselage are separately mounted to, the first and second connecting rods are symmetrically distributed in the both sides of fuselage head, the third and fourth connecting rod pair
Claim the fuselage both sides being distributed between wing 06 and empennage 08；The steering wheel 05 has the first to the second steering wheel to be separately mounted to fuselage
It is internal；The execution unit includes first to fourth execution unit, and each execution unit is arranged on the end of first to fourth connecting rod
Portion；Each execution unit includes propeller 01, DC brushless motor 02 and electron speed regulator 11, and the electron speed regulator 11 is wrapped
Including first to fourth electron speed regulator, the DC brushless motor 02 includes first to fourth DC brushless motor, the spiral
Oar 01 include first to fourth propeller, first to fourth electron speed regulator respectively with first to fourth DC brushless motor
It is connected, first to fourth propeller is separately mounted to above first to fourth DC brushless motor by rotating shaft.
With reference to Fig. 2, the execution unit 12 includes first to fourth execution unit, the first to the second brush DC electricity
Machine is arranged on the two ends of the first universal driving shaft 13, is rotated with the rotation of the first universal driving shaft 13, the 3rd to the 4th brush DC electricity
Machine is arranged on the two ends of the second universal driving shaft 14, is rotated with the rotation of the second universal driving shaft 14.First to fourth direct current without
Brush motor controls first to fourth propeller planar to rotate respectively.
The wing 06 is not take up fuselage interior space to improve the lateral stability of aircraft, and more preferably arrangement fuel tank is upper
Single-blade.
DC brushless motor 02 selection KV335,24V voltage, 17 cun of oar motors, single motor maximum pull
3.05kg。
It is 14.06kg/m that the wing of the unmanned plane, which is carried,2, by formulaThe area for knowing wing 06 is
0.711m2。
Control method includes：
First and second steering wheels can control execution unit action according to the control instruction on ground, and the first to the second steering wheel is received
To after instruction of taking off, first the first universal driving shaft of servo driving makes the surfaces of revolution of the first and second propellers adjust to horizontal plane,
Second the second universal driving shaft of servo driving makes the surfaces of revolution of the third and fourth propeller adjust to horizontal plane, first to fourth direct current
Brushless electric machine drives first to fourth propeller to start rotation respectively, and unmanned plane is taken off with four rotor gesture modes；
First to fourth electron speed regulator controls nobody by adjusting the rotating speed of first to fourth propeller in take-off process
The flight attitude of machine, after unmanned plane successfully goes up to the air, the first to the second steering wheel receives offline mode switching command, the first steering wheel control
Make the first and second execution units to tilt forward, second the third and fourth execution unit of servos control is tilted forward, and is being verted
Cheng Zhong, because first to fourth propeller produces aerodynamic force forward, unmanned plane will accelerate flight forward, in first to fourth spiral shell
When the surfaces of revolution of rotation oar is turning fully on vertical plane, the speed of unmanned plane makes wing produce the lift more than its own gravity, nothing
It is man-machine with aerodynamic lift cruising flight, adjusted in flight course by the first to the second steering wheel, first to fourth propeller and aileron
Complete machine body posture；
When unmanned plane completes aerial mission preparation landing, the first to the second steering wheel is received after landing instruction, the first steering wheel
Adjust on the surfaces of revolution to the horizontal plane of the first and second propellers, the second steering wheel adjusts the surfaces of revolution of the third and fourth propeller extremely
On horizontal plane, unmanned plane is switched to four rotor gesture modes from fixed-wing gesture mode, slows down simultaneously under four rotor gesture modes
Vertical landing.
Although above with general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements, belong to the scope of protection of present invention without departing from theon the basis of the spirit of the present invention.
Claims (10)
1. one kind vertical lift tilting rotor wing unmanned aerial vehicle, it is characterised in that the unmanned plane includes fuselage, wing, empennage and inclined
Rotation mechanism；The wing is arranged on the forward position in upper end of fuselage and vertical with fuselage；The empennage is arranged on the afterbody of fuselage；
The inclining rotary mechanism includes：First to fourth connecting rod, first to fourth execution unit and the first to the second steering wheel；Described first to
Fourth link is separately mounted to the both sides of fuselage, and the first and second connecting rods are symmetrically distributed in the both sides of fuselage head, first and
First universal driving shaft is installed, the third and fourth connecting rod is symmetrically distributed in the fuselage both sides between wing and empennage inside two connecting rods,
Second universal driving shaft is installed inside the third and fourth connecting rod；First to fourth execution unit is separately mounted to first to fourth
The end of connecting rod；The first to the second steering wheel is separately mounted to fuselage interior and is connected respectively with the first to the second universal driving shaft.
2. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that the wing is saving machine
The high mounted wing of body inner space, wing area is 0.711m2, the back edge of wing is provided with the aileron of adjustment UAV Attitude,
Wing flap is installed on the inside of aileron.
3. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that described first to fourth holds
Row unit includes first to fourth electron speed regulator, first to fourth DC brushless motor and first to fourth propeller, described
The first to the second DC brushless motor is connected by the first universal driving shaft, and the 3rd to the 4th DC brushless motor passes through the second universal driving shaft
Connection, first to fourth electron speed regulator is connected with first to fourth DC brushless motor respectively, and described first to fourth
Propeller is separately mounted to above first to fourth DC brushless motor by rotating shaft.
4. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that first to fourth spiral shell
Revolve oar to starch for two leaves, two leaves slurry rotates around the rotating shaft of DC brushless motor.
5. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that described first to fourth holds
Row unit has under two kinds of gesture modes of four rotors and fixed-wing, four rotor gesture modes, and first to fourth propeller is in level
Rotated on face, under fixed-wing gesture mode, first to fourth propeller rotates on the vertical plane.
6. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that described first to fourth connects
Bar is carbon pipe.
7. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that the head of the fuselage is set
It is equipped with photoelectric nacelle.
8. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 3, it is characterised in that described first to fourth is straight
Flow brushless electric machine single motor maximum pull 3.05kg, voltage stabilizing and input 24v motor.
9. a kind of vertical lift tilting rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that the empennage is T-shaped tail
The wing, the empennage has vertical fin and horizontal tail, and vertical fin rear end is provided with rudder, and horizontal tail rear end is provided with elevator.
10. a kind of control method for being vertically moved up or down tilting rotor wing unmanned aerial vehicle, it is characterised in that the control method includes：
First and second steering wheels can control execution unit action according to the control instruction on ground, and the first to the second steering wheel has been received
Fly after instruction, first the first universal driving shaft of servo driving makes the surfaces of revolution of the first and second propellers adjust to horizontal plane, second
The universal driving shaft of servo driving second makes the surfaces of revolution of the third and fourth propeller adjust to horizontal plane, first to fourth brush DC
Motor drives first to fourth propeller to start rotation respectively, and unmanned plane is taken off with four rotor gesture modes；
First to fourth electron speed regulator controls unmanned plane by adjusting the rotating speed of first to fourth propeller in take-off process
Flight attitude, after unmanned plane successfully goes up to the air, the first to the second steering wheel receives offline mode switching command, the first servos control
One and second execution unit tilt forward, second the third and fourth execution unit of servos control is tilted forward, during verting,
Because first to fourth propeller produces aerodynamic force forward, unmanned plane will accelerate flight forward, in first to fourth propeller
Surfaces of revolution when being turning fully on vertical plane, the speed of unmanned plane makes wing produce the lift more than its own gravity, unmanned plane
With aerodynamic lift cruising flight, machine is adjusted by the first to the second steering wheel, first to fourth propeller and aileron in flight course
Body posture；
When unmanned plane completes aerial mission preparation landing, the first to the second steering wheel is received after landing instruction, the adjustment of the first steering wheel
On the surfaces of revolution of first and second propellers to horizontal plane, the second steering wheel adjusts the surfaces of revolution of the third and fourth propeller to level
On face, unmanned plane is switched to four rotor gesture modes from fixed-wing gesture mode, slows down and vertical under four rotor gesture modes
Landing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710715916.9A CN107323653A (en) | 2017-08-21 | 2017-08-21 | One kind vertical lift tilting rotor wing unmanned aerial vehicle and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710715916.9A CN107323653A (en) | 2017-08-21 | 2017-08-21 | One kind vertical lift tilting rotor wing unmanned aerial vehicle and its control method |
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| CN201710715916.9A Pending CN107323653A (en) | 2017-08-21 | 2017-08-21 | One kind vertical lift tilting rotor wing unmanned aerial vehicle and its control method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963209A (en) * | 2017-11-17 | 2018-04-27 | 沈阳无距科技有限公司 | Tandem wing tilting rotor wing unmanned aerial vehicle |
| CN107985583A (en) * | 2017-11-17 | 2018-05-04 | 沈阳无距科技有限公司 | Tilting rotor wing unmanned aerial vehicle |
| CN108196565A (en) * | 2018-03-04 | 2018-06-22 | 西北工业大学 | A kind of novel unmanned plane and its attitude control method being combined based on projection with more rotors |
| CN108313263A (en) * | 2018-01-26 | 2018-07-24 | 易瓦特科技股份公司 | Fuselage dynamical system for fixed-wing unmanned plane |
| CN108408021A (en) * | 2018-01-26 | 2018-08-17 | 易瓦特科技股份公司 | Airframe structure for fixed-wing unmanned plane |
| CN108482662A (en) * | 2018-01-26 | 2018-09-04 | 易瓦特科技股份公司 | Fuselage power plant for fixed-wing unmanned plane |
| CN108482664A (en) * | 2018-01-26 | 2018-09-04 | 易瓦特科技股份公司 | Adjustable rotor engine body structure for fixed-wing unmanned plane |
| CN108528714A (en) * | 2018-01-26 | 2018-09-14 | 易瓦特科技股份公司 | Adjustable rotor engine head device for fixed-wing unmanned plane |
| CN108528705A (en) * | 2018-01-26 | 2018-09-14 | 易瓦特科技股份公司 | Power tail apparatus for fixed-wing unmanned plane |
| CN109720564A (en) * | 2019-02-13 | 2019-05-07 | 深圳创壹通航科技有限公司 | Fixed-wing unmanned plane and its control method with VTOL function |
| WO2021023187A1 (en) * | 2019-08-07 | 2021-02-11 | 深圳市道通智能航空技术有限公司 | Control method of tilt rotor unmanned aerial vehicle, and tilt rotor unmanned aerial vehicle |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963209A (en) * | 2017-11-17 | 2018-04-27 | 沈阳无距科技有限公司 | Tandem wing tilting rotor wing unmanned aerial vehicle |
| CN107985583A (en) * | 2017-11-17 | 2018-05-04 | 沈阳无距科技有限公司 | Tilting rotor wing unmanned aerial vehicle |
| CN107963209B (en) * | 2017-11-17 | 2020-03-20 | 沈阳无距科技有限公司 | Tandem wing rotor unmanned aerial vehicle that verts |
| CN108313263A (en) * | 2018-01-26 | 2018-07-24 | 易瓦特科技股份公司 | Fuselage dynamical system for fixed-wing unmanned plane |
| CN108408021A (en) * | 2018-01-26 | 2018-08-17 | 易瓦特科技股份公司 | Airframe structure for fixed-wing unmanned plane |
| CN108482662A (en) * | 2018-01-26 | 2018-09-04 | 易瓦特科技股份公司 | Fuselage power plant for fixed-wing unmanned plane |
| CN108482664A (en) * | 2018-01-26 | 2018-09-04 | 易瓦特科技股份公司 | Adjustable rotor engine body structure for fixed-wing unmanned plane |
| CN108528714A (en) * | 2018-01-26 | 2018-09-14 | 易瓦特科技股份公司 | Adjustable rotor engine head device for fixed-wing unmanned plane |
| CN108528705A (en) * | 2018-01-26 | 2018-09-14 | 易瓦特科技股份公司 | Power tail apparatus for fixed-wing unmanned plane |
| CN108196565A (en) * | 2018-03-04 | 2018-06-22 | 西北工业大学 | A kind of novel unmanned plane and its attitude control method being combined based on projection with more rotors |
| CN109720564A (en) * | 2019-02-13 | 2019-05-07 | 深圳创壹通航科技有限公司 | Fixed-wing unmanned plane and its control method with VTOL function |
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Application publication date: 20171107 |