CN203332391U

CN203332391U - Four-rotor model aircraft

Info

Publication number: CN203332391U
Application number: CN2013203076499U
Authority: CN
Inventors: 韩金燕; 卢素锋
Original assignee: Huaian Vocational College of Information Technology
Current assignee: Huaian Vocational College of Information Technology
Priority date: 2013-05-30
Filing date: 2013-05-30
Publication date: 2013-12-11
Anticipated expiration: 2023-05-30

Abstract

The utility model provides a four-rotor model aircraft. The four-rotor model aircraft comprises a power system, wherein the power system comprises four motors, four speed governors and a flight control unit; the four motors are respectively connected with four rotors of the aircraft and provide rotary power to the rotors; the four speed governors are respectively connected with the four motors and govern the speeds of the motors; the flight control unit is connected with the four speed governors and controls adjustment of the four speed governors. The four-rotor model aircraft has a simple structure, strong power and moderate load, is low in cost and flexible in flight control and can achieve the requirement of carrying common cameras with weights within 200g to take aerial photos.

Description

Four rotor aeromodelling aerocrafts

Technical field

The utility model belongs to the vehicle technology field, relates to a kind of four rotor aeromodelling aerocrafts.

Background technology

Current many rotors unmanned aerial vehicle in the world belongs to the microminiature unmanned vehicle basically, U.S. wherein, Germany, the Japan and other countries advanced technology, can realize autonomous flight, the functions such as video cruises, the Typical Representative of remote control quadrotor is the Dargarflyer III of U.S. Darganflyer company development, it is a world-renowned remote controlled model plane quadrotor, its body wing tip is to 48.2 centimetres of wing tip length, high 18 centimetres, weigh 481.1 grams, 28 centimetres of rotor diameter, capacity weight 113.2 grams, sustainable flight 16-20 minute, organism material has adopted carbon fiber and high performance plastics, used three close-up crystal unit gyroscopes to carry out the attitude augmentation control, be mainly used in taking photo by plane.Domestic at the end of Year 2008, a high-tech company that is called Xaircraft appears in Shenzhen, many rotors model plane of developing one's own intellectual property specially, its last word X650D each side measured performance has surmounted Dargarflyer III, has represented domestic highest level.

Many rotary wind types disc-shaped flying craft is a kind of novel rotor type aircraft, multi-rotor aerocraft has two secondary or two secondary above lift oars, each rotor can be shared battery and circuit card, structure is more compact, can produce larger lift, and can make by the reactive torque effect of adjacent rotor the equilibrium of torques of aircraft, need special reactive torque oar unlike traditional single-rotor helicopter, multi-rotor aerocraft can by the rotating speed of controlling each paddle realize aircraft vertical lift, hover, turn to, left and right sidesway and luffing.But the structure of existing many rotary wind types disc-shaped flying craft is the redundancy complexity comparatively, and cost is high, power is strong not.

The utility model content

The shortcoming of prior art in view of the above, the purpose of this utility model is to provide a kind of four rotor aeromodelling aerocrafts, and for solving the complex structure of prior art aircraft, cost is high, the problem that power is weak.

Reach for achieving the above object other relevant purposes, the utility model provides a kind of four rotor aeromodelling aerocrafts.

A kind of four rotor aeromodelling aerocrafts, described four rotor aeromodelling aerocrafts comprise a power system, described power system comprises: 4 motors are connected respectively with four rotors of aircraft, for rotor provides rotary power; 4 governors, be connected respectively with described 4 motors, regulates the rotating speed of motor; Flight controller, be connected with described 4 governors, controls the adjusting of governor.

Preferably, described motor is high-power outer rotor brushless motor.

Preferably, described governor comprises the first micro controller system and 3 groups of full bridge drivers; Described the first micro controller system is connected respectively with 3 groups of full bridge drivers, controls any one group of full-bridge of selecting in 3 groups of full bridge drivers and drives drive motor.

Preferably, described flight controller comprises: second singlechip comprises the SPI interface; The Universal Asynchronous Receiver & sending set, be connected with the SPI interface of described second singlechip, under the control of second singlechip, is responsible for communicating by letter with upper computer.

Preferably, the SPI interface of described second singlechip articulates described the first micro controller system by the 12C bus.

Preferably, described second singlechip is the Mega128 micro controller system, and described the first micro controller system is the Mega8 micro controller system.

As mentioned above, four rotor aeromodelling aerocrafts described in the utility model have following beneficial effect:

Four rotor aeromodelling aerocrafts described in the utility model are simple in structure, and cost is low, and power is strong, and flight is controlled flexibly, bears a heavy burden moderate, can realize carrying the requirement that 200 grams are taken photo by plane with interior general camera.

The accompanying drawing explanation

The structured flowchart that Fig. 1 is four rotor aeromodelling aerocrafts described in the utility model.

The structured flowchart that Fig. 2 is governor described in the utility model.

The structured flowchart that Fig. 3 is flight controller described in the utility model.

The element numbers explanation

100 power systems

110 motors

120 governors

121 first micro controller systems

122 full bridge drivers

130 flight controllers

131 second singlechips

140 flight attitude sensors

200 Universal Asynchronous Receiver & sending sets

The specific embodiment

Below by particular specific embodiment, embodiment of the present utility model is described, person skilled in the art scholar can understand other advantages of the present utility model and effect easily by the disclosed content of this specification sheets.

Refer to accompanying drawing.Notice, appended graphic the illustrated structure of this specification sheets, ratio, size etc., equal contents in order to coordinate specification sheets to disclose only, understand and read for person skilled in the art scholar, not in order to limit the enforceable qualifications of the utility model, therefore the technical essential meaning of tool not, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not affecting under the effect that the utility model can produce and the purpose that can reach, all should still drop on the technology contents that the utility model discloses and obtain in the scope that can contain.Simultaneously, in this specification sheets, quote as " on ", D score, " left side ", " right side ", " centre " reach the term of " " etc., also only for ease of understanding of narrating, but not in order to limit the enforceable scope of the utility model, the change of its relativeness or adjustment, under without essence change technology contents, when also being considered as the enforceable category of the utility model.

Embodiment

The present embodiment provides a kind of four rotor aeromodelling aerocrafts, and as shown in Figure 1, described four rotor aeromodelling aerocrafts comprise a power system 100, and described power system 100 comprises: 110,4 governors 120 of 4 motors, flight controller 130, flight attitude sensor 140.Wherein, 4 motors 110 are connected respectively with four rotors of aircraft, for rotor provides rotary power; 4 governors 120 are connected respectively with described 4 motors 110, regulate the rotating speed of motor; Flight controller 130 is connected with described 4 governors 120, controls the adjusting of governor; Described flight attitude sensor 140 is connected with described flight controller 130, sends the flight attitude of sensing to flight controller 130.

Further, described motor 110 is high-power outer rotor brushless motor.

Further, as shown in Figure 2, described governor 120 comprises the first micro controller system 121 and 3 groups of full bridge drivers 122; Described the first micro controller system 121 is connected respectively with 3 groups of full bridge drivers 122, controls any one group of full-bridge of selecting in 3 groups of full bridge drivers and drives drive motor, realizes the adjusting to motor speed.Particularly, described the first micro controller system 121 can be preferably the Mega8 micro controller system.Described governor is electronic governor.Motor and rotor are direct-connected, and each motor has an electronic governor to be responsible for rotating speed control.The Mega8 micro controller system hangs over the pwm command of accepting flight controller 130 on I2C (Inter-Integrated Circuit) bus.

Further, as shown in Figure 3, described flight controller 130 comprises second singlechip 131, and described second singlechip 131 comprises the SPI interface, and the SPI interface of second singlechip 131 articulates described the first micro controller system 121 by the 12C bus.Particularly, described second singlechip 131 can be preferably the Mega128 micro controller system.The Mega128 micro controller system electricity all by I2C bus carry adjusted micro controller system (as the Mega8 micro controller system).The MEGA128 treater has the processing speed up to 20MHz, and all sensing datas are all carried out to senior filtering processing, and flight controller can also be accepted the order of receiver of remote-control sytem, realizes exercises control.

Further, described four rotor aeromodelling aerocrafts also comprise: Universal Asynchronous Receiver & sending set (Universal Asynchronous Receiver/Transmitter, UART) 200; Described Universal Asynchronous Receiver & sending set 200 is connected with the SPI interface of described second singlechip 131, under the control of second singlechip, is responsible for communicating by letter with upper computer.

The basic motive principle of four rotor aeromodelling aerocrafts described in the utility model is: the opposite direction of the screw propeller of the adjacent rotor of four rotor aeromodelling aerocrafts (adopting to align oar, the form of a pair of anti-oar) to offset, because of the screw propeller rotation, produce from spin.When the screw propeller constant velocity rotation of four rotors of aircraft, the lift that each oar produces equates, when lift is greater than or less than self gravitation, aircraft is realized lifting, when lift equals self gravitation, realizes hovering.When the right two paddle rotating speeds, during lower than the left side two paddle rotating speed, the resultant lift that the right two paddles produce is greater than the resultant lift that the left side two paddles produce, and body is sidesway to the right; In like manner, can make body sidesway and pitching left.One group of paddle rotating speed on same diagonal line is identical, when the paddle rotating speed on different diagonal lines is different, because reactive torque can not be cancelled out each other, thereby can realize turning to of aircraft.

In sum, the utility model has effectively overcome various shortcoming of the prior art and the tool high industrial utilization.

Above-described embodiment is illustrative principle of the present utility model and effect thereof only, but not for limiting the utility model.Any person skilled in the art scholar all can, under spirit of the present utility model and category, be modified or be changed above-described embodiment.Therefore, have in technical field under such as and usually know that the knowledgeable modifies or changes not breaking away from all equivalences that complete under spirit that the utility model discloses and technological thought, must be contained by claim of the present utility model.

Claims

1. a rotor aeromodelling aerocraft, it is characterized in that: described four rotor aeromodelling aerocrafts comprise a power system, and described power system comprises:

4 motors, be connected respectively with four rotors of aircraft, for rotor provides rotary power;

4 governors, be connected respectively with described 4 motors, regulates the rotating speed of motor;

Flight controller, be connected with described 4 governors, controls the adjusting of governor.

2. four rotor aeromodelling aerocrafts according to claim 1, it is characterized in that: described motor is high-power outer rotor brushless motor.

3. four rotor aeromodelling aerocrafts according to claim 1, it is characterized in that: described governor comprises the first micro controller system and 3 groups of full bridge drivers; Described the first micro controller system is connected respectively with 3 groups of full bridge drivers, controls any one group of full-bridge of selecting in 3 groups of full bridge drivers and drives drive motor.

4. four rotor aeromodelling aerocrafts according to claim 3, is characterized in that, described flight controller comprises:

Second singlechip, comprise the SPI interface;

The Universal Asynchronous Receiver & sending set, be connected with the SPI interface of described second singlechip, under the control of second singlechip, is responsible for communicating by letter with upper computer.

5. four rotor aeromodelling aerocrafts according to claim 4, it is characterized in that: the SPI interface of described second singlechip articulates described the first micro controller system by the 12C bus.

6. four rotor aeromodelling aerocrafts according to claim 4, it is characterized in that: described second singlechip is the Mega128 micro controller system, described the first micro controller system is the Mega8 micro controller system.