CN108791816B - Tilting wing unmanned aerial vehicle with compound pneumatic control surface - Google Patents
Tilting wing unmanned aerial vehicle with compound pneumatic control surface Download PDFInfo
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- CN108791816B CN108791816B CN201810778530.7A CN201810778530A CN108791816B CN 108791816 B CN108791816 B CN 108791816B CN 201810778530 A CN201810778530 A CN 201810778530A CN 108791816 B CN108791816 B CN 108791816B
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- 150000001875 compounds Chemical class 0.000 title claims description 6
- 239000002131 composite material Substances 0.000 claims abstract description 47
- 230000009471 action Effects 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 241000566150 Pandion haliaetus Species 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
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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
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a tilting unmanned aerial vehicle with a composite pneumatic control surface, which comprises the following components: the aircraft comprises an aircraft body and a composite pneumatic control surface, wherein a tandem front wing and a tandem rear wing are arranged on two sides of the aircraft body, a vertical tail is arranged at the tail of the aircraft body, an engine is mounted on the aircraft body, a propeller, a nacelle, the composite pneumatic control surface and a wing tilting shaft are arranged on the tandem front wing and the tandem rear wing, the composite pneumatic control surface is mounted at the rear edge positions on the tandem front wing and the tandem rear wing, the composite pneumatic control surface is arranged at the rear side of the propeller and the nacelle, the propeller and the nacelle are mounted at the front edge of the tandem front wing and the tandem rear wing, and can tilt along with the tandem front wing and the tandem rear wing, and the wing tilting shaft is divided into a front part and a rear part, so that the tandem front wing and the tandem rear wing are respectively controlled. The vertical lifting tilting wing unmanned aerial vehicle is simple in structural layout, easy to control and high in realizability.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle equipment, in particular to a tilting unmanned aerial vehicle with a composite pneumatic control surface.
Background
Currently, unmanned aerial vehicles are mainly multi-rotor type aircrafts. The multi-rotor unmanned aerial vehicle is simple and easy to operate, can realize vertical take-off, landing and hovering operation, but has short endurance time and low cruising speed, and cannot realize single large-scale operation.
Compared with a rotor aircraft, the fixed-wing aircraft has the advantages of high speed, long voyage and the like. However, the take-off and landing of the fixed wing aircraft has certain requirements on runways and sites, and the requirements of many unmanned aerial vehicle application industries on the characteristics of easiness in use, rapid lift-off and the like of unmanned aerial vehicles are difficult to meet.
Tiltrotor aircraft were developed beginning in the 40 s of the last century and were first developed by Bell corporation of America, and are well known as representative of V-22 osprey aircraft. The tiltrotor aircraft integrates the advantages of the gyroplane and the fixed wing aircraft, but the control system and the structure of the tiltrotor aircraft are complex, and the safety during manned is questioned.
In the invention patent CN106516080a, a tilting unmanned aerial vehicle with a pneumatic layout and a tilting mechanism and a method for detecting whether wings are loosened are disclosed, the tilting unmanned aerial vehicle adopts a staggered arrangement mode of front and rear propellers, but a control surface is not arranged on the wings, the stability of the aircraft during vertical take-off and landing is ensured only by adjusting the inclination angle of the wings, not only is the operation and control complex, but also the utility and reliability are difficult to ensure.
The invention patent CN107600403A discloses a trapezoid layout tandem type tilting wing aircraft and a tilting mechanism thereof, wherein the multi-control surface layout of the wing of the trapezoid layout tandem type tilting wing aircraft not only increases the mechanism weight and the control difficulty, but also increases the failure risk.
The existing unmanned aerial vehicle tilting rotor wing loses more tension in a vertical flight state; the number of the control surfaces of the flat flight cruise state is large, the control is complex, and the realization and the practicability are low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the tilting wing unmanned aerial vehicle with the composite pneumatic control surface, which has the advantages of simple structural layout, easy control and high realizability.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
a tilting wing drone with a compound aerodynamic control surface, comprising: the aircraft comprises an aircraft body and a composite pneumatic control surface, wherein a tandem front wing and a tandem rear wing are arranged on two sides of the aircraft body, a vertical tail is arranged at the tail of the aircraft body, an engine is mounted on the aircraft body, a propeller, a nacelle, the composite pneumatic control surface and a wing tilting shaft are arranged on the tandem front wing and the tandem rear wing, the composite pneumatic control surface is mounted at the rear edge positions on the tandem front wing and the tandem rear wing, the composite pneumatic control surface is arranged at the rear side of the propeller and the nacelle, the propeller and the nacelle are mounted at the front edge of the tandem front wing and the tandem rear wing, and can tilt along with the tandem front wing and the tandem rear wing, and the wing tilting shaft is divided into a front part and a rear part, so that the tandem front wing and the tandem rear wing are respectively controlled.
Further, the vertical fin provides lateral stability for the aircraft, and lateral maneuvering operation can be completed by controlling the composite pneumatic control surface without arranging a rudder special for lateral maneuvering.
Further, the upper control surface and the lower control surface can be combined to deflect around the rotating shaft and can also rotate separately, when the upper control surface and the lower control surface of the composite pneumatic control surface are combined, the upper control surface and the lower control surface are the same as the normal horizontal control surface, and the lifting force on the tandem front wing and the tandem rear wing can be changed by controlling the combined deflection angle delta s of the two control surfaces, so that the pitching, rolling and yawing of the whole aircraft can be controlled; when the upper control surface and the lower control surface are separated, the configuration of the trailing edge of the tandem front wing and the tandem rear wing is changed, the flow speed and the flow direction of air flow behind the propeller and the nacelle can be changed by controlling the included angle delta k of the two control surfaces, and the tension and the resistance on the tandem front wing and the tandem rear wing are adjusted, so that the lifting and hovering actions of the whole aircraft are controlled.
Further, the screw propellers of the screw propellers and the nacelle are positioned above the nacelle, the screw driving devices in the screw propellers and the nacelle are powered by the engine, the screw propellers on two sides of the same set of wings rotate reversely, and the screw propellers on the front wing and the rear wing on the same side rotate in opposite directions.
Further, in the vertical take-off and landing process of the unmanned aerial vehicle, the unmanned aerial vehicle can finish the vertical take-off and landing and hover maneuver and ensure the maneuver precision by controlling the rotation speed of 4 propellers, the combined deflection angle of 4 composite pneumatic control surfaces and the opening and closing included angle of 4 composite pneumatic control surfaces.
Further, in the cruising and flat flying process of the unmanned aerial vehicle, the unmanned aerial vehicle finishes various maneuvering actions of flying and ensures action accuracy by controlling the rotational speed of 4 propellers and the combined deflection angle of 4 composite pneumatic control surfaces on the unmanned aerial vehicle to total 8 input quantities.
Further, in the wing tilting, the unmanned aerial vehicle is controlled to complete the tilting action of the air wing and ensure the action precision by controlling the tilting angles of the tandem front wing and the tandem rear wing, the combined deflection angles of the 4 composite pneumatic control surfaces and the total 10 input quantities of the opening and closing included angles of the 4 composite pneumatic control surfaces on the unmanned aerial vehicle.
The beneficial effects of the invention are as follows:
the invention aims at simultaneously ensuring that the unmanned aerial vehicle has the advantages of vertical take-off and landing and high navigational speed and long navigational distance by tilting the propeller; the wing and the propeller are simultaneously tilted, so that the blocking of the large area of the wing to the wake flow of the propeller is reduced when only the propeller is tilted; the composite pneumatic control surface can serve as a common horizontal control surface, can control the pulling force of the propeller and the resistance of the whole aircraft, simplifies the layout of the aircraft, simplifies the complexity of an aircraft control system, and is easy to realize.
Drawings
FIG. 1 is a top plan view of the full machine of the present invention;
FIG. 2 is a cross-sectional view of a wing A-A of the present invention;
FIG. 3 is a schematic diagram of two types of rudders and the generated main aerodynamic force components of the compound aerodynamic control surface according to the present invention;
FIG. 4 is a schematic illustration of the flight control scheme that may be provided by the present invention during vertical take-off and landing and cruise flight;
FIG. 5 is a schematic diagram of the invention with reference numerals used in connection with the description of the embodiments;
reference numeral control table:
1-fuselage, 2-tandem front wing, 3-tandem rear wing, 4-propeller and nacelle, 41-propeller 5-composite aerodynamic control surface, 6-vertical fin and 7-wing rotating shaft.
Detailed Description
Specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Wherein like parts are designated by like reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.
In order to make the contents of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1 to 5, a tilting unmanned aerial vehicle with a composite aerodynamic control surface, comprising: the aircraft comprises an aircraft body 1 and a composite aerodynamic control surface 5, wherein a tandem front wing 2 and a tandem rear wing 3 are arranged on two sides of the aircraft body 1, a vertical tail 6 is arranged at the tail of the aircraft body 1, an engine is arranged on the aircraft body, a propeller and a nacelle 4, a composite aerodynamic control surface 5 and a wing tilting shaft 7 are arranged on the tandem front wing 2 and the tandem rear wing 3, the composite aerodynamic control surface 5 is arranged at the rear edge positions of the tandem front wing 2 and the tandem rear wing 3, the composite aerodynamic control surface 5 is arranged at the rear side of the propeller and the nacelle 4, the propeller and the nacelle 4 are arranged at the front edges of the tandem front wing 2 and the tandem rear wing 3, and can tilt along with the tandem front wing 2 and the tandem rear wing 3, and the wing tilting shaft 7 is divided into a front part and a rear part to control the tilting of the tandem front wing 2 and the tandem rear wing 3 respectively.
The vertical tail 6 provides lateral stability for the aircraft, and lateral maneuvering operation can be controlled and completed by the composite pneumatic control surface 5 without arranging a rudder special for lateral maneuvering. The combined pneumatic control surface 5 is divided into an upper control surface and a lower control surface, the upper control surface and the lower control surface can be combined to deflect around a rotating shaft and can also rotate separately, the upper control surface and the lower control surface of the combined pneumatic control surface 5 are the same as the normal horizontal control surface when being combined, and the lifting force on the tandem front wing 2 and the tandem rear wing 3 can be changed by controlling the combined deflection angle delta s of the two control surfaces, so that the pitching, rolling and yawing of the whole engine are controlled; when the upper control surface and the lower control surface are separated, the rear edge configurations of the tandem front wing 2 and the tandem rear wing 3 are changed, the flow speed and the flow direction of airflow behind the propeller and the nacelle 4 can be changed by controlling the included angle delta k of the two control surfaces, and the tension and the resistance on the tandem front wing 2 and the tandem rear wing 3 are adjusted, so that the lifting and hovering actions of the whole aircraft are controlled. The propellers 41 of the propellers and the nacelle 4 are positioned above the nacelle, the propellers and the propeller driving devices in the nacelle 4 are powered by an engine, the propellers 41 on two sides of the same set of wings rotate reversely, and the rotation directions of the propellers 41 on the front wing and the rear wing on the same side are opposite. In the vertical take-off and landing process of the unmanned aerial vehicle, the unmanned aerial vehicle is enabled to complete the vertical take-off and landing and hovering maneuver and ensure the maneuver precision by controlling the rotation speed of 4 propellers 41, the combined deflection angle of 4 composite pneumatic control surfaces 5 and the total 12 input quantities of the opening and closing included angles of the 4 composite pneumatic control surfaces 5. In the cruising and flat flying process of the unmanned aerial vehicle, the unmanned aerial vehicle finishes various maneuvering actions of flying and ensures action accuracy by controlling the rotation speed of 4 propellers 41 and the combined deflection angle of 4 composite pneumatic control surfaces 5 on the unmanned aerial vehicle to total 8 input quantities. In the wing tilting, the unmanned aerial vehicle finishes the tilting action of the air wings and ensures the action precision by controlling the tilting angles of the tandem front wing 2 and the tandem rear wing 3, the combined deflection angles of the 4 composite pneumatic control surfaces 5 and the total 10 input quantities of the opening and closing included angles of the 4 composite pneumatic control surfaces 5 on the unmanned aerial vehicle.
Example 1: δs is a combined deflection angle of the upper and lower control surfaces of the composite pneumatic control surface 5, and when in deflection, aerodynamic increment of a lifting force direction is mainly generated, δk is a separation angle of the upper and lower control surfaces of the composite pneumatic control surface 5, and when in separation, aerodynamic increment of a resistance direction is mainly generated.
The X axis of the whole machine is taken as a longitudinal axis, and the machine head is taken as positive in pointing to the machine tail; the Y axis of the whole aircraft is a transverse axis, and the direction of the vertical symmetry plane of the whole aircraft to the right side of the aircraft is positive; the Z axis of the whole machine is a vertical axis, and the right hand rule is satisfied and the direction above the whole machine is positive.
When the unmanned aerial vehicle is ready to take off, the tandem front wing 2 and the tandem rear wing 3 are perpendicular to the horizontal ground, so that the pulling force direction of the propeller 41 is forward to the Z axis of the whole unmanned aerial vehicle.
Under the driving of the engine, the propeller 41 rotates to generate a drag force against the gravity direction generated when the aircraft gravity and the ascending flight are carried out, the unmanned aerial vehicle vertically takes off, the unmanned aerial vehicle can be controlled to complete vertical lifting action or hover through the opening and closing angle delta k of the composite pneumatic control surface 5 during the vertical take-off, and the landing posture of the unmanned aerial vehicle can be adjusted by adjusting the combined deflection angle delta s of the composite pneumatic control surface 5, as shown in fig. 4.
In the vertical take-off and landing process shown in fig. 5, the relationship between the rotation speed δt of the propeller 41, the combined deflection angle δs of the compound aerodynamic control surface 5, and the force or moment controlled by the opening angle δk may be written as follows:
input array of control
The control allocation matrix and the desired control matrix are represented as [ U ] = [ C ] [ U' ], then there are:
there are distribution arrays of the form:
can enableAnd the force and the moment are controlled orthogonally, namely, the 12 control inputs can be used for independently and accurately adjusting and controlling the force and the moment in each direction without mutual interference.
At a reasonable height determined by the aerodynamic capacity and the engine capacity of the unmanned aerial vehicle, the tandem front wing 2 and the tandem rear wing 3 tilt to the horizontal direction around the wing tilting shaft 7, the unmanned aerial vehicle generates forward flying speed under the component force of the pulling force of the propeller 41 along the X axis of the whole unmanned aerial vehicle, so that the tandem front wing 2 and the tandem rear wing 3 generate lift force against the gravity direction of the unmanned aerial vehicle, and the unmanned aerial vehicle transits from vertical take-off to cruise flat flying.
Similarly, the control distribution array at this time can be solved so that the above 10 input quantities including the tilting angles of the tandem front wing 2 and the tandem rear wing 3 can be independently adjusted and controlled accurately for each directional force and moment.
When the tandem front wing 2 and the tandem rear wing 3 tilt to be horizontal, the unmanned aerial vehicle achieves enough forward flight speed, the lift force generated on the tandem front wing 2 and the tandem rear wing 3 is equal to the gravity of the unmanned aerial vehicle, the pulling force of the propeller 41 is equal to the resistance of the unmanned aerial vehicle in the X direction, which is generated when the unmanned aerial vehicle flies forward, and the unmanned aerial vehicle enters cruise and flies flatly. In the process of flying horizontally, the unmanned aerial vehicle can complete the movements of pitching, rolling, yawing and the like by respectively adjusting the combined deflection angles delta s of the composite aerodynamic control surfaces 5 of the tandem front wing 2 and the tandem rear wing 3, as shown in fig. 4.
The control during cruising and flying is the same as that of a tandem wing layout type airplane with fixed wings, and the 8 input quantities accurately regulate and control the directional force and moment.
When the unmanned aerial vehicle flies to the vicinity of the landing place, the tandem front wing 2 and the tandem rear wing 3 tilt towards the direction of the vertical horizontal plane again, the forward speed of the unmanned aerial vehicle is reduced, and the unmanned aerial vehicle flies to the vertical landing transition from the cruising plane.
Claims (3)
1. Tilting wing unmanned aerial vehicle with compound pneumatic control surface, characterized in that includes: the aircraft comprises an aircraft body (1) and a composite pneumatic control surface (5), wherein serial front wings (2) and serial rear wings (3) are arranged on two sides of the aircraft body (1), a vertical tail (6) is arranged at the tail of the aircraft body (1), an engine is arranged on the aircraft body, propellers and shortages (4) are arranged on the serial front wings (2) and the serial rear wings (3), the composite pneumatic control surface (5) and wing tilting shafts (7) are arranged on the serial front wings (2) and the serial rear wings (3), the composite pneumatic control surface (5) is arranged on the rear sides of the propellers and the serial rear wings (4), the propellers and the shortages (4) are arranged on the front edges of the serial front wings (2) and the serial rear wings (3), the wing tilting shafts (7) can tilt along with the serial front wings (2) and the serial rear wings (3), and the wing tilting shafts (7) are respectively controlled to be front and rear wings (2) and tandem rear wings (3);
the vertical fin (6) provides lateral stability for the aircraft, and lateral maneuvering operation can be controlled and completed by the composite pneumatic control surface (5), so that a rudder special for lateral maneuvering is not required to be arranged;
the combined pneumatic control surface (5) is divided into an upper control surface and a lower control surface, the upper control surface and the lower control surface can be combined to deflect around a rotation shaft and can also rotate separately, the upper control surface and the lower control surface of the combined pneumatic control surface (5) are the same as the normal horizontal control surface when being combined, and the lifting force on the tandem front wing (2) and the tandem rear wing (3) can be changed by controlling the combined deflection angle delta s of the two control surfaces, so that the pitching, rolling and yawing of the whole aircraft can be controlled; when the upper control surface and the lower control surface are separated, the rear edge configurations of the tandem front wing (2) and the tandem rear wing (3) are changed, and the flow speed and the flow direction of the air flow behind the propeller and the nacelle (4) can be changed by controlling the included angle delta k of the two control surfaces, so that the tension and the resistance on the tandem front wing (2) and the tandem rear wing (3) are adjusted, and the lifting and hovering actions of the whole aircraft are controlled;
the propellers (41) of the propellers and the nacelle (4) are positioned above the nacelle, the propellers and the propeller driving devices in the nacelle (4) are powered by an engine, the propellers (41) on two sides of the same set of wings rotate in opposite directions, and the rotation directions of the propellers (41) on the front wing and the rear wing on the same side are opposite;
in the vertical take-off and landing process of the unmanned aerial vehicle, the unmanned aerial vehicle is enabled to finish the vertical take-off and landing and hovering maneuver and ensure the maneuver precision by controlling the rotating speed of 4 propellers (41) on the unmanned aerial vehicle, the combined deflection angle of 4 composite pneumatic control surfaces (5) and the total 12 input quantities of the opening and closing included angles of the 4 composite pneumatic control surfaces (5).
2. The tilting wing unmanned aerial vehicle with the composite aerodynamic control surface according to claim 1, wherein: in the cruising and flat flying process of the unmanned aerial vehicle, the unmanned aerial vehicle finishes various maneuvering actions of flying and ensures action accuracy by controlling the rotating speed of 4 propellers (41) and the combined deflection angle of 4 composite pneumatic control surfaces (5) on the unmanned aerial vehicle to total 8 input quantities.
3. The tilting wing unmanned aerial vehicle with the composite aerodynamic control surface according to claim 2, wherein: in the wing tilting, the unmanned aerial vehicle is controlled to complete the tilting action of the air wing and ensure the action precision by controlling the tilting angle of the tandem front wing (2) and the tandem rear wing (3) on the unmanned aerial vehicle, the combined deflection angle of the 4 composite pneumatic control surfaces (5) and the total 10 input quantities of the opening and closing included angles of the 4 composite pneumatic control surfaces (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810778530.7A CN108791816B (en) | 2018-07-16 | 2018-07-16 | Tilting wing unmanned aerial vehicle with compound pneumatic control surface |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810778530.7A CN108791816B (en) | 2018-07-16 | 2018-07-16 | Tilting wing unmanned aerial vehicle with compound pneumatic control surface |
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| CN108791816B true CN108791816B (en) | 2024-02-06 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109774918B (en) * | 2019-03-19 | 2024-03-29 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle controlling means and unmanned aerial vehicle |
| CN113788139B (en) * | 2021-10-26 | 2024-05-24 | 上海磐拓航空科技服务有限公司 | Method for precisely controlling track of aircraft by using multifunctional pneumatic control surface |
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2018
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| SU28867A1 (en) * | 1926-09-17 | 1932-12-31 | Гуго Юнкере | Auxiliary steering device for aircraft and vessels |
| JP2010052713A (en) * | 2009-03-05 | 2010-03-11 | Technical Research & Development Institute Ministry Of Defence | Globular aircraft and tail sitter machine |
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| CN108791816A (en) | 2018-11-13 |
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