CN109606680A - The multi-modal aircraft of a kind of pair of hair full vector and flight system - Google Patents
The multi-modal aircraft of a kind of pair of hair full vector and flight system Download PDFInfo
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- CN109606680A CN109606680A CN201811596184.7A CN201811596184A CN109606680A CN 109606680 A CN109606680 A CN 109606680A CN 201811596184 A CN201811596184 A CN 201811596184A CN 109606680 A CN109606680 A CN 109606680A
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 230000001276 controlling effect Effects 0.000 claims description 14
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- 230000002457 bidirectional effect Effects 0.000 claims description 9
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
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- Engineering & Computer Science (AREA)
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Abstract
The present invention relates to field of aerospace technology, more particularly to the multi-modal aircraft of a kind of pair of hair full vector and flight system.The aircraft includes: fuselage, and the fuselage front and rear portions are connect with full vector power plant module respectively；The full vector power plant module, is provided with two groups, one in front and one in back connect respectively with the fuselage, is respectively used to provide forward and backward force vector for the aircraft, and full vector power plant module described in forward and backward two groups cooperates, and realizes the multi-modal flight of the aircraft.The application realizes the multi-modal flight of the aircraft, flight attitude multiplicity by the full vector power plant module of forward and backward setting, and everything relies on two full vector power plant modules and completes, and realizes making full use of for load.
Description
Technical field
The present invention relates to field of aerospace technology, more particularly to the multi-modal aircraft of a kind of pair of hair full vector and flight
System.
Background technique
Currently on the market since multi-rotor unmanned aerial vehicle structure is simple, the reasons such as contral ripening, many industries are used to appoint
Business unmanned plane is more rotor configurations.These industries are satisfied with conventional more rotors mostly, and lack and explore new configuration unmanned plane
Enthusiasm, therefore can ignore many new configuration unmanned plane institutes can bring market potential value.
In terms of amusement is performed in sports, traditional fancy demonstrating machine is fixed-wing form, and aerofoil surface must have air-flow
By that could provide lift, therefore aircraft has to ceaselessly fly, and cannot have pause or static moment, this point limitation
The richness of fixed-wing grandstand play.In terms of logistics transportation, more rotors are widely used currently on the market and fixed-wing combines
Mode, the unmanned plane of this configuration when taking off, quadrotor provide power, wing and propelling motor waste effective load
Lotus, when with fixed-wing mode flight, quadrotor is power-off, and four motors waste payload.
It can be seen that current unmanned plane or flight attitude is more various, but the problem of there is load wastes or
Load can be utilized effectively, but flight attitude is more single, and there are contradictions for the two, cannot achieve under more rich flight attitude
Load is made full use of.
Summary of the invention
The present invention provides the multi-modal aircraft of a kind of pair of hair full vector and flight system, and being able to solve the prior art can not be real
Under existing more rich flight attitude to load the problem of making full use of.
The invention is realized in this way a kind of double hair multi-modal aircraft of full vector, comprising:
Fuselage, the fuselage front and rear portions are connect with full vector power plant module respectively；
The full vector power plant module, is provided with two groups, one in front and one in back connect respectively with the fuselage, is respectively used to fly to be described
Row device provides forward and backward force vector, and full vector power plant module described in forward and backward two groups cooperates, and realizes the more of the aircraft
Mode flight.
In another embodiment of the present invention, a kind of flight system using above-mentioned aircraft, the system are additionally provided
System includes:
A kind of double hair multi-modal aircraft of full vector as described above；And
Controlling terminal, for the control circuit board communications of communication module and the aircraft by the aircraft, with control
The aircraft flight.
The present invention relates to field of aerospace technology, more particularly to the multi-modal aircraft of a kind of pair of hair full vector and flight
System.The aircraft includes fuselage, full vector power plant module, wherein the full vector power plant module includes that preceding full vector is dynamic
Power module and rear full vector power plant module.The application realizes the aircraft by the full vector power plant module of forward and backward setting
Multi-modal flight, flight attitude multiplicity, everything rely on two full vector power plant modules and complete, filling for load in solution
Divide and utilizes the multifarious contradiction with flight attitude.
Detailed description of the invention
Fig. 1 is a kind of structure full view of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention；
Fig. 2 is a kind of full vector modular structure full view of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention；
Fig. 3 is a kind of full vector modular unit full view of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention；
Fig. 4 is that a kind of full vector module of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention disassembles two views；
Fig. 5 is that a kind of full vector module of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention disassembles axonometric drawing；
Fig. 6 is a kind of engine-room layout of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention；
Fig. 7 is a kind of circuit connection diagram of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention；
Fig. 8 is a kind of deflection vector full view of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention；
Fig. 9 is that a kind of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention determine the flat winged schematic diagram of the wing；
Figure 10 is a kind of double multi-modal aircraft level hovering schematic diagrames of hair full vector provided in an embodiment of the present invention；
Figure 11 is that a kind of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention hover schematic diagram vertically；
Figure 12 is a kind of double multi-modal aircraft inclination hovering schematic diagrames of hair full vector provided in an embodiment of the present invention；
Figure 13 determines flat fly over of the wing for a kind of pair of hair multi-modal aircraft of full vector provided in an embodiment of the present invention and crosses schematic diagram；
Figure 14 is that a kind of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention hover transition schematic diagram vertically；
Figure 15 is a kind of double multi-modal aircraft level hovering transition schematic diagrames of hair full vector provided in an embodiment of the present invention；
Figure 16 is a kind of double multi-modal aircraft aerial ladder somersault schematic diagrames of hair full vector provided in an embodiment of the present invention；
Figure 17 is a kind of double hair multi-modal vehicle orientation throwing schematic diagrames of full vector provided in an embodiment of the present invention；
Figure 18 is a kind of double hair reversed throwing schematic diagrames of the multi-modal aircraft of full vector provided in an embodiment of the present invention；
Figure 19 is a kind of double hair Z-shaped throwing schematic diagrames of the multi-modal aircraft of full vector provided in an embodiment of the present invention；
Figure 20 is a kind of multi-modal aircraft of double hair full vectors provided in an embodiment of the present invention alternately flat outstanding schematic diagram.
In attached drawing: 100, frame component；101, radome fairing；102, nut；103, washer；104, radome fairing pedestal；105,
Brushless motor；106, second level steering engine fastening screw；107, second level steering engine rocker arm；108, upper reinforcement carbon plate；109, motor cabinet；110,
Lower reinforcement carbon plate；111, second level axis plug；112, motor fastening screw；113, bidirectional screw paddle；200, rudder stock component；201, rudder stock
Lid；202, second level steering engine；203, level-one steering engine；204, rudder stock；300, ear component is pressed from both sides；301, upper conformal；302, ear is pressed from both sides；303,
Under conformal；304, level-one steering engine fastening screw；305, level-one steering engine rocker arm；306, upper pin；307, primary axis plug；308, under
Pin shaft；309, reinforce bulkhead；310, Zuo Jiaqiang carbon plate；311, right reinforcement carbon plate；400, fuselage；401, preceding electricity is adjusted；402, battery；
403, control circuit board；404, communication module；405, gyro module；406, rear electricity is adjusted；500, the first wing；600, the second machine
The wing；700, ear component is pressed from both sides afterwards；800, rear rudder stock component；900, rear frame component.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention provides a kind of double hair multi-modal aircraft of full vector, be able to solve the prior art cannot achieve it is more rich
Under flight attitude to load the problem of making full use of.
Specific implementation of the invention is described in detail below in conjunction with specific embodiment.
As shown in Figure 1, for a kind of structural schematic diagram of double hair multi-modal aircraft of full vector provided in an embodiment of the present invention,
Include:
Fuselage 400,400 front and rear portions of fuselage are connect with full vector power plant module respectively；
The full vector power plant module, is provided with two groups, one in front and one in back connect respectively with the fuselage 400, is respectively used to as institute
It states aircraft and forward and backward force vector is provided, full vector power plant module described in forward and backward two groups cooperates, and realizes the aircraft
Multi-modal flight.
In the present invention, with no restriction to the concrete form of fuselage 400, reduce flight resistance when basic demand is flight；
But from another point of view it is appreciated that the design of fuselage 400 such as designs simultaneously it is also contemplated that assign the other functions of aircraft
Stabilizer blade realizes the settling landing etc. of aircraft.
In the present invention, the effect of the full vector power plant module is to provide flying power for flight, it will be understood that institute
It states full vector and refers to that the direction-agile range of power is bigger, be not meant to that its power output direction is unrestricted.
A kind of double hair multi-modal aircraft of full vector provided by the invention, the aircraft include that fuselage 400, full vector are dynamic
Power module, wherein the full vector power plant module includes preceding full vector power plant module and rear full vector power plant module.The application is logical
The full vector power plant module for crossing forward and backward setting realizes the multi-modal flight of the aircraft, and flight attitude is various, and everything is equal
It is completed by two full vector power plant modules, the multifarious contradiction of load made full use of with flight attitude in solution.
In one embodiment of the invention, as shown in Figure 1-3, the full vector power plant module include frame component 100,
Rudder stock component 200 and folder ear component 300；
The connecting pin of the frame component 100 and one end of the rudder stock component 200 are rotatablely connected, and the frame component 100 can
It is rotated around the rudder stock component 200, the direction of rotation axis instruction is first direction, the power for the full vector power plant module
Output；
One end of the rudder stock component 200 and the frame component 100 are rotatablely connected, the other end with described 300 turns of folder ear component
Dynamic connection, the rudder stock component 200 can be rotated around the frame component 100, and the direction of rotation axis instruction is second direction, be used for
Control the power output direction of the frame component 100；
One end of the folder ear component 300 is connected with the fuselage 400, and the other end and the rudder stock component 200 are rotatablely connected, and uses
In the connection of the full vector power plant module and the fuselage 400；
The first direction is mutually perpendicular to second direction.
In the present embodiment, the connecting pin of the frame component 100 and one end of the rudder stock component 200 are rotatablely connected,
In the present embodiment, this structure can be realized to control deflects 45 ° respectively, it is to be understood that, the determination of left and right directions herein is with reference to figure
1。
In the present embodiment, 200 other end of rudder stock component and the folder ear component 300 are rotatablely connected, in this implementation
In example, this structure can be realized deflects 95 ° respectively up and down, and the determination of up and down direction herein refers to Fig. 1.
The present invention provides a kind of double hair multi-modal aircraft of full vector, the frame component of the aircraft can be around its connection
Portion or so deflects 45 ° respectively, and rudder stock component can drive the frame component being mounted thereon to deflect respectively up and down around its interconnecting piece
It 95 °, can be real by the cooperation of the frame component 100 of preceding full vector power plant module and rear full vector power plant module and rudder stock component
The multi-modal flight of full vector of existing aircraft, flight attitude is changeable, and mobility is good.
As a prioritization scheme of above-described embodiment, as shown in Figure 4,5, the frame component 100 includes radome fairing
101, radome fairing pedestal 104, brushless motor 105, second level steering engine rocker arm 107, motor cabinet 109, second level axis plug 111, bidirectional screw
Paddle 113；
101 pedestal of radome fairing is set on the output shaft of the brushless motor 109, is socketed on the radome fairing pedestal 104
There is the radome fairing 101, is provided with bidirectional screw paddle 113 between the radome fairing pedestal 104 and radome fairing 101；
The brushless motor 105 is set to 109 on the motor cabinet, the power output for the full vector power plant module；
The second level steering engine rocker arm 107 and second level axis plug 111 are set to the connection of the frame component Yu the rudder stock component 100
End, the rotation connection for the frame component 100 and the rudder stock group 200.
In the present invention, brushless motor 105 is formed required for aircraft flight for driving bidirectional screw paddle 113 to rotate
Thrust.The output shaft of brushless motor 105 is successively inserted in radome fairing pedestal 104, bidirectional screw paddle 113 and washer 103, then twists
It is fixed to enter nut 102, finally buckles radome fairing 101.
In the present invention, the bottom of brushless motor 105 is fixed on motor cabinet 109 by motor fixing screws 112.Second level
It is successively arranged on the output shaft of steering engine 202 and reinforces carbon plate 108, second level steering engine rocker arm 107, be placed in motor cabinet 109, two
The output shaft of grade steering engine 202 upward, is fixed by second level steering engine fastening screw 106 from 109 outer upper surface of motor cabinet.?
The position motors seat 109 of the output shaft of the lower surface face second level steering engine 202 of motor cabinet 109 offers preformed hole, second level axis plug
111 in 109 side lower surfaces insertion preformed hole, the upper and lower position of second level steering engine 202 are fixed, second level steering engine outside motor cabinet
Lower reinforcement carbon plate 110 is additionally provided between 109 inside bottom surface of 202 bottoms and motor cabinet.It is appreciated that subdivision in the present embodiment
The installation of component depends on second level steering engine 202, but second level steering engine 202 and the component for being not belonging to frame component 100, actually second level
Steering engine 202 is also possible to the export structure of other forms, the present invention for ease of description, using the portion in other embodiments
Part, but be not used in and limit second level steering engine 202；In the present invention, axis plug is revolving body, central axis and steering engine output shaft
Collinearly, steering engine is unilateral torque output, and structure integrally bears bending square and shearing, and stability is poor, by axis plug in the other side
Shearing is born, keeps structure more stable, intensity is higher, and precision is more preferable；In the present invention, rocker arm is steering engine accessory, steering engine output
Axis is generally spline, and rocker arm is mounted on spline, for extending the arm of force of output torque, while can be easily installed Passive part.
The present invention provides a kind of double hair multi-modal aircraft of full vector, frame component 100 can around with rudder stock component
200 connecting portion rotates left and right, and provides flight required thrust for aircraft by brushless motor 105, so that thrust
Action direction can be adjusted in the lateral direction, and the necessary structure of the multi-modal flight of full vector is completed for aircraft.
As the another kind optimization of above-described embodiment, as shown in Figure 4,5, the rudder stock component includes: rudder stock 204, level-one
Steering engine 203, second level steering engine 202 and rudder stock lid 201；
The level-one steering engine 203 and second level steering engine 202, and the level-one steering engine 203 and second level steering engine are provided in the rudder stock
202 output shaft arranges that the output shaft of the level-one steering engine 203 and the folder ear component 300 are rotatablely connected, institute in orthogonal space
The output shaft and the frame component 100 for stating second level steering engine 202 are rotatablely connected；
The rudder stock lid 201 is set on the rudder stock 204, for the level-one steering engine 203 and second level steering engine 202 protection and
Positioning.
In the present invention, level-one steering engine 203, second level steering engine 202 are set in rudder stock 204, for exporting amount of spin, are realized
The change in aircraft thrust direction, to realize the multi-modal flight of full vector.It is provided in rudder stock 204 for installing level-one steering engine
203, the installation position of second level steering engine 202, in the present embodiment, level-one steering engine 203, second level steering engine 202 by way of glued with
Rudder stock 204 is fixed, after rudder stock lid 201 is connect with rudder stock 204, the output shaft stretching rudder stock of level-one steering engine 203, second level steering engine 202
204 or rudder stock lid 201 except, connect respectively with folder ear component 300, frame component 100.In the present embodiment, level-one steering engine
203, the bottom of second level steering engine 202 can also optionally fill in row axially position by axis.
The present invention provides a kind of double hair multi-modal aircraft of full vector, by the way that level-one rudder is arranged in rudder stock component 200
Machine 203, second level steering engine 202, may be implemented the change in aircraft thrust output direction, to realize the multi-modal flight of full vector.
As another prioritization scheme of above-described embodiment, as shown in Figure 4,5, the folder ear component 300 includes: upper conformal
Piece 301, folder ear 302, under conformal 303, level-one steering engine rocker arm 305 and primary axis plug 307；
Described conformal 301 is connect by upper pin 306 with the folder ear 302, for protecting when the rudder stock component 200 rotation
It holds the rudder stock component 200 and connects the continuous of place's curved surface with the folder ear group 300, described conformal 301 is built-in with elastic slice, so that
Described conformal 301 has the elastic force being inwardly closed, and the upper pin 306 passes through the folder ear 302 and conformal 301 described
Preformed hole；
Conformal 303 is connect by lower bearing pin 308 with the folder ear 302 under described, for keeping institute when the rudder stock 204 rotation
It states rudder stock component 200 and presss from both sides the continuous of 302 junction curved surface of ear with described, conformal 303 is built-in with elastic slice under described, so that described
Under conformal 303 have the elastic force being inwardly closed, the lower bearing pin 308 pass through the folder ear 302 and it is described under conformal 303 pre-
It boxes out；
Left reinforcement carbon plate 310 and right reinforcement carbon plate 311 is arranged side by side in the connecting pin of the folder ear 302 and the fuselage 400, is used for
The connection of folder the ear component 300 and the fuselage 400 is reinforced being additionally provided with reinforcement bulkhead between carbon plate and the folder ear 302
309；
The level-one steering engine rocker arm 305 and primary axis plug 307 are set to the folder ear component 300 and the rudder stock component 200
Connecting pin, the rotation connection for folder the ear component 300 and the rudder stock component 200.
In the present invention, the upper conformal 301 conformal 303 points another upper and lower sides for not being set to folder 302 outer surface of ear under,
It is fixed by upper pin 306, lower bearing pin 308 and folder ear 302 respectively, spring is equipped in conformal so that conformal it is total on tend to
Inwardly closure, when rudder stock component 200 is rotated relative to folder ear component 300, under the use of spring, upper and lower conformal is contradicted
On the rudder stock 204 or rudder stock lid 201 of rudder stock component 200, so that the transition position of rudder stock component 200 and folder ear component 300 is kept
Curved surface is continuous, to reduce the flight resistance of aircraft.
In the present invention, it is plugged with left and right reinforcement carbon plate on one end end face that folder ear 302 is connect with fuselage 400, for pressing from both sides
The connection of ear 302 and fuselage 400 is reinforced being additionally provided between carbon plate and folder ear 302 and reinforces bulkhead 309, the knot for junction
The installation site that carbon plate is reinforced in two sides is reinforced and limited to structure.
In the present invention, folder ear 302 is connect with rudder stock 204 and one end is provided with opening, the rudder stock component after being completed
200 insertion openings are connect by the output shaft of rudder stock component 200 with folder ear 302, specifically: on the output shaft of level-one steering engine 203
Left reinforcement carbon plate 310(is successively inserted in be not shown in the figure), level-one steering engine rocker arm 305 be placed on folder ear 302 be open in, make its output
Axis face press from both sides 302 side of ear on reserve aperture, by level-one steering engine fastening screw 304 by the output shaft of level-one steering engine 203 with
It presss from both sides ear 302 to connect, level-one steering engine fastening screw 304 passes through reserved aperture on the outside of folder ear 302 and is connected with exporting axis.In folder ear
It on the opposite face of 302 installation output shafts, presss from both sides and is also provided with preformed hole on ear 302, primary axis plug 307 is embedded in preformed hole, is realized
The axially position of level-one steering engine 203 is additionally provided with right reinforcement carbon plate 311 between 203 bottom of level-one steering engine and folder 302 inner wall of ear
(not shown).
In an embodiment of the invention, the fuselage 400 is cylindric in spindle, and on both sides of the middle is equipped with wing mounting base,
Front and back ends are rotatablely connected with the preceding full vector power plant module and rear full vector power plant module respectively, and inside forms hollow machine
Cabin.
In the present invention, the fuselage 400 is cylindric in spindle, can reduce resistance when aircraft flight, fuselage 400
Inside forms hollow cabin, can install control assembly, and when the present invention is amplified progress practical application, cabin be can be used as
Accommodating chamber realizes load-carrying flight etc..
The present invention provides a kind of double hair multi-modal aircraft of full vector, by the way that fuselage 400 is designed as spindle cylindrical shape,
The flight resistance of aircraft can be reduced, and cabin forms middle accommodating chamber, control assembly can be installed and carry out load-carrying flight
When, practical value is high.
As a prioritization scheme of upper one embodiment, as shown in Figure 7,8, electricity tune, control are provided in the cabin
Circuit board 403 and battery 402；
The input terminal that the electricity is adjusted is connected with the control circuit board, and output end is connected with brushless motor 105, including preceding electricity is adjusted
401 adjust 406 with rear electricity, and the electricity is adjusted can control the rotation of brushless motor bi-directional variable speed according to the control signal of the circuit board 403；
The control circuit board 402 includes communication module 404, gyro module 405, voltage regulating module, one-chip computer module and defeated
Enter output interface, for the communication module 404 for receiving flight control instruction, the gyro module 405 is described for acquiring
The flight attitude data of aircraft, the voltage regulating module is for adjusting the output voltage of the battery to the control circuit board
Operating voltage, the one-chip computer module is used to handle the data of the communication module and gyro module transmission, and ties
Corresponding control algolithm is closed to generate control signal and export to corresponding input or output interface；
The electricity is adjusted and control circuit board is connected with the battery respectively.
In the present invention, do not found out with reference to Fig. 6-7(part of module), it is provided with electricity in cabin and adjusts (i.e. electron speed regulator, English
Literary Electronic Speed Control, abbreviation ESC), by input dc power and control signal, electricity, which is adjusted, can export three
Phase alternating current directly drives the rotation of brushless motor 105, it acts as being adjusted the speed by Setting signal to brushless motor 105, thus
Adjust the flight driving force of aircraft.Electricity is adjusted to be corresponded with brushless motor 105, includes forward and backward full power vector in the present invention
Module, therefore brushless motor 105 at least two, corresponding electricity, which is adjusted, is also one in front and one in back provided with two.
In the present invention, the control circuit board 403 includes at least communication module 404 and gyro module 405, communicates mould
For block 404 for carrying out wireless communication with controlling terminal, gyro module 405 is used to acquire or generate the flight attitude of aircraft
Data.Control circuit board 403 is also directly connected with steering engine, can control the rotation of steering engine.
In the present invention, steering engine include at least preceding direction vector steering engine, preceding vector look up steering engine, rear direction vector steering engine with
And rear vector looks up steering engine, wherein direction steering engine corresponds to steering engine 202, looks up steering engine and corresponds to steering engine 203.In addition, in the present embodiment
In, steering engine can also include port aileron steering engine and starboard aileron steering engine (movable part that aileron is wing), left and right aileron rudder
Machine effect is that the driving machine wing deflects, and when there is air stream through two sides above and below wing, wing angle can control to generate corresponding behaviour
Vertical torque, belongs to traditional aircraft handling means.
In the present invention, aircraft is powered by battery 402, and battery 402 is installed in cabin, altogether specific location and installation
The mode present invention is with no restriction.
The present invention provides a kind of double hair multi-modal aircraft of full vector, by the way that control circuit board 403 is arranged in cabin
And control element, carry out the flight control of aircraft, small in size, the small advantage of weight of tool.
In one embodiment of the invention, with reference to Fig. 1, the aircraft further includes wing, for determining the flat winged mould of the wing
The lift of flight is provided under state, roll damping is provided under mode of hovering, is also used to improve the stability of the aircraft, it is described
Wing includes the first wing 500 and the second wing 600, and first wing 500 and the second wing 600 are respectively arranged in the machine
The on both sides of the middle of body 400, the connection with the fuselage 400 is by the way of the grafting of carbon pipe or inclined shaft connection.
In the present invention, wing is set on fuselage, and wing can be integral structure, is fixedly installed on fuselage, can also
In the form separately installed using left and right, set up left and right wing separately, for its specific connection type, the present invention is with no restriction.
In the present invention, wing can connect two kinds of mounting means using common carbon pipe grafting or inclined shaft, when using inclined shaft
When connection, wing can single-degree-of-freedom the state being bonded with fuselage 400 is rotated back to around Space Oblique axis, the wing-folding the case where
It is lower to carry out horizontal hovering, influence of the horizontal crosswind to aircraft can be reduced, unstable factor is reduced.
In the present invention, with no restriction to the concrete form of wing, swept-back wing, the straight wing, buzzard-type wing, the cyclic annular wing be can be
Equal arbitrary shapes, main reason is that full vector aircraft is capable of providing powerful control moment, so that the flight of aircraft
Controlling reduces with the correlation of wing.The form of the two-shipper wing, including port wing 500 and starboard wing 600 are used in the present invention.
The present invention provides a kind of double hair multi-modal aircraft of full vector, can keep the flat of aircraft by the way that wing is arranged
Weighing apparatus, and since the present invention is using the form for sending out full vector power plant module again, so that flight reduces the dependence of wing, wing
Form can be more diversified.
The propeller for the full vector power plant module that in one embodiment of the invention, the fore-body is arranged,
Propeller, radome fairing, the radome fairing of the full vector power plant module of radome fairing, radome fairing pedestal and fuselage afterbody setting
Pedestal is in mirror image respectively.
In the present invention, full power vector module is divided into the front and back of fuselage, preceding full power vector module and rear full power
The power direction of vector module is mirror (in the case where not considering rotational angle), therefore associated bidirectional screw
Paddle, radome fairing, radome fairing pedestal are in mirror image in forward and backward full power module respectively.
Below in conjunction with a specific embodiment aircraft flight process of the invention is described further, with reference to attached drawing
1、8-20。
In the present embodiment, brushless motor 105 is bright space X2212-980kv brushless motor, and it is China Tech that electricity, which adjusts 401,
F210-3D-Z-06 brushless electronic governor, battery 402 are court cards 4S-1500mah lithium battery, and control circuit board 403 is voluntarily
Design, communication module 404 are that the world flies 6 channel receivers, and gyro module 405 is MPU-6050 accelerometer gyroscope.Its
Middle communication module 404 is directly by contact pin to being inserted in control circuit board 403, for receiving the control signal of controlling terminal and transmitting
To control circuit board 403, gyro module 405 is mounted in control circuit board 403 in such a way that patch welds, for generating
Attitude of flight vehicle signal and input control circuit plate 403.
The collaboration control that double hair multi-modal aircraft of full vector provided by the invention pass through steering engine deflection and brushless motor speed
System, it is achievable to determine flat winged, the horizontal hovering of the wing, vertical hovering, tilt four kinds of basic model of flight such as hovering.It should be noted that
Only determine that the wing is flat to fly the wing that needs to rely on, and horizontal hovering, vertical hovering, inclination hovering movement completion can not need machine
The participation of the wing.
Aircraft is placed by Fig. 1 state now, defines basic body coordinate system.The body nodal point (close to geometric center) is enabled to be
Coordinate origin；Enabling cylinder-shaped fuselage is axially X-axis, and heading is positive direction；In front view, enabling vertical X axis direction is Z
Axis, surface are positive direction；In a top view, enabling vertical X axis direction is Y-axis, is positive direction on the left of fuselage.Analyze each steering engine
When deflection, which is moved to corresponding axle center, XYZ axis direction does not change.Setting coordinate is as shown in Figure 8.
Aircraft is placed by Fig. 8 state now, defines thrust and steering engine drift angle positive direction.Enable front and back bidirectional screw paddle in figure
Offer thrust direction is positive direction, i.e. F1>0 & F2>0 .In front view, brushless motor is enabled axially to be deflected to by X axis Z axis
Positive direction, i.e. previous stage steering engine upward deflect motor axially as φ1> 0 °, rear stage steering engine deflect down motor axially for
φ2>0°.In a top view, enable motor is axial to be deflected to positive direction by X axis Y-axis, i.e., preceding second level steering engine keeps motor axial to the left
It is deflected to θ1> 0 °, second level steering engine makes motor axially be deflected to θ to the right after 8022>0°。
Four kinds of basic model of flight control moment generation mechanisms are as shown in table 1, the control of mutual transition between basic model of flight
Making mechanism is as shown in table 2, in addition, the embodiment of the invention also provides the brief descriptions that aircraft expands flare maneuver, such as 3 institute of table
Show.
Table 1: each model of flight control moment generation mechanism
Table 2: the controlling mechanism of mutual transition between basic model of flight
Table 3: the brief description of aircraft expansion flare maneuver
Each model of flight of the aircraft that the embodiment of the present invention specifically gives and its between the controlling mechanism that converts, need to illustrate
It is to be given above only most basic model of flight, the controlling mechanism for illustrating the present invention is not limited to
The present invention.Application field of the invention includes at least:
Demonstration flight: double before and after double hair full vector aircraft uses to set engine, range of deflection is big, and aircraft awing has
Extremely strong flexibility and stability, achievable fixed-wing is flat to fly, level hovering, and inclination hovering is vertical to hover, and reverse flight etc. is more
The basic flight attitude of kind or movement.And many other flare maneuvers on this basis, can be expanded, and is realized highly controllable
And smooth posture transition.Such as follow music that can make pause, it fixes, swings, the conventional aircrafts such as vibration can not be complete
At exceedingly difficult movements.This characteristic concrete application but can be not limited to sports, video display industry, advertising, legitimate drama, lamp
Entertainment field is performed in light show etc..
Load-carrying flight: double hair full vector aircraft are hung down with two engines instead of tradition by full vector module of verting
Straight landing fixed-wing 4+1 power or 2+2 vert power, reduce the waste of payload to the full extent.It takes off vertically lift-off
After can switch to flat winged mode, useful lift is generated by wing after acceleration, and reduce power, it is possible to increase voyage extends cruise duration.
Double hair full vector aircraft can carry different mission payloads and execute logistics transportation, detect, sample, scout, strike, bee colony is fought
Equal various tasks.
Execute small space task: the fuselage of double hair full vector aircraft has modular characteristic.Fuselage and wing
The case where relevance is low, i.e., wing is double selective parts for sending out full vector aircraft, and aircraft assembles wing or expansion wing
Under, the performance that winged mode has energy conservation, long endurance is equalled, aircraft is still achievable multiple in the case where not assembling wing or folded wing
Miscellaneous flight attitude and movement.
Under vertical hovering or inclination hovering mode, the mathematical model based on pendulum in modern control theory and inverted pendulum,
The former has outstanding stability, poor maneuverability；The latter has outstanding maneuverability, poor stability.And for perpendicular
Double multi-modal aircraft of hair full vector under straight hovering or inclination hovering mode, are isolated upper half fuselage, belong to pendulum model；Isolation
Lower half fuselage, belongs to inverted pendulum model.The two Collaborative Control can combine the maneuverability and stability of unmanned plane.
The features such as based on above-mentioned " wing is foldable ", " taking into account handling stability ", " power is reversible ", aircraft high-freedom degree
Sport potential allows to the shuttle flight in narrow or complex environment, can be applied to the rings such as city, jungle, ruins, workshop
Low-flying patrol, investigation, tracking, drug law enforcement, anti-terrorism, the rescue in border etc. have more relative to aircraft such as quadrotor or tilting rotors
Good flying quality.
Test flight data acquisition: the fuselage of double hair full vector aircraft has modular characteristic.Wing can appoint according to demand
Meaning replacement, and it is mounted on the rational position of fuselage.It is mountable complete in double hairs when R&D institution needs to test Novel aerofoil
On the fuselage of flight vector device, and it is equipped with corresponding data measurement and acquisition instrument.
It is double hair the multi-modal aircraft of full vector fuselages can combine with a variety of wings, composition performance it is diversified nobody
Machine.It can be used for laboratory and performance parameter test platform flown for the reality of novel airfoil or wing, can be used in enterprise's production for use
Family personalized customization.
The embodiment of the invention also provides a kind of flight system, the flight system includes:
The double hair multi-modal aircraft of full vector of one kind as described in any above embodiment；And
Controlling terminal, for the control circuit board communications of communication module and the aircraft by the aircraft, with control
The aircraft flight.
In the present invention, controlling terminal can be also possible to that laptop, mobile phone etc. are existing to be set with dedicated controller
Standby, controlling terminal is wirelessly communicated by the wireless communication module being arranged on aircraft, realizes aircraft and control
The data of terminal are come and gone, and are controlled the flight of aircraft.
In the present invention, aircraft carries out wireless control by controlling terminal, and building for system is simple, it is easy to accomplish, it fills
Divide and the prior art is utilized, by simply controlling the flight being able to achieve under multiple modalities.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of double hair multi-modal aircraft of full vector, which is characterized in that the aircraft includes:
Fuselage, the fuselage front and rear portions are connect with full vector power plant module respectively；
The full vector power plant module, is provided with two groups, one in front and one in back connect respectively with the fuselage, is respectively used to fly to be described
Row device provides forward and backward force vector, and full vector power plant module described in forward and backward two groups cooperates, and realizes the more of the aircraft
Mode flight.
2. a kind of double hair multi-modal aircraft of full vector as described in claim 1, which is characterized in that the full vector power mould
Block includes frame component, rudder stock component and folder ear component；
The connecting pin of the frame component and one end of the rudder stock component are rotatablely connected, and the frame component can be around the rudder stock
Component rotation, the direction of rotation axis instruction are first direction, the power output for the full vector power plant module；
One end of the rudder stock component and the frame component are rotatablely connected, and the other end and the folder ear component are rotatablely connected, institute
Stating rudder stock component can rotate around the frame component, and the direction of rotation axis instruction is second direction, for controlling the base group
The power output direction of part；
One end of the folder ear component is connected with the fuselage, and the other end and the rudder stock component are rotatablely connected, for described complete
The connection of vector power plant module and the fuselage；
The first direction is mutually perpendicular to second direction.
3. the hair multi-modal aircraft of full vector as claimed in claim 2 a kind of double, which is characterized in that the frame component includes
Radome fairing, radome fairing pedestal, brushless motor, second level steering engine rocker arm, motor cabinet, second level axis plug, bidirectional screw paddle；
The radome fairing pedestal is set on the output shaft of the brushless motor, is socketed with the rectification on the radome fairing pedestal
Cover, is provided with bidirectional screw paddle between the radome fairing pedestal and radome fairing；
The brushless motor is set on the motor cabinet, the power output for the full vector power plant module；
The second level steering engine rocker arm and second level axis plug are set to the connecting pin of the frame component Yu the rudder stock component, are used for institute
State the rotation connection of frame component Yu the rudder stock component.
4. a kind of double hair multi-modal aircraft of full vector as claimed in claim 2, which is characterized in that the rudder stock component packet
It includes: rudder stock, level-one steering engine, second level steering engine and rudder stock lid；
The level-one steering engine and second level steering engine are provided in the rudder stock, and the output shaft of the level-one steering engine and second level steering engine is in
Orthogonal space arrangement, the output shaft of the level-one steering engine and the folder ear component are rotatablely connected, the output shaft of the second level steering engine
It is rotatablely connected with the frame component；
The rudder stock lid is set on the rudder stock, the protection and positioning for the level-one steering engine and second level steering engine.
5. a kind of double hair multi-modal aircraft of full vector as claimed in claim 2, which is characterized in that the folder ear component packet
Include: upper conformal, folder ear, under conformal, level-one steering engine rocker arm and primary axis plug；
Described conformal is connect by upper pin with the folder ear, for keeping the rudder stock group when rudder stock component rotation
Part connects the continuous of place's curved surface with the folder ear group, and described conformal is built-in with elastic slice, so that described conformal has and inwardly close
The elastic force of conjunction, the upper pin pass through the folder ear and the upper conformal preformed hole；
Conformal is connect by lower bearing pin with the folder ear under described, kept when being rotated for the rudder stock rudder stock component and
The folder ear junction curved surface it is continuous, described conformal be built-in with elastic slice, so that described conformal has and be inwardly closed
Elastic force, the upper pin pass through the folder ear and the upper conformal preformed hole；
Left reinforcement carbon plate and right reinforcement carbon plate is arranged side by side in the connecting pin of the folder ear and the fuselage, is used for the folder ear component
With the connection of the fuselage, reinforce being additionally provided with reinforcement bulkhead between carbon plate and the folder ear；
The level-one steering engine rocker arm and primary axis plug are set to the connecting pin of folder the ear component and the rudder stock component, are used for institute
State the rotation connection of folder ear component and the rudder stock component.
6. a kind of double hair multi-modal aircraft of full vector as described in claim 1, which is characterized in that the fuselage is in spindle circle
Tubular, on both sides of the middle are equipped with wing mounting base, and front and back ends are rotatablely connected with the full vector power plant module respectively, and inside is formed
Hollow cabin.
7. a kind of double hair multi-modal aircraft of full vector as claimed in claim 6, which is characterized in that be provided in the cabin
Electricity tune, control circuit board and battery；
The input terminal that the electricity is adjusted is connected with the circuit board, and output end is connected with brushless motor, including preceding electricity is adjusted and adjusted with rear electricity,
The electricity is adjusted can control the rotation of brushless motor bi-directional variable speed according to the control signal of the circuit board；
The control circuit board includes that communication module, gyro module, voltage regulating module, one-chip computer module and input and output connect
Mouthful, the communication module is used to acquire the flight appearance of the aircraft for receiving flight control instruction, the gyro module
State and acceleration information, the voltage regulating module is for adjusting the output voltage of the battery to the work of the control circuit board
Voltage, the one-chip computer module are used to handle the data of the communication module and gyro module transmission, and combine corresponding
Control algolithm generate control signal and export to corresponding input or output interface；
The electricity is adjusted and control circuit board is connected with the battery respectively.
8. the hair multi-modal aircraft of full vector as described in claim 1 a kind of double, which is characterized in that the aircraft further includes
Wing provides roll damping under mode of hovering, is also used to improve institute for providing the lift of flight in the case where determining the flat winged mode of the wing
The stability of aircraft is stated, the wing includes the first wing and the second wing, and first wing and the second wing are pacified respectively
On both sides of the middle loaded on the fuselage, the connection with the fuselage is by the way of the grafting of carbon pipe or inclined shaft connection.
9. a kind of double hair multi-modal aircraft of full vector as claimed in claim 3, which is characterized in that the fore-body setting
The propeller of the full vector power plant module, radome fairing, radome fairing pedestal and fuselage afterbody setting the full vector
Propeller, radome fairing, the radome fairing pedestal of power plant module are in mirror image respectively.
10. a kind of flight system, comprising:
Such as a kind of described in any item double hair multi-modal aircraft of full vector of claim 1 ~ 9；And
Controlling terminal, for the control circuit board communications of communication module and the aircraft by the aircraft, with control
The aircraft flight.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811596184.7A CN109606680A (en) | 2018-12-26 | 2018-12-26 | The multi-modal aircraft of a kind of pair of hair full vector and flight system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811596184.7A CN109606680A (en) | 2018-12-26 | 2018-12-26 | The multi-modal aircraft of a kind of pair of hair full vector and flight system |
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| CN111452969A (en) * | 2020-04-01 | 2020-07-28 | 北京航空航天大学 | Tailstock type flying wing layout unmanned aerial vehicle capable of taking off and landing vertically |
| CN112319762A (en) * | 2020-11-02 | 2021-02-05 | 北京航空航天大学 | Multidirectional attitude control device |
| CN114684360A (en) * | 2022-04-08 | 2022-07-01 | 西安泽盛航空科技有限公司 | Tandem type double-duct propulsion unmanned aerial vehicle |
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