CN111268089B - Double-fuselage vertical take-off and landing fixed wing unmanned aerial vehicle structure - Google Patents
Double-fuselage vertical take-off and landing fixed wing unmanned aerial vehicle structure Download PDFInfo
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- CN111268089B CN111268089B CN201911152285.XA CN201911152285A CN111268089B CN 111268089 B CN111268089 B CN 111268089B CN 201911152285 A CN201911152285 A CN 201911152285A CN 111268089 B CN111268089 B CN 111268089B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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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
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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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
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C2001/0045—Fuselages characterised by special shapes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention relates to a double-fuselage vertical take-off and landing fixed wing unmanned aerial vehicle structure. The aircraft body is a double-body with a longitudinal axis in bilateral symmetry, the head and the tail of the aircraft body are provided with connecting rods which are integrally formed with the aircraft body and used for fixing a rotor wing and an empennage, and a four-rotor system is fixedly arranged on a front connecting rod and a rear connecting rod of the aircraft body; the wings span the two fuselages and are divided into a left wing, a middle wing and a right wing; an arched tail wing is fixedly arranged on the connecting rod at the tail part of the machine body; the propulsion propeller system is fixedly arranged on the middle wing; the wheeled undercarriage system includes four undercarriage shock links and wheels, settles in left and right fuselage downside. The aircraft structure of the invention adopts a double-body structure, so that the aircraft has enough large task space and is suitable for placing large-size loads; simultaneously rotor and fin connecting rod can be as an organic whole with the fuselage design, avoid additionally installing the rotor pole, fuselage and rotor pole integrated into one piece have simplified the aircraft structure, have both guaranteed structural strength, have reduced structural weight again.
Description
Technical Field
The invention belongs to the general technical field of unmanned aerial vehicles, and particularly relates to a double-fuselage vertical take-off and landing fixed-wing unmanned aerial vehicle structure system.
Background
Conventional unmanned aerial vehicles can be classified into fixed-wing and rotary-wing aircraft. The fixed wing aircraft has lift force provided by the wings during flying and has a large voyage range during flying. Generally speaking, take-off and landing conditions of fixed-wing aircrafts are harsh, a relatively flat runway is required for running take-off or landing, a special launching device is required for launching and launching, personnel are required to have relatively rich operation experience when throwing by hand, and a very accurate navigation control system is required for net collision; in addition, fixed-wing aircraft cannot achieve vertical take-off and landing, nor can they hover in the air. The lift force of the rotorcraft is provided by the propellers or ducted fans, so that vertical take-off and landing can be realized, the requirements on take-off and landing sites are low, and the rotorcraft can stably hover in the air; however, the cruising and level flying efficiency of the rotor craft is lower, and the voyage range is smaller under the same condition. The high-efficiency cruise flight, hovering and vertical take-off and landing cannot be simultaneously realized no matter a pure fixed-wing aircraft or a rotor aircraft, so that the vertical take-off and landing fixed-wing aircraft combining the rotor and the fixed wing has appeared in recent years, and the high-efficiency cruise flight, hovering and vertical take-off and landing capabilities are obtained at a low cost due to mature technology, so that the high-efficiency cruise flight, hovering and vertical take-off and landing fixed-wing aircraft becomes a hot point of research.
Structurally, the vertical take-off and landing fixed-wing aircraft is formed by combining a multi-rotor aircraft and a fixed-wing aircraft. Taking off and landing are similar to a multi-rotor aircraft, and the multi-rotor aircraft provides pulling force required by vertical taking off and landing; when flying forward, the forward flight thrust is provided by the propulsion propeller, similar to a fixed wing aircraft.
From the performance point of view, the vertical take-off and landing fixed wing aircraft structure system not only has the vertical take-off and landing and hovering capabilities of a common multi-rotor aircraft, but also has the high-speed cruising function of the fixed wing aircraft. Due to the capability of the vertical take-off and landing fixed wing, the application range and the field of the vertical take-off and landing fixed wing are greatly increased. In military terms, the system can be qualified for air reconnaissance, logistics support and hidden assault work due to the characteristics of high speed, long range and capability of landing everywhere on a battlefield. In the civil aspect, the system can be used as a good platform for surveying and mapping, line patrol and freight transportation.
Although the existing vertical take-off and landing fixed wing aircraft has many advantages compared with the fixed wing aircraft and the multi-rotor aircraft, the existing vertical take-off and landing fixed wing aircraft still has many disadvantages due to layout limitations. From the overall layout of the aircraft, since most vertical take-off and landing fixed-wing aircraft are combined by a fixed-wing aircraft platform and a multi-rotor structure, although the improvement cost is low and the technical risk is small, the following disadvantages are brought about: 1. the multi-rotor structure is generally combined on an aircraft in a mode of externally hanging connecting rods on wings, the multi-rotor works during vertical take-off and landing, and stops working during flying before cruising, and the multi-rotor structure exists as the dead weight of the aircraft and influences the aerodynamic efficiency of the aircraft; 2. the multi-rotor structure comprises a connecting rod, a motor and a propeller, and is externally hung on the wing to increase wing load, so that the wing structure is strengthened, and extra weight gain is brought; 3. after the fixed-wing aircraft with the single fuselage is changed into the fixed-wing aircraft with the vertical take-off and landing, a set of multi-rotor power supply needs to be additionally installed in the fuselage, and the limited fuselage space is occupied.
Disclosure of Invention
Aiming at the problems that the pneumatic efficiency and the fuselage space are insufficient due to the fact that a plurality of external rotors of most of existing vertical take-off and landing fixed-wing aircrafts are connected, the invention provides a double-fuselage vertical take-off and landing fixed-wing unmanned aircraft structure.
The invention comprises a body, a connecting rod, a fixed rotor wing and an empennage of an aircraft, and is characterized in that the body of the aircraft is a double-body, the connecting rod which is integrated with the head and the tail of the body and is used for fixing the rotor wing and the empennage, a four-rotor wing system which is fixedly arranged on the front connecting rod and the rear connecting rod of the body, wings which are fixedly arranged on the double-body, an arched empennage which is fixedly arranged on the connecting rod at the tail of the body, a propulsion propeller system which is fixedly arranged on the middle wing and four wheel type undercarriage systems which are fixedly arranged in front of and behind the left body and the right body. The double-fuselage of the invention is a double-fuselage with a longitudinal axis symmetrical left and right, comprising a left fuselage and a right fuselage; the vertical take-off and landing four-rotor system comprises a motor, rotors and rotor locking devices, and is symmetrically arranged below the connecting rods at the front and the back of the left fuselage and the right fuselage; the connecting rod and the fuselage are integrally molded and naturally extend from the front to the back of the fuselage, the front connecting rods of the left fuselage and the right fuselage are respectively fixed with a rotor wing, and the rear connecting rods are respectively fixed with a rotor wing and an empennage; the wings are of an upper single-wing structure, span the two fuselages and are divided into a left wing, a middle wing and a right wing; the tail wing comprises a rectangular vertical tail and a rectangular horizontal tail, the vertical tail is arranged on the connecting rods at the rear parts of the left and right machine bodies and inclines inwards, and the horizontal tail is arranged at the upper end of the vertical tail; the propulsion propeller system comprises a cruise motor and a propeller and is arranged on the middle wing; the wheel type undercarriage system comprises four undercarriage damping connecting rods and wheels, and the wheel type undercarriage system is arranged on the lower sides of the left and right airframes in a distribution mode.
Preferably, the double-fuselage is a shuttle-shaped fuselage, symmetrically arranged at two sides of the symmetrical plane of the aircraft, the front end of the fuselage is provided with a front connecting rod, and the tail part of the fuselage is provided with a rear connecting rod.
Preferably, the connecting rod and the fuselage are integrally formed and naturally extend from the front to the back of the shuttle-shaped fuselage, the front connecting rod is fixedly provided with the rotor wing, and the rear connecting rod is fixedly provided with the rotor wing and the empennage.
Preferably, the wing is in a conventional straight wing layout, the wings are in a slightly trapezoidal wing layout so as to reduce resistance, the wing is in a single-wing design and is convenient to load, and the wing section adopts a positive camber wing type.
Furthermore, the empennage is an arched empennage and comprises a horizontal tail with an elevator and vertical tails with rudders, wherein the vertical tails and the vertical tails are inwards inclined at two ends of the horizontal tail and are provided with symmetrical wing profiles.
Preferably, the wing and the empennage are both of a straight wing layout.
Preferably, the propulsion propeller system comprises a cruise motor and a propeller, is mounted on the middle wing, and provides power when the fixed wing is flying.
Preferably, the wheeled landing gear system enables the aircraft to take off and land vertically and take off in a rollout mode.
Specifically, the four-rotor vertical take-off and landing system comprises four motors, four rotors arranged on the motors and a rotor locking device, wherein the four rotors provide tension force during vertical take-off and landing and the rotors are locked along the longitudinal axis of an aircraft during flying before cruising; the two motors are arranged on a front connecting rod extending out of the head of the machine body; the other two motors are arranged on a rear connecting rod extending out of the tail of the fuselage, the rear rotor wing and the empennage share one connecting rod, and the connecting rod and the fuselage are integrally formed by adopting a carbon fiber structure.
Compared with the prior art, the structure provided by the invention can obviously reduce the length of a rotor wing rod and reduce the weight of the structure. Meanwhile, when the aircraft flies in the fixed wing mode, the rotor wing is locked along the longitudinal axis direction of the aircraft, and the cruising resistance can be obviously reduced.
The unmanned aerial vehicle structure can realize vertical take-off and landing, hovering at fixed points in the air and efficient cruise flight, and the vertical take-off and landing four-rotor system provides lift force in the form of power of the rotor aircraft in the take-off and landing and hovering processes; the fixed wing power system provides thrust in the form of fixed wing aircraft power in a cruise flight state, and can also provide aircraft running thrust. Due to the adoption of the double-body structure, the aircraft has enough large task space and is suitable for placing large-size loads; simultaneously rotor and fin connecting rod can be as an organic whole with the fuselage design, avoid additionally installing the rotor pole, fuselage and rotor pole integrated into one piece have simplified the aircraft structure, have both guaranteed structural strength, have reduced structural weight again.
Drawings
Fig. 1a) is a front view of the overall structure of an aircraft structural system;
FIG. 1b) is a side view of the overall structure of an aircraft structural system;
FIG. 1c) is a plan view of the overall structure of the aircraft structural system;
FIG. 1d) is an isometric view of the overall structure of the aircraft structural system;
FIG. 2 is a schematic illustration of a transition to a flat flight state after vertical takeoff of an aircraft structural system. Including takeoff/hover state, using rotor mode flight; in the transition state, the fixed-wing propeller is started, and the transition mode between two flight modes is adopted; and in the cruise flight state, the rotor wing is longitudinally locked along the rotor wing rod, and the rotor wing flies in a fixed wing mode.
The airplane wing structure comprises 1-double fuselage, 2-wing, 3-front connecting rod, 4-rear connecting rod, 5-arched empennage, 6-undercarriage system, 7-rotor power system, 8-fixed wing power system, 9-rudder, 10-elevator and 11-aileron.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1a), b), c), d), a double fuselage VTOL fixed wing unmanned vehicles structure, including double fuselage, VTOL four rotor system, fixed set up in the wing (last single wing structure) of fuselage top and fixed set up in the "arch" fin of fuselage afterbody, its characterized in that:
the double-fuselage is a shuttle-shaped fuselage symmetrically arranged on the wing, and the double-fuselage and the rotor wing/connecting rod are designed into a whole, so that the structure is simplified, and the task space is enlarged.
The wings are in a conventional straight wing layout, most of the wings are rectangular wings, and the wings are in a slightly trapezoidal wing layout. The tail wing is arched, the arched tail wing adopts a rectangular vertical tail and a rectangular horizontal tail, and the wing section is a symmetrical wing section; the vertical fin is arranged on the connecting rods at the rear parts of the left and right bodies and inclines inwards, the horizontal fin is arranged at the upper end of the vertical fin, and the tail wing is connected with the bodies through the connecting rods. The horizontal tails are provided with elevators, and the two vertical tails are also provided with rudders.
The wing airfoil adopts a positive camber airfoil.
The vertical take-off and landing four-rotor system is arranged on the connecting rods in the front and at the back of the double-body. The front connecting rod extends out of the head of the machine body, the rear connecting rod extends out of the tail of the machine body, and the tail wing is installed at the tail end of the rear connecting rod.
The propulsion propeller system comprises a cruise motor and a propeller and is arranged on the middle wing.
The double-fuselage vertical take-off and landing fixed-wing unmanned aerial vehicle structure comprises a fuselage, wings, an empennage, a four-rotor system and a propulsion propeller system, wherein the fuselage is a shuttle-shaped fuselage arranged in parallel, installation space is provided for an internal payload, a power supply, a flight control system and an avionic system, and flight resistance is reduced. The wing is in a conventional straight wing layout, the wings are in a slightly trapezoidal wing layout so as to reduce resistance, the wing is in a single-wing design and is convenient to load, and the wing section adopts a positive camber wing type. The arched empennage comprises a horizontal tail with an elevator and vertical tails with rudders, wherein the vertical tails are inwards inclined at two ends of the horizontal tail and are provided with symmetrical wing shapes, and wings and the vertical tails are arranged in a rectangular wing shape. The wings, the horizontal tails and the vertical tails are respectively provided with ailerons, elevators and rudders, and the control of rolling, pitching and yawing can be realized by coordinating and deflecting control surfaces.
The four-rotor system for vertical take-off and landing is arranged on connecting rods in front of and behind the double-fuselage, the front connecting rod extends out of the head of the fuselage, the two rotors are arranged at the front end of the front connecting rod, the rear connecting rod extends out of the tail of the fuselage, the two rotors are arranged in the middle of the rear connecting rod, the tail wing is arranged at the tail end of the rear connecting rod, and the connecting rods and the fuselage are integrally formed by adopting a carbon fiber structure.
The aircraft also comprises a flight control system and an avionics system, the flight control system and the avionics system are arranged in the aircraft body structure and are conventional technologies, and the flight control system and the avionics system are used for controlling the flight track and the attitude of the aircraft and realizing communication with a ground control center.
As shown in fig. 2, three flight modes, namely a rotor mode, a transition mode and a fixed-wing mode, are respectively adopted for three flight states of the aircraft, namely hovering, transition and forward flight. The specific process is as follows: firstly, the aircraft takes off in a take-off mode similar to that of a four-rotor aircraft, and a four-rotor system starts to work so as to realize the vertical take-off of the aircraft. When the flight mode is switched, the four-rotor system is still working, the fixed wing power system is started, and the aircraft starts to accelerate forwards. When the front flying speed of the aircraft reaches the lowest flying speed, the four-rotor system stops working and is locked by the locking device, so that the rotors face the front of the aircraft to reduce the front flying resistance, the transition mode is finished at the moment, and after the whole conversion process is finished, the fixed-wing power system continues working to enable the aircraft to reach the speed required by the cruise flight, and the lift force generated by the wings overcomes the self gravity of the aircraft. In the process of cruising and level flight, the attitude of the aircraft is controlled by the control surfaces on the wings, the horizontal tail and the vertical tail together. The process of switching from the cruise flight leveling state to the fixed-point hovering or vertical landing mode is opposite to the takeoff process, and details are not repeated herein.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A double-fuselage vertical take-off and landing fixed wing unmanned aerial vehicle structure comprises a fuselage, a connecting rod, a rotor wing and an empennage of the aircraft, and is characterized in that the fuselage of the aircraft is double, the unmanned aerial vehicle structure also comprises a connecting rod which is integrated with the head and the tail of the fuselage and used for fixing the rotor wing and the empennage, a vertical take-off and landing four-rotor system which is fixedly arranged on the front and rear connecting rods of the fuselage, wings which are fixedly arranged on the double fuselage, the empennage which is fixedly arranged on the connecting rod at the tail of the fuselage, a propulsion propeller system which is fixedly arranged on the middle wing, and four wheel type undercarriage systems which are fixedly arranged on the front and rear parts of the left fuselage and the right fuselage; the double-fuselage is a left fuselage and a right fuselage which are in a shuttle shape, a connecting rod structure naturally extends out of the front and the back of the shuttle-shaped fuselage, the connecting rod and the fuselage are integrally molded and naturally extends out of the front and the back of the fuselage, the front connecting rod is fixedly provided with a rotor wing, and the back connecting rod is fixedly provided with the rotor wing and an empennage; the wing is of an upper single-wing structure, spans two fuselages and is divided into a left wing, a middle wing and a right wing.
2. The UAV structure of claim 1 wherein the VTOL quad-rotor system includes motors, rotors and rotor locks and is symmetrically positioned under the front and rear links of the left and right fuselages.
3. The structure of claim 2, wherein the tail wing is mounted at the end of the rear connecting rod, and the tail wing is an 'arched' tail wing, comprises a rectangular vertical tail and a rectangular horizontal tail, and adopts a symmetrical wing type; the vertical tail is arranged on the rear connecting rod of the left machine body and the right machine body and is inclined inwards, the horizontal tail is arranged at the upper end of the vertical tail, the vertical tail is provided with a rudder, and the horizontal tail is provided with an elevator.
4. The UAV structure of claim 1 wherein the middle wing has a straight wing configuration, the wings have a slightly trapezoidal wing configuration, and the wing sections have a positive camber profile.
5. The UAV structure of claim 1 wherein the propulsion propeller system includes a cruise motor and a propeller, disposed on a mid-wing.
6. The UAV structure according to claim 3 wherein deflectable control surfaces are provided on the wings, horizontal and vertical tails.
7. The UAV structure of claim 1 wherein the wheeled landing gear system includes landing gear shock links and wheels disposed on the left and right undersides of the fuselage, respectively.
8. The UAV structure of claim 1 wherein the link is integrally formed with the fuselage in a carbon fiber construction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911152285.XA CN111268089B (en) | 2019-11-22 | 2019-11-22 | Double-fuselage vertical take-off and landing fixed wing unmanned aerial vehicle structure |
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| CN201911152285.XA CN111268089B (en) | 2019-11-22 | 2019-11-22 | Double-fuselage vertical take-off and landing fixed wing unmanned aerial vehicle structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112173068A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Adjustable helicopter side end plate structure |
| CN112606991A (en) * | 2020-12-29 | 2021-04-06 | 中国航空工业集团公司西安飞机设计研究所 | Double-fuselage unmanned freight airplane |
| CN113619155B (en) * | 2021-08-04 | 2023-08-22 | 陕西天翌科技股份有限公司 | Integral co-curing forming die and method for unmanned aerial vehicle body and rotor wing rod |
| CN114030597B (en) * | 2021-12-17 | 2023-07-21 | 北京北航天宇长鹰无人机科技有限公司 | Landing gear cabin door linkage mechanism, landing gear cabin door linkage system and unmanned aerial vehicle |
| CN115520384B (en) * | 2022-11-28 | 2023-02-03 | 成都睿铂科技有限责任公司 | Vertical take-off and landing fixed wing unmanned aerial vehicle |
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| CN105173073A (en) * | 2015-10-08 | 2015-12-23 | 西北工业大学深圳研究院 | Composite lift force type unmanned aerial vehicle realizing vertical take-off and landing |
| CN106741820A (en) * | 2016-12-20 | 2017-05-31 | 中国科学院长春光学精密机械与物理研究所 | A kind of VTOL fixed-wing unmanned vehicle |
| CN106882371A (en) * | 2017-03-07 | 2017-06-23 | 北京天宇新超航空科技有限公司 | A kind of hybrid tilting rotor wing unmanned aerial vehicle |
| CN109263922A (en) * | 2018-10-30 | 2019-01-25 | 佛山市神风航空科技有限公司 | A kind of rotatable aircraft of motor |
| CN110316370A (en) * | 2019-06-25 | 2019-10-11 | 北京航空航天大学 | A kind of layout and control method of distributed-power tilting wing aircraft |
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