CN205615709U - Tandem wing unmanned aerial vehicle's control system - Google Patents
Tandem wing unmanned aerial vehicle's control system Download PDFInfo
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- CN205615709U CN205615709U CN201620276753.XU CN201620276753U CN205615709U CN 205615709 U CN205615709 U CN 205615709U CN 201620276753 U CN201620276753 U CN 201620276753U CN 205615709 U CN205615709 U CN 205615709U
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Abstract
The utility model discloses a tandem wing unmanned aerial vehicle's control system, including controlling means (4) with by this controlling means driven final controlling element (6), this tandem wing unmanned aerial vehicle is equipped with aileron (2), and this aileron is including forming left front aileron (21), right front aileron (22), left back aileron (23) and right back aileron (24) on four rudder face (1) respectively, and final controlling element is used for being connected with drive arrangement (7) electricity of aileron respectively, and the drive arrangement setting of aileron is in the unmanned aerial vehicle organism to make unmanned aerial vehicle have: an operating condition, unmanned aerial vehicle is flat to fly, the 2nd operating condition, unmanned aerial vehicle carry out the every single move action, the action of rolling of the 3rd operating condition, unmanned aerial vehicle, and fourth operating condition, unmanned aerial vehicle carries out the every single move and the mixed action of rolling. Like this, the execution respectively of four ailerons can make unmanned aerial vehicle have flatly to fly, the every single move, roll and the every single move is moved with rolling to mix.
Description
Technical field
This utility model relates to unmanned air vehicle technique field, in particular it relates to the behaviour of a kind of tandem wing unmanned plane
Ore-controlling Role.
Background technology
Tandem wing unmanned plane use before and after two groups, four half wings composition.Aileron rudder it is respectively provided with on each wing
Face, amounts to and has four primary control surface.Four primary control surface need to coordinate and just can complete pitching, and rolling flies
Row operation.In the prior art, manipulation input only rolling and pitching two manipulation of flight control person are defeated
Entering variable, aircraft cannot carry out rolling simultaneously and pitching operates.
Utility model content
The purpose of this utility model is to provide the control system of a kind of tandem wing unmanned plane, and this operating system can
With realize unmanned plane flat fly, pitching and/or tumbling action.
To achieve these goals, this utility model provides the control system of a kind of tandem wing unmanned plane, bag
Including the execution device controlling device and being driven by this control device, described tandem wing unmanned plane is provided with aileron,
After this aileron includes the left front aileron being respectively formed on four rudder faces, right front aileron, left back aileron and the right side
Aileron, described execution device electrically connects for driving means with described aileron respectively, driving of described aileron
Dynamic device is arranged in described unmanned plane body, so that described unmanned plane has: the first duty, and institute
State that unmanned plane is flat to fly；Second duty, described unmanned plane carries out pitching motion；3rd duty,
Described unmanned plane carries out tumbling action；And the 4th duty, described unmanned plane carries out pitching and rolling
Mixing action.
Alternatively, described execution device is arranged in described unmanned plane body, including: the first executor,
Electrically connect with the driving means of left front aileron；Second executor, electrically connects with the driving means of aileron before the right side；
3rd executor, electrically connects with the driving means of left back aileron；After 4th executor, with the right side, aileron drives
Dynamic device electrical connection, described control device control respectively described first executor, the second executor, the 3rd
Executor and the 4th executor synchronize execution action.
Alternatively, described control device includes: manipulator, is arranged on the remote control machine of described unmanned plane,
For providing output action；Control module, is arranged in the body of described unmanned plane, for according to described
The output action output pitching of manipulator and/or rolling instruction, or output do-nothing instruction；Output module, is arranged
In the body of described unmanned plane, for defeated to described execution device according to described pitching and/or rolling instruction
Go out pitching and/or rolling signal, or export spacing wave according to described do-nothing instruction to described execution device.
Alternatively, described manipulator have sky input position, the input position that dives, the input position that climbs,
Left roll input position and right roll input position, so that described manipulator has: the first controlled state,
Described manipulator performs described empty input position, and described unmanned plane is in described first duty；Second
Controlled state, described manipulator performs described input or the input position that climbs of diving, and described unmanned plane is in
Described second duty；Three control-state, described manipulator performs described left roll input or right horizontal stroke
Rolling input position, described unmanned plane is in described 3rd duty；And the 4th controlled state, described
Manipulator perform described dive input or the input position that climbs while also perform described left roll input or
Right roll input position, described unmanned plane is in described 4th duty.
Alternatively, described manipulator is distant bar, is fixedly mounted on the pedestal of described remote control machine bottom this distant bar
On, top can circumferentially rotate, and in the rotary course at described top, described top is positioned at described circumference
The center of circle, perform empty input position；Described top is pushed to the first point, performs underriding input position；Institute
State top be pushed to described first relative to the reciprocal second point in the center of circle of described circumference, perform to climb
Input position；Described top is pushed to the of described first half-twist direction, the center of circle around described circumference
3 points, perform right roll input position；Described top be pushed to described in thirdly relative to described circumference
Reciprocal 4th point in the center of circle, performs left roll input position.
Alternatively, on described pedestal, from the center of circle of described circumference towards described first point, second point,
Thirdly and the direction of the 4th is respectively equipped with scale, to determine the pushed amount of described distant bar.
Alternatively, described execution device includes: receiver module, for receiving the output of described control device
Pitching and/or rolling signal；Determine module, for the pitching that receives according to described receiver module and/or turn over
Rolling signal determines the target rotation angle of described aileron respectively；And driving module: for according to described aileron
Target rotation angle drives the driving means motion of described aileron, so that described aileron turns to target rotation angle.
By technique scheme, control device and control to perform device, perform device respectively with the tandem wing without
The driving means electrical connection of man-machine aileron, to drive four ailerons to be respectively completed action, can make unmanned
Facility have flat fly, pitching, rolling and pitching and tumble mixed action.
Other feature and advantage of the present utility model will give in detailed description of the invention part subsequently in detail
Explanation.
Accompanying drawing explanation
Accompanying drawing is used to offer and is further appreciated by of the present utility model, and constitutes one of description
Point, it is used for explaining this utility model together with detailed description below, but is not intended that this practicality
Novel restriction.In the accompanying drawings:
Fig. 1 is the top view of the tandem wing unmanned plane in this utility model.
Fig. 2 is the side view of unmanned plane rudder face in Fig. 1.
Fig. 3 is the structural representation of the remote control machine that this utility model provides.
Fig. 4 is the structured flowchart of the control system that an embodiment of the present utility model provides.
Fig. 5 is the structured flowchart of the control system that preferred implementation of the present utility model provides.
Fig. 6 is the structured flowchart controlling device in an embodiment of the present utility model.
Fig. 7 is the structured flowchart of manipulator in an embodiment of the present utility model.
Fig. 8 is the structured flowchart performing device in an embodiment of the present utility model.
Description of reference numerals
1 rudder face 2 aileron
Aileron before 21 left front ailerons 22 are right
Aileron behind 23 left back aileron 24 right sides
3 remote control machines 4 control device
41 manipulator 42 control modules
The empty input position of 43 output modules 410
411 underriding input positions 412 climb input position
413 right roll input position 414 left roll input positions
5 pedestals 6 perform device
61 first executor 62 second executors
63 the 3rd executor 64 the 4th executors
601 receiver modules 602 determine module
603 drive module 7 driving means
The driving means of aileron before the driving means 72 of 71 left front ailerons is right
The driving means of aileron behind driving means 74 right side of 73 left back ailerons
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in detail.It is to be understood that
It is that detailed description of the invention described herein is merely to illustrate and explains this utility model, is not used to limit
This utility model processed.
This utility model provides the control system of a kind of tandem wing unmanned plane, including controlling device 4 and by this
Controlling the execution device 6 that device 4 drives, as depicted in figs. 1 and 2, tandem wing unmanned plane is provided with aileron
2, this aileron 2 includes the left front aileron 21 being respectively formed on four rudder faces 1, right front aileron 22, a left side
Aileron 24 after rear aileron 23 and the right side, performs device 6 and is used for electrically connecting with the driving means 7 of aileron respectively,
The driving means 7 of aileron is arranged in unmanned plane body, so that unmanned plane has: the first duty,
This unmanned plane is flat to fly；Second duty, this unmanned plane carries out pitching motion；3rd duty, should
Unmanned plane carries out tumbling action；And the 4th duty, this unmanned plane carries out pitching and moves with tumble mixed
Make.Wherein it should be noted that above-mentioned front, rear, left and right refer to that unmanned plane flies phase under state flat
To left and right before and after fuselage direction.Fig. 4 shows the manipulation of the tandem wing unmanned plane that this utility model provides
The structured flowchart of system.
As in figure 2 it is shown, under the driving of the driving means 7 of aileron, for page, four
Sheet aileron can distinguish turn, is i.e. rotated up being formed positive corner, or reverse turn, i.e. rotates down shape
Become negative corner, it is also possible to do not rotate, i.e. corner is zero.So, joined by the corner that four ailerons are different
Close, can make unmanned plane have flat fly, pitching, rolling and pitching and tumble mixed action.
Preferably, perform device 6 and be arranged in unmanned plane body, including: the first executor 61, with a left side
The driving means 71 of front aileron electrically connects；The driving means 72 of aileron before second executor 62, with the right side
Electrical connection；3rd executor 63, electrically connects with the driving means 73 of left back aileron；4th executor 64,
Electrically connect with the driving means 74 of aileron behind the right side, control device 4 control respectively the first executor 61, the
Two executor the 62, the 3rd executors 63 and the 4th executor 64 synchronize execution action.So, will be every
The most corresponding different executor of sheet aileron, can farthest ensure the stability of aircraft handling, keep away
Exempt to cause whole system to be paralysed because performing plant failure.Fig. 5 shows the system stream under present embodiment
Journey block diagram.
Preferably, control device 4 and include: manipulator 41, be arranged on the remote control machine 3 of unmanned plane, use
In providing output action；Control module 42, is arranged in the body of unmanned plane, for according to manipulator
Output action output pitching and/or rolling instruction, or output do-nothing instruction；Output module 43, is arranged on nothing
In man-machine body, for exporting pitching according to pitching and/or rolling instruction to performing device 6 and/or turn over
Rolling signal, or export spacing wave according to do-nothing instruction to performing device 6.I.e. control device 4 part to arrange
In unmanned plane body, another part is arranged on remote control machine 3, in the present embodiment, and manipulator 41
Electrically connect with control module 42.Fig. 6 shows the structured flowchart controlling device 4 in present embodiment.
Correspondingly, perform device 6 and may include that receiver module 601, defeated for receiving control device 4
The pitching gone out and/or rolling signal；Determine module 602, for the pitching received according to receiver module 601
And/or rolling signal determines the target rotation angle of aileron 2 respectively；And drive module 603: for according to pair
The target rotation angle of the wing 2 drives the driving means 7 of aileron to move, so that aileron 2 turns to target rotation angle,
And then the different actions of unmanned plane are completed by the cooperation of the different corners of aileron 2.Fig. 8 shows this reality
Execute the structured flowchart performing device in mode.
Specifically, manipulator 41 has sky input position 410, underriding input position 411, input of climbing
Position 412, left roll input position 414 and right roll input position 413, so that manipulator 41 has
Having: the first controlled state, manipulator 41 performs sky input position 410, and unmanned plane is in the first work shape
State；Second controlled state, manipulator 41 performs dive input or the input position that climbs, and unmanned plane is in
Second duty；Three control-state, manipulator 41 performs left roll input or right roll input,
Unmanned plane is in the 3rd duty；And the 4th controlled state, manipulator 41 perform to dive input or
Climbing and also perform left roll input or right roll input while inputting, unmanned plane is in the 4th work shape
State.Fig. 7 shows the input position of manipulator 41 corresponding under each duty in present embodiment.
Concrete, manipulator 41 can be distant bar, is fixedly mounted on the base of remote control machine 3 bottom this distant bar
On seat 5, top can circumferentially rotate, and in the rotary course at top, top is positioned at the center of circle of circumference,
Perform empty input position 410；Top is pushed to the first point, performs underriding input position 411；Top pushes away
Moving to first relative to the reciprocal second point in the center of circle of circumference, perform to climb input position 412；Top
Portion is pushed to first half-twist direction, the center of circle circumferentially thirdly, performs right roll input position
413；Top is pushed to thirdly fourth point reciprocal relative to the center of circle of circumference, performs left roll defeated
Enter position 414.
I.e. as it is shown on figure 3, for for page, distant bar is failure to actuate, perform empty input position 410；
The most distant bar, performs underriding input position 411；Pushing down on rocking bar, perform to climb input position
412；Promote to the right distant bar, perform right roll input position 413；Promote distant bar to the left, perform left roll
Input position 414.When distant bar pushed upwards to the right, i.e. while performing underriding input position 411
Also performing right roll input position 413, unmanned plane also carries out right roll while carrying out underriding action and moves
Making, here is omitted for the mode of operation of other rolling and pitching mixing action.This utility model makes
Carry out the manipulation of each duty to unmanned plane with single operating bar, farthest avoid maloperation
Possibility.
Further, on pedestal 5, from the center of circle of circumference towards the first point, second point, thirdly with
And the direction of the 4th is respectively equipped with scale, to determine the pushed amount of distant bar, such that it is able to accurately control
The action of unmanned plane.That is, dive, climb, the input quantity of left roll and right roll is adjustable, to adjust nothing
Man-machine movement range, specifically, the amount of underriding input position 411 is between 0 to maximum underriding threshold value
Any value；The amount of input position 412 of climbing is any value that 0 to maximum is climbed between threshold value；Zuo Heng
Rolling the amount of 414 input positions is 0 to any value between maximum left roll threshold value；Right roll input position
The amount of 413 is 0 to any value between maximum right roll threshold value.The most in figure 3, distant bar is pushed up
Moving to extreme position, the amount of underriding input position is maximum underriding threshold value, and here is omitted for other situations.
It should be noted that above-mentioned maximum underriding threshold value, maximum is climbed threshold value, maximum left roll threshold value and
Big right roll threshold value is positive number.
Specifically, in the system of present embodiment, maximum underriding threshold value, maximum are climbed threshold value, maximum
Left roll threshold value roll right with maximum threshold value is identical, behind left front aileron, right front aileron, left back aileron and the right side
The target rotation angle of aileron with the relation of the amount of the input position of manipulator 41 is:
U1=0.5Ulon-0.5Ulat；
U2=0.5Ulon+0.5Ulat；
U3=-0.5Ulon-0.5Ulat；
U4=-0.5Ulon+0.5Ulat,
Wherein, U1Ratio for the target rotation angle positive corner maximum relative to this left front aileron of left front aileron；
U2Ratio for the positive corner maximum relative to aileron before this right side of the target rotation angle of aileron before the right side；U3For left back
The ratio of the target rotation angle of aileron positive corner maximum relative to this left back aileron；U4For the target of aileron behind the right side
The ratio of corner positive corner maximum relative to aileron behind this right side；Ulon is that the amount of underriding input position is with maximum
The ratio of underriding threshold value or be the opposite number of amount and the ratio of maximum threshold value of climbing of input position of climbing；
Ulat is the amount of right roll input position and the ratio of maximum right roll threshold value or is left roll input position
The opposite number of ratio of amount and maximum left roll threshold value.So, U1、U2、U3、U4, Ulat and
The value of Ulon is all between-1 to 1, and in mixing function, and the coefficient of Ulon with Ulat absolute
It is worth identical, it is ensured that the amount both it is identical to aileron corner influence degree, operates more stable.Use
This mixing function, can be that tandem unmanned plane provides bigger pitching and rolling moment, it is ensured that aircraft control
The rapidity of system response.
Specifically, as it is shown on figure 3, when distant bar is upwardly to extreme position, Ulon is 1, Ulat
It is 0, U1=0.5, U2=0.5, U3=-0.5, U4=-0.5, before the most left front aileron 21 and the right side, aileron 22 is just
Rotating, aileron 23 reverse turn after left back aileron 23 and the right side, aircraft carries out underriding action；When distant bar to the right
On when being pushed to extreme position, Ulon is 1, and Ulat is 1, U1=0, U2=1, U3=-1, U4=0,
Aileron 22 turn before i.e. right, left back aileron 23 reverse turn, after left front aileron 21 and the right side, aileron 24 is not
Rotating, aircraft carries out right roll action while carrying out underriding action.
Preferred implementation of the present utility model is described in detail above in association with accompanying drawing, but, this practicality is new
Type is not limited to the detail in above-mentioned embodiment, in technology concept of the present utility model,
The technical solution of the utility model can be carried out multiple simple variant, these simple variant belong to this reality
With novel protection domain.
It is further to note that each the concrete technology described in above-mentioned detailed description of the invention is special
Levy, in the case of reconcilable, can be combined by any suitable means, in order to avoid need not
The repetition wanted, various possible compound modes are illustrated by this utility model the most separately.
Additionally, combination in any can also be carried out between various different embodiment of the present utility model, only
Wanting it without prejudice to thought of the present utility model, it should be considered as content disclosed in the utility model equally.
Claims (7)
1. the control system of a tandem wing unmanned plane, it is characterized in that, including controlling device (4) and the execution device (6) driven by this control device (4), described tandem wing unmanned plane is provided with aileron (2), this aileron (2) includes the left front aileron (21) being respectively formed on four rudder faces (1), aileron (22) before right, aileron (24) after left back aileron (23) and the right side, described execution device (6) is for electrically connecting with the driving means (7) of described aileron respectively, the driving means (7) of described aileron is arranged in described unmanned plane body, so that described unmanned plane has:
First duty, described unmanned plane is flat to fly；
Second duty, described unmanned plane carries out pitching motion；
3rd duty, described unmanned plane carries out tumbling action；And
4th duty, described unmanned plane carries out pitching and tumble mixed action.
The control system of tandem wing unmanned plane the most according to claim 1, it is characterised in that described execution device (6) is arranged in described unmanned plane body, including:
First executor (61), electrically connects with the driving means (71) of left front aileron；
Second executor (62), electrically connects with the driving means (72) of aileron before the right side；
3rd executor (63), electrically connects with the driving means (73) of left back aileron；
4th executor (64), electrically connects with the driving means (74) of aileron behind the right side,
Described control device (4) controls described first executor (61), the second executor (62), the 3rd executor (63) and the 4th executor (64) respectively and synchronizes execution action.
The control system of tandem wing unmanned plane the most according to claim 1, it is characterised in that described control device includes:
Manipulator (41), is arranged on the remote control machine (3) of described unmanned plane, is used for providing output action；
Control module (42), is arranged in the body of described unmanned plane, exports pitching and/or rolling instruction, or output do-nothing instruction for the output action according to described manipulator (41)；
Output module (43), it is arranged in the body of described unmanned plane, for exporting pitching and/or rolling signal according to described pitching and/or rolling instruction to described execution device (6), or export spacing wave according to described do-nothing instruction to described execution device (6).
The control system of tandem wing unmanned plane the most according to claim 3, it is characterized in that, described manipulator (41) has sky input position (410), underriding input position (411), the input position that climbs (412), left roll input position (414) and right roll input position (413), so that described manipulator has:
First controlled state, described manipulator (41) performs described empty input position (410), and described unmanned plane is in described first duty；
Second controlled state, described manipulator (41) performs described input or the input position that climbs of diving, and described unmanned plane is in described second duty；
Three control-state, described manipulator (41) performs described left roll input or right roll input position, and described unmanned plane is in described 3rd duty；And
4th controlled state, described manipulator (41) also performs described left roll input or right roll input position while performing described dive input or the input position that climbs, and described unmanned plane is in described 4th duty.
The control system of tandem wing unmanned plane the most according to claim 4, it is characterized in that, described manipulator (41) is distant bar, it is fixedly mounted on bottom this distant bar on the pedestal (5) of described remote control machine (3), top can circumferentially rotate, in the rotary course at described top
Described top is positioned at the center of circle of described circumference, performs empty input position (410)；
Described top is pushed to the first point, performs underriding input position (411)；
Described top be pushed to described first relative to the reciprocal second point in the center of circle of described circumference, perform to climb input position (412)；
Described top is pushed to described first half-twist direction, the center of circle around described circumference thirdly, performs right roll input position (413)；
Described top be pushed to described in thirdly fourth point reciprocal relative to the center of circle of described circumference, perform left roll input position (414).
The control system of tandem wing unmanned plane the most according to claim 5, it is characterized in that, on described pedestal (5), from the center of circle of described circumference towards described first point, second point, thirdly and the direction of the 4th is respectively equipped with scale, to determine the pushed amount of described distant bar.
The control system of tandem wing unmanned plane the most according to claim 3, it is characterised in that described execution device (6) including:
Receiver module (601), is used for receiving pitching and/or the rolling signal that described control device (4) exports；
Determine module (602), determine the target rotation angle of described aileron (2) for the pitching received according to described receiver module (601) and/or rolling signal respectively；And
Drive module (603): drive driving means (7) motion of described aileron for the target rotation angle according to described aileron (2), so that described aileron (2) turns to target rotation angle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620276753.XU CN205615709U (en) | 2016-04-01 | 2016-04-01 | Tandem wing unmanned aerial vehicle's control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620276753.XU CN205615709U (en) | 2016-04-01 | 2016-04-01 | Tandem wing unmanned aerial vehicle's control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328161A (en) * | 2017-12-07 | 2019-02-12 | 深圳市大疆创新科技有限公司 | Unmanned vehicle |
| CN110612497A (en) * | 2018-01-05 | 2019-12-24 | 深圳市大疆创新科技有限公司 | Control method of unmanned aerial vehicle, unmanned aerial vehicle system and control equipment |
-
2016
- 2016-04-01 CN CN201620276753.XU patent/CN205615709U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328161A (en) * | 2017-12-07 | 2019-02-12 | 深圳市大疆创新科技有限公司 | Unmanned vehicle |
| CN110612497A (en) * | 2018-01-05 | 2019-12-24 | 深圳市大疆创新科技有限公司 | Control method of unmanned aerial vehicle, unmanned aerial vehicle system and control equipment |
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