CN114148517B - Vertical take-off and landing high-speed unmanned aerial vehicle and control method thereof - Google Patents
Vertical take-off and landing high-speed unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN114148517B CN114148517B CN202111665462.1A CN202111665462A CN114148517B CN 114148517 B CN114148517 B CN 114148517B CN 202111665462 A CN202111665462 A CN 202111665462A CN 114148517 B CN114148517 B CN 114148517B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
- B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
- B64C29/0025—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being fixed relative to the fuselage
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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
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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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
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
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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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Abstract
The invention relates to the technical field of vertical lifting of unmanned aerial vehicles, in particular to a vertical lifting high-speed unmanned aerial vehicle which comprises a vehicle body, wherein a main motor and four auxiliary motors are arranged in the vehicle body, the main motor is positioned in the center of the interior of the vehicle body, the four auxiliary motors are positioned in the vehicle body and positioned around the main motor, the main motor drives a No. five main duct turbofan to rotate, and the auxiliary motors drive the auxiliary duct turbofan to rotate. The control method of the vertical take-off and landing high-speed unmanned aerial vehicle comprises speed and steering control, signal control and flight mode control. The invention solves the problem of slow flying speed caused by large waste resistance in the flying process of the structure in the prior art.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle vertical lift technical field particularly, relates to a high-speed unmanned aerial vehicle of VTOL and control method thereof.
Background
Unmanned fuselage, called unmanned aerial vehicle for short, is an unmanned fuselage operated by a radio remote control device and a self-contained program control device, or is completely or intermittently autonomously operated by an on-board computer. Compared with a manned fuselage, the unmanned aerial vehicle is often suitable for more relaxed and concealed tasks, and can be divided into military use and civil use according to application fields, the unmanned aerial vehicle in the aspect of military use is divided into a reconnaissance plane and a target plane, the civil use is really just needed by the unmanned aerial vehicle, and on the other hand, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, electric power inspection, disaster relief, movie and television shooting, romantic manufacturing and the like, and the application of the unmanned aerial vehicle per se is continuously widened.
In recent years, unmanned aerial vehicle has played bigger and bigger effect in taking precautions against earthquakes and reducing disasters, and the screw power that often adopts about the unmanned aerial vehicle research of taking off perpendicularly at present, the power overall arrangement often adopts the triangle-shaped overall arrangement, and motor and screw are outside, and useless when flying hinders greatly, and the unmanned aerial vehicle flying speed of screw power has obvious restriction moreover.
Disclosure of Invention
The invention aims to provide a vertical take-off and landing high-speed unmanned aerial vehicle and a control method thereof, which solve the problem of low flying speed caused by large waste resistance in the flying process in the prior art, overcome the five-axis vertical take-off technology, and simultaneously have a high-speed rushing unmanned aerial vehicle.
The lathe machining tool comprises a machine body, wherein a main motor and four auxiliary motors are arranged in the machine body, the main motor is located in the center of the interior of the machine body, the four auxiliary motors are located in the machine body and located on the periphery of the main motor, the main motor drives a No. five main duct turbofan to rotate, and the auxiliary motors drive the auxiliary duct turbofan to rotate.
It should be noted that, the unmanned aerial vehicle who provides the power overall arrangement for a main motor and four vice motors cooperation five main duct turbofan rotates and vice duct turbofan reduces the useless resistance that unmanned aerial vehicle produced at the flight in-process, further improves unmanned aerial vehicle's airspeed.
The mounting frame group is made of carbon fibers and comprises two connecting frames, the two connecting frames are identical in structure and are arranged in parallel, the centers of the two connecting frames are rotatably connected with a connecting rod, and the connecting rod is connected with the main motor and the No. five main duct turbofan; and the two ends of the two connecting frames are provided with the auxiliary motor and the auxiliary ducted turbofan.
The angle of the main motor and the angle of the No. five main duct turbofan are controlled by fixedly connecting the No. five main duct turbofan and the main motor with the rotating rod and rotatably connecting the connecting rod with the connecting frame.
The mounting frame group further comprises a fixing frame, the fixing frame is arranged between the two connecting frames, a control module is arranged on the fixing frame, a signal receiver and a speed regulator are arranged in the control module, the speed regulator is used for controlling the rotating speed and the rotating direction of the main motor and the auxiliary motors, and the signal receiver is arranged and used for receiving signals transmitted on the ground.
It should be noted that the control of the rotation speed and the rotation direction of the main motor and the four auxiliary motors is realized through the signal receiver and the speed regulator, two different control paths are used for controlling the main motor and the four auxiliary motors respectively, and the working states that the different control paths can be controlled by the same signal receiver but are not interfered with each other are realized.
The control module is also internally provided with a driving mode converter which controls the flight state of the airplane body to be converted in three flight modes, namely a full driving mode, a main driving mode and a hybrid driving mode; the signal receiver, the speed regulator and the drive mode converter are in signal connection.
It should be noted that, flight through the flight of three kinds of different drive mode control fuselages for unmanned aerial vehicle can use different drives according to the flight environment of difference, reaches the best effect when reducing energy loss.
Vice duct turbofan includes vice duct turbofan, no. two vice duct turbofan, no. three vice duct turbofan, no. four vice duct turbofan, the link includes a link and No. two links, the both ends of a link are provided with vice duct turbofan with No. two vice duct turbofan, the both ends of No. two links are provided with No. three vice duct turbofan with No. four vice duct turbofan, no. two vice duct turbofan with No. four vice duct turbofan are located same one side of No. five main duct turbofan.
It should be noted that the auxiliary ducted turbofan is numbered, and then the five ducted turbofan is combined to realize specific control over the specific ducted turbofan, so as to realize control over the flight attitude and the flight speed of the aircraft body.
The application also provides a control method of the vertical take-off and landing high-speed unmanned aerial vehicle, which comprises speed and steering control, signal control and flight mode control; speed and steering control, wherein the first auxiliary duct turbofan and the fourth auxiliary duct turbofan rotate at the same time, the third auxiliary duct turbofan and the second auxiliary duct turbofan rotate at the same time, the first auxiliary duct turbofan and the fourth auxiliary duct turbofan rotate at the same direction, the second auxiliary duct turbofan and the third auxiliary duct turbofan rotate at the same direction, and the first auxiliary duct turbofan and the second auxiliary duct turbofan rotate at opposite directions; the signal receiver receives a signal sent by the bottom surface, converts and divides a radio signal into a pwm signal and an sbus signal for output, the pwm signal controls the main motor and the speed regulator, and the sbus signal controls the first auxiliary duct turbofan, the second auxiliary duct turbofan, the third auxiliary duct turbofan and the fourth auxiliary duct turbofan; flight mode control, including vertical takeoff mode and fixed wing mode; in the vertical takeoff mode, the main motor receives a signal sent by the signal receiver, the rotation angle of the main motor is changed from 0 degree to 90 degrees, and when the airplane body takes off, the four auxiliary motors are started to provide lift force in the vertical direction for the airplane body so as to complete vertical takeoff; when the machine body reaches a certain height, the machine body is switched to a fixed wing mode, the direction of the nozzle of the main motor is adjusted to be gradually changed from the vertical direction to the horizontal direction, the speed of the machine body in the horizontal direction is increased, and when the certain speed is reached, the four auxiliary motors inform the operation.
It should be noted that, by controlling the rotation time, the rotation direction, and the like of the first auxiliary ducted turbofan, the second auxiliary ducted turbofan, the third auxiliary ducted turbofan, the fourth auxiliary ducted turbofan, and the fifth ducted turbofan, the offset or the weakening of the resistance generated by the aircraft body is realized, and the flight speed of the aircraft body is improved. The main motor and the auxiliary motor are respectively controlled through two different control channels, so that the flying state of the airplane can be quickly and effectively converted.
In the signal control, the pwm signal is an 8-pass pwm signal, wherein a 3-channel pwm signal is set to control the governor; the sbus signal is connected with the F4 flight controller to control the first auxiliary duct turbofan, the second auxiliary duct turbofan, the third auxiliary duct turbofan and the fourth auxiliary duct turbofan.
It should be noted that the control of the governor and the flight controller is realized through different channels, and the motors can work independently and the controller can control freely.
In the speed and steering control, during vertical takeoff, the rotating direction of the No. five main ducted turbofan is the same as that of the No. three auxiliary ducted turbofan, and the nozzle of the main motor is vertically downward; and when the aircraft flies horizontally, the nozzle of the main motor faces the rear of the aircraft body.
The reduction of the acting force generated by the main motor and used for blocking the flight of the airplane body is realized by adjusting the rotating direction of the auxiliary motor and the nozzle direction of the main motor.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the unmanned aerial vehicle has the advantages that the waste resistance generated in the flying process of the unmanned aerial vehicle is reduced through the unmanned aerial vehicle power layout mode that one main motor and four auxiliary motors are matched with the rotation of the No. five main duct turbofan and the auxiliary duct turbofan, and the flying speed of the unmanned aerial vehicle is further improved;
2. through the flight of three kinds of different drive mode control fuselages for unmanned aerial vehicle can use different drives according to the flight environment of difference, reaches the best effect when reducing energy loss.
Drawings
FIG. 1 is one of the schematic structural views of the invention;
FIG. 2 is a second schematic structural view of the present invention;
FIG. 3 is a schematic view of the structure of the fixing frame of the present invention;
FIG. 4 is a schematic structural diagram of a first connecting frame in the invention;
FIG. 5 is a third schematic structural diagram of the present invention;
FIG. 6 is a fourth schematic structural view of the invention;
FIG. 7 is a fifth schematic view of the invention;
FIG. 8 is a sixth schematic view of the invention;
FIG. 9 is a seventh schematic structural view of the present invention;
FIG. 10 is a schematic flow chart of a control method of the present invention;
FIG. 11 is a second flowchart of the control method of the present invention.
Icon: 1-auxiliary ducted turbofan; 2-secondary ducted turbofan; 3-the third auxiliary duct turbofan; 4-auxiliary ducted turbofan; 5-five main duct turbofan; 6-a fuselage; 7-a connecting frame; 8-second connecting frame; 9-a connecting rod; 10-a fixing frame; 11-speed regulator.
Detailed Description
Referring to the accompanying drawings 1-10 together for description, the present embodiment provides a high-speed vertical take-off and landing drone, which is mainly used to solve the problem of slow flying speed caused by large waste resistance in the flying process in the prior art, and is already in practical use.
The present application proceeds through the following examples,
example 1
The utility model provides a high-speed unmanned aerial vehicle of VTOL, includes fuselage 6, be provided with a main motor and four vice motors in the fuselage 6, main motor is located the inside central point of fuselage 6 puts, four vice motors all are located in the fuselage 6 and be located around the main motor, main motor drive five main duct turbofan 5 rotates, vice motor drive vice duct turbofan rotates.
It should be noted that the vertical take-off and landing high-speed unmanned aerial vehicle is an unmanned aerial vehicle taking off and landing by using a vertical take-off and landing technology, can take off and land without running, has low requirements on take-off and landing fields, and has strong adaptability and wide application range. The application provides a high-speed unmanned aerial vehicle of VTOL, it sets up a main motor at the organism center, four vice motors carry out the power overall arrangement around main motor, this application is through the adjustment of realization to five aircraft power, abandon the mode that uses screw power in the conventional side of unmanned aerial vehicle makes in the power overall arrangement, provide power for the flight of fuselage 6 through setting up high rotational speed duct turbofan in 6 insides of fuselage, 6 outsides of fuselage have been reduced and produced useless resistance at the flight in-process, the length of time and speed when unmanned aerial vehicle flies has been improved, on the other hand, the pneumatic overall arrangement of series of F35 is taken to 6 plan overall arrangements of fuselage, organism appearance design fuses aerodynamic mode for the fuselage. For the emergent situation outside the airplane body 6, the airplane can take off and rush at high speed at any time, and the problem of low flying speed caused by large waste resistance in the flying process in the prior art is solved.
The mounting bracket set is further arranged, the mounting bracket set is made of carbon fibers, the mounting bracket set comprises two connecting brackets, the two connecting brackets are identical in structure and are arranged in parallel, the centers of the two connecting brackets are rotatably connected with a connecting rod 9, and the connecting rod 9 is connected with the main motor and the No. five main duct turbofan 5; and the two ends of the two connecting frames are provided with the auxiliary motor and the auxiliary ducted turbofan.
It should be noted that, realize a main motor, four vice motors, no. five main duct turbofan 5 rotates and the connection and the setting of four vice duct turbofan through the mounting bracket, make No. five main duct turbofan 5 rotate and four vice duct turbofan arrange that it is the H type between arranging, it is specific, connecting rod 9 both ends are rotated and are connected with the engaging lug, the both ends of engaging lug respectively with link fixed connection, connecting rod 9 can be in the rotation and the connecting hole of seting up move, in detail, the engaging lug is outer to be connected with drive cam, drive cam is connected with driving motor with the one end that connecting rod 9 stretches out the engaging lug, drive cam controls drive cam and rotates, drive cam drives connecting rod 9 and rotates, main motor with No. five main duct turbofan 5 is fixed connection with connecting rod 9, then connecting rod 9's rotation is driving and is realizing main motor with the regulation of No. five main duct turbofan 5 angles, and then realize the adjustment and the control to fuselage 6 state.
The mounting frame group further comprises a fixing frame 10, the fixing frame 10 is arranged between the two connecting frames, a control module is arranged on the fixing frame 10, a signal receiver and a speed regulator 11 are arranged in the control module, the speed regulator 11 controls the rotation speed and the rotation direction of the main motor and the auxiliary motors, and the signal receiver is used for receiving signals transmitted on the ground.
It should be noted that, the signal receiver and the speed regulator 11 are arranged between the main motor and the auxiliary motor through the arrangement of the fixing frame 10, so as to ensure the timeliness of signal transmission, and at the same time, the space in the airframe 6 can be effectively utilized, so as to reduce the overall volume of the airframe 6, and further reduce the resistance of the airframe 6 in the flight process. Preferably, the fixing frame 10 is provided with a plurality of special-shaped holes or round holes or triangular holes, so that the mass of the machine body 6 can be reduced, and the heat dissipation effect can be achieved.
The control module is also internally provided with a driving mode converter which controls the flight state of the airframe 6 to be converted in three flight modes, namely a full driving mode, a main driving mode and a hybrid driving mode; the signal receiver, the speed regulator 11 and the drive mode converter are in signal connection.
It should be noted that three driving modes are set, specifically, the full driving mode provides lift force for the fuselage 6 by the simultaneous operation of the main motor and the four auxiliary motors, so that the fuselage 6 successfully completes vertical takeoff and landing; the main driving mode provides power for the main motor, and the fixed wing flight mode is realized by virtue of the lift force generated by the wings of the fuselage 6; the hybrid driving mode is that the main motor and the four sub-motors work simultaneously and provide backward and downward thrust to the airframe 6, and the flying is realized under the action of a certain lift generated by the wings.
Vice duct turbofan includes vice duct turbofan 1, no. two vice ducted turbofan 2, no. three vice ducted turbofan 3, no. four vice ducted turbofan 4, the link includes link 7 and No. two link 8, the both ends of link 7 are provided with vice ducted turbofan 1 with No. two vice ducted turbofan 2, the both ends of No. two link 8 are provided with No. three vice ducted turbofan 3 with No. four vice ducted turbofan 4, no. two vice ducted turbofan 2 with No. four vice ducted turbofan 4 is located same one side of No. five main ducted turbofan 5.
It should be noted that, by numbering the auxiliary ducted turbofan and combining the ducted turbofan with the five ducted turbofan, specific control of the specific ducted turbofan is realized, specifically, the main motor is a brushless motor, and meanwhile, the main motor realizes change of the air injection direction thereof through a servo motor.
Example 2
The control method of the vertical take-off and landing high-speed unmanned aerial vehicle comprises speed and steering control, signal control and flight mode control.
Speed and steering control: the rotation time of an auxiliary duct turbofan 1 is the same as that of an auxiliary duct turbofan 4, the rotation time of an auxiliary duct turbofan 3 is the same as that of an auxiliary duct turbofan 2, the rotation direction of the auxiliary duct turbofan 1 is the same as that of the auxiliary duct turbofan 4, the rotation direction of the auxiliary duct turbofan 2 is the same as that of the auxiliary duct turbofan 2, and the rotation direction of the auxiliary duct turbofan 1 is opposite to that of the auxiliary duct turbofan 2.
It should be noted that, by controlling the rotation time and the rotation direction of the first auxiliary duct turbofan 1, the second auxiliary duct turbofan 2, the third auxiliary duct turbofan 3, and the fourth auxiliary duct turbofan 4, the reaction torque generated between the main motor and the four auxiliary motors is resisted or weakened, and then the free flight in six degrees of freedom of the aircraft body 6 can be realized in a space range by controlling the rotation speed of the main motor and the four auxiliary motors.
Signal control: the signal receiver receives signals sent by the ground, converts and divides radio signals into pwm signals and sbus signals to be output, the pwm signals control the main motor and the speed regulator 11, and the sbus signals control the first auxiliary duct turbofan 1, the second auxiliary duct turbofan 2, the third auxiliary duct turbofan 3 and the fourth auxiliary duct turbofan 4.
In the signal control, the pwm signal is an 8-pass pwm signal, wherein a 3-channel pwm signal is set for controlling the governor 11; the sbus signal is connected with the F4 flight controller to control the first auxiliary duct turbofan 1, the second auxiliary duct turbofan 2, the third auxiliary duct turbofan 3 and the fourth auxiliary duct turbofan 4.
It should be noted that, a signal receiver on the airframe 6 receives a signal transmitted from the ground, converts and divides a radio signal into a pwm signal and an SBUS signal which are 8-way, and outputs the pwm signal, wherein the pwm signal of 3 channels is transmitted to a speed regulator 11 which controls a main motor, so as to control the size of the throttle of the main motor, that is, the control of the main motor is controlled by the pwm signal transmitted by the signal receiver, and the other four sub-motors are controlled by a flight controller, in the unmanned aerial vehicle, the main motor and the sub-motors are controlled by the control signal of the same signal receiver, so that the responses of the throttle in the SBUS signal received by the third channel pwm which controls the throttle and the F4 flight controller are consistent, that is, the main motor and the four sub-motors are controlled by two different paths, but the responses to the signal receiver are consistent, and do not interfere with each other.
Controlling the flight mode: the system comprises a vertical takeoff mode and a fixed wing mode; in the vertical takeoff mode, the main motor receives a signal sent by the signal receiver, the rotation angle of the main motor is changed from 0 degree to 90 degrees, and when the airplane body 6 takes off, the four auxiliary motors are started to provide a lifting force in the vertical direction for the airplane body 6 so as to complete vertical takeoff; when the machine body 6 reaches a certain height, the mode is switched to a fixed wing mode, the nozzle direction of the main motor is adjusted to be gradually changed from the vertical direction to the horizontal direction, the speed of the machine body 6 in the horizontal direction is increased, and when the certain speed is reached, the four auxiliary motors run simultaneously.
It should be noted that, when the airframe 6 is in the vertical takeoff state, the servo motor controlling the main motor receives the signal transmitted by the signal receiver, and then the rotation angle of the main motor is adjusted from 0 degree to 90 degrees, specifically, when the airframe 6 is in the takeoff state, the controller controlling the auxiliary motor is unlocked, so that the four auxiliary motors are in the starting state, and then the four auxiliary motors provide the vertical lift force for the airframe 6, so that the airframe 6 successfully finishes takeoff. When the flying mode is switched to the fixed wing mode in the later period when the airplane body 6 flies to a certain height, the nozzle direction of the main motor controlled by the servo motor is gradually changed from vertical to horizontal, the airplane body 6 can be accelerated in the horizontal direction gradually at the moment, when the speed in the horizontal direction reaches a specific value, the lift force generated by the wings of the airplane body 6 is larger than the gravity of the airplane body 6, the four auxiliary motors are controlled by the flying controller to stop working and switch to a closed state at the moment, and because the control paths of the main motor and the auxiliary motors are different, the main motor continuously works at the moment, and the output of the thrust of the airplane body 6 is maintained.
In the speed and steering control, during vertical takeoff, the rotating direction of the No. five main ducted turbofan 5 is the same as that of the No. three auxiliary ducted turbofan 3, and the nozzle of the main motor is vertically downward; and when the aircraft flies horizontally, the nozzle of the main motor faces the rear of the aircraft body.
It should be noted that, when the fuselage 6 is in the state of taking off vertically, the nozzle of the main motor is in the state of vertically downward, so that the acting force in the clockwise direction can be generated on the whole fuselage 6, the rotation speed of the auxiliary motor connected to the second sub-ducted turbofan 2 and the third sub-ducted turbofan 3 is enhanced by the F4 flight controller, and the rotation speed of the auxiliary motor connected to the first sub-ducted turbofan 1 and the fourth sub-ducted turbofan 4 is weakened by the F4 flight controller, thereby realizing the resistance and the weakening of the acting force. When the fuselage 6 is in the state of horizontal flight, the spout of main motor is the state towards the rear, can realize the resistance to main motor because of the torsion that self produced through strengthening the drive power of the vice motor that No. three vice duct turbofan 3 and No. four vice duct turbofan 4 are connected at this moment. Specifically, in the control process of vertical takeoff, an F4V3 flight controller of an STM32 chip can be selected, and inav firmware is burnt in to support the function development of later-stage debugging participation. The application provides an emergent emergency of unmanned aerial vehicle structure possesses long-range take-off like forest fire situation etc. and rushes fast and carry out data acquisition to the predetermined place, and simultaneously when the VTOL, the fixed wing mode of its use can be continued a journey for a long time, reinforcing aircraft adaptability.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A vertical take-off and landing high-speed unmanned aerial vehicle is characterized by comprising a vehicle body (6) and a mounting frame group positioned in the vehicle body (6), wherein a main motor and four auxiliary motors are arranged in the vehicle body (6), the main motor is positioned at the center position in the vehicle body (6), the four auxiliary motors are all positioned in the vehicle body (6) and positioned at the periphery of the main motor, the main motor drives a No. five main ducted turbofan (5) to rotate, the auxiliary motors drive the auxiliary ducted turbofan to rotate, and wings are formed on two sides of the vehicle body; the mounting frame group is made of carbon fibers and comprises two connecting frames, the two connecting frames are identical in structure and arranged in parallel, the centers of the two connecting frames are rotatably connected with a connecting rod (9), and the connecting rod (9) is connected with the main motor and the number five main duct turbofan (5); the auxiliary motor and the auxiliary ducted turbofan are arranged at two ends of the two connecting frames; the auxiliary ducted turbofan comprises a first auxiliary ducted turbofan (1), a second auxiliary ducted turbofan (2), a third auxiliary ducted turbofan (3) and a fourth auxiliary ducted turbofan (4), and in the speed and steering control of the unmanned aerial vehicle, when the unmanned aerial vehicle takes off vertically, the rotating direction of the fifth main ducted turbofan (5) is the same as that of the third auxiliary ducted turbofan (3), and a nozzle of the main motor faces downwards vertically; when flying horizontally, the nozzle of the main motor faces the rear of the fuselage; the mounting frame group further comprises a fixing frame (10), the fixing frame (10) is arranged between the two connecting frames, a control module is arranged on the fixing frame (10), a signal receiver and a speed regulator (11) are arranged in the control module, the signal receiver and the speed regulator (11) are arranged between a main motor and auxiliary motors, the speed regulator (11) is used for controlling the rotating speed and the rotating direction of the main motor and the four auxiliary motors, and the signal receiver is used for receiving signals transmitted by the ground; the control module is also internally provided with a driving mode converter which controls the flight state of the airplane body (6) to be converted in three flight modes, namely a full driving mode, a main driving mode and a hybrid driving mode; the signal receiver, the speed regulator (11) and the drive mode converter are in signal connection; the two connecting frames are a first connecting frame (7) and a second connecting frame (8), the first auxiliary duct turbofan (1) and the second auxiliary duct turbofan (2) are arranged at two ends of the first connecting frame (7) respectively, the third auxiliary duct turbofan (3) and the fourth auxiliary duct turbofan (4) are arranged at two ends of the second connecting frame (8) respectively, and the second auxiliary duct turbofan (2) and the fourth auxiliary duct turbofan (4) are positioned on the same side of the fifth main duct turbofan (5);
the unmanned aerial vehicle is characterized in that the number of the speed regulators (11) is two, one speed regulator is used for controlling the rotating speed and the rotating direction of the main motor, the other speed regulator is used for controlling the rotating speed and the rotating direction of the four auxiliary motors, the two speed regulators (11) are in signal connection with the same signal receiver, so that the whole unmanned aerial vehicle only uses one signal receiver to control and transmit signals, the main motor and the four auxiliary motors receive the same response about an accelerator, namely the main motor and the four auxiliary motors use two different paths to control, and therefore the two motors have the same response and do not interfere with each other at the same time.
2. A control method of a vertical take-off and landing high-speed unmanned aerial vehicle is based on the vertical take-off and landing high-speed unmanned aerial vehicle of claim 1, and is characterized in that the control method comprises the following steps,
speed and steering control: the first auxiliary duct turbofan (1) and the fourth auxiliary duct turbofan (4) are identical in rotation time, the third auxiliary duct turbofan (3) and the second auxiliary duct turbofan (2) are identical in rotation time, the first auxiliary duct turbofan (1) and the fourth auxiliary duct turbofan (4) are identical in rotation direction, the second auxiliary duct turbofan (2) and the third auxiliary duct turbofan (3) are identical in rotation direction, and the first auxiliary duct turbofan (1) and the second auxiliary duct turbofan (2) are opposite in rotation direction;
signal control: the signal receiver receives a signal sent by the ground, converts and divides a radio signal into a pwm signal and an sbus signal to be output, the pwm signal controls the main motor and the speed regulator (11), and the sbus signal controls the first auxiliary duct turbofan (1), the second auxiliary duct turbofan (2), the third auxiliary duct turbofan (3) and the fourth auxiliary duct turbofan (4);
controlling the flight mode: the flight mode comprises a vertical takeoff mode and a fixed wing mode; in the vertical takeoff mode, the main motor receives a signal sent by the signal receiver, the rotation angle of the main motor is changed from 0 degree to 90 degrees, and when the airplane body (6) takes off, the four auxiliary motors are started to provide a lifting force in the vertical direction for the airplane body (6) to finish vertical takeoff; when the machine body (6) reaches a certain height, the mode is switched to a fixed wing mode, the direction of the nozzle of the main motor is adjusted to be gradually changed from the vertical direction to the horizontal direction, the speed of the machine body (6) in the horizontal direction is increased, and when the certain speed is reached, the four auxiliary motors run simultaneously.
3. A control method of a vertical take-off and landing high-speed unmanned aerial vehicle according to claim 2, wherein in the signal control, the pwm signal is an 8-pass pwm signal, wherein a 3-channel pwm signal is set for controlling the speed governor (11); the sbus signal is connected with the F4 flight controller to control the first auxiliary duct turbofan (1), the second auxiliary duct turbofan (2), the third auxiliary duct turbofan (3) and the fourth auxiliary duct turbofan (4).
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| CN102120489A (en) * | 2011-02-28 | 2011-07-13 | 南昌航空大学 | Tilt ducted unmanned aerial vehicle |
| US9139299B2 (en) * | 2012-07-10 | 2015-09-22 | Lapcad Engineering, Inc. | Vertical takeoff and landing roadable vehicle |
| US10040544B2 (en) * | 2015-01-02 | 2018-08-07 | Jesse Antoine Marcel | Multi-rotor personal air vehicle with a central lifting fan |
| CN105923153A (en) * | 2016-05-21 | 2016-09-07 | 辽宁辽飞航空科技有限公司 | Fixed-wing aircraft capable of vertically taking off and landing |
| CN206348610U (en) * | 2016-12-14 | 2017-07-21 | 深圳市飞盈佳乐电子有限公司 | Flight control system and aircraft |
| CN107244415A (en) * | 2017-05-24 | 2017-10-13 | 彩虹无人机科技有限公司 | The composite power rotor wing unmanned aerial vehicle that a kind of fuselage can vert |
| CN110588263A (en) * | 2019-09-26 | 2019-12-20 | 沈阳航空航天大学 | Multi-dwelling unmanned mobile platform system and control method thereof |
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