CN206050075U - A kind of oil moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system - Google Patents
A kind of oil moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system Download PDFInfo
- Publication number
- CN206050075U CN206050075U CN201620653134.8U CN201620653134U CN206050075U CN 206050075 U CN206050075 U CN 206050075U CN 201620653134 U CN201620653134 U CN 201620653134U CN 206050075 U CN206050075 U CN 206050075U
- Authority
- CN
- China
- Prior art keywords
- speed
- variable speed
- electromotor
- pitch variable
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This utility model provides a kind of oil dynamic multi-rotor unmanned aerial vehicle fixed pitch variable speed system, and its composition includes acquisition system, control system and execution system；One propeller of direct drive of each electromotor by the control system independence；Navigation attitude, position, the speed of a ship or plane and the height of unmanned plane can be controlled by changing the rotating speed of electromotor in real time accurately.
Description
Technical field
This utility model belongs to the dynamic multi-rotor unmanned aerial vehicle hydrodynamic regulation technical field of oil, and in particular to a kind of oil moves many rotors
Unmanned plane fixed pitch variable speed system.
Background technology
Unmanned plane be broadly divided into unmanned fixed-wing, depopulated helicopter, nobody many rotors, unmanned airship, unmanned parasol and
Unmanned flapping-wing aircraft, first three class are most commonly seen, and are most widely used.
According to the difference of aerodynamic arrangement's mode, unmanned plane can be divided into unmanned fixed-wing, depopulated helicopter, rotation more than nobody
The wing, unmanned airship, unmanned parasol and unmanned flapping-wing aircraft, wherein first three class are most commonly seen, and are most widely used.Nobody is solid
Determine wing flight efficiency highest, cruising time is long, cruising speed is high, but needs runway, it is impossible to which spot hover, mobility are worst；Nothing
People's helicopter VTOL, spot hover, preferably, during boat and load-carrying is larger, but structure is most complicated, cost highest for mobility；Nothing
People is more, and rotor structure is most simple, simple to operate, and fault-tolerant ability is strong, with low cost, VTOL, spot hover, but when navigating at present
It is less with load-carrying；
Compared with unmanned fixed-wing, unmanned gyroplane generally has the advantages such as VTOL, spot hover and mobility strong；
Compared with depopulated helicopter, the advantage such as nobody many rotors have simple structure, fault-tolerant ability strong and with low cost again.
However, the multi-rotor unmanned aerial vehicle on market is only drawback is that, short and load-carrying little defect during generally existing boat, this
Current multi-rotor unmanned aerial vehicle is because using electronic scheme, and the energy density of battery is less than too, seriously hampers sending out for it
Exhibition and application.
It is when breaking through boat at present as power resources and the position unique channel of load-carrying bottleneck using fuel oil, but starts equipment
Have the shortcomings that speed curves are non-linear and response speed is slow, control accuracy difference and maneuverability can be caused poor, therefore oil moves revolve more
Nobody shows any interest in always in wing unmanned plane field.
Utility model content
The purpose of this utility model is to provide a kind of oil dynamic multi-rotor unmanned aerial vehicle fixed pitch variable speed control system, is solved
The not enough and problem that prior art is present, makes the dynamic multi-rotor unmanned aerial vehicle of oil become a kind of reality.
The technical scheme adopted by this utility model is multiple straight drive fixed pitch variable speed scheme, and the multiple straight drive is fixed to starch
Include the propeller of some electromotors and equal number, the direct drive one of each of which electromotor independence away from variable speed system
Individual propeller, the pitch of each propeller are fixed.Unmanned plane can be controlled in real time accurately by changing the rotating speed of electromotor
Navigation attitude, position, the speed of a ship or plane and height.This it is multiple it is straight drive determine pitch variable speed system be applied to many rotors of any fuel power nobody
Machine.
For any one has the engine model of low-response and the characteristic such as non-linear, can be according to substantial amounts of flight
The rule that pid control parameter optimization is obtained about in test is controlled by, and reaches the purpose for accurately adjusting rotating speed in real time.Control
In algorithm processed using interpolation, approach and the method such as be fitted nonlinear speed curves are carried out into linearisation, using electrospray with
Pull bar throttle etc. improves engine response speed.By changing the parameter change engine speed such as pulsewidth, and by prison in real time
Control and feedback, can correct and compensate engine speed, and then reach the accurate navigation attitude for controlling unmanned plane in real time, the speed of a ship or plane, position
Put the beneficial effect with height.
Multiple straight drive determine the control method that pitch variable speed system adopts and moves multi-rotor unmanned aerial vehicle fixed pitch variable speed for oily
Control system, the dynamic multi-rotor unmanned aerial vehicle fixed pitch variable speed control system composition of the oil include acquisition system, control system and
Execution system；The acquisition system is a kind of control system of multisensor, and its composition includes three-axis gyroscope, 3-axis acceleration
Meter, three axle magnetometer, barometer, distance measuring sensor, Airborne GPS and Hall element composition；The composition of the control system includes
Fly control plate and ECU, the control system is made up of winged control plate and ECU, mainly including processor, secondary power supply and communication interface etc.
Hardware components, and the software section such as attitude blending algorithm, height blending algorithm, pid control algorithm；The group of the execution system
Into including steering wheel and EFI.
Turning rate valu of the three-axis gyroscope survey aircraft body around three axial directions；The 3-axis acceleration is measured
Acceleration of the amount airframe along three axial directions；Magnetic declination of the three axle magnetometer survey aircraft body relative to three axles；
The barometer and distance measuring sensor measure the flying height of unmanned plane；The Airborne GPS measures the three-dimensional coordinate of unmanned plane；Institute
State Hall element and unmanned vehicle engine tach signal is sent to winged control plate, fly control plate reading and measure engine speed；By various
The information fusion of sensor and correction, fly control plate and obtain position, the speed of a ship or plane, navigation attitude and the elevation information of unmanned plane, by by these
Information compared with expected value decides whether to adjust engine speed；If desired engine speed is adjusted, is flown control plate transmission control and is referred to
Order, gives servos control air door all the way, adjusts air inflow, controls electromagnetic relay and oil pressure regulator to ECU sending signals all the way,
So as to adjust oil inlet quantity；The change of the air inflow and oil inlet quantity causes the change of oil gas total amount, so as to change turning for electromotor
Speed；The EFI is used for the speed of response for improving electromotor.As propeller is directly coupled on engine spindle, engine speed
Change, directly cause the change of revolution speed of propeller, adjust the value of thrust of each propeller, obtain different angular velocity and acceleration
Degree, and then adjusting position, the speed of a ship or plane, navigation attitude and height.
In this utility model, electromotor adopts non-carburetor speed adjusting technique, propeller to be adjusted by engine direct tape splicing is dynamic, and
Any intermediate transmission mechanism is not adopted.Magnetic bead on engine spindle often goes to Hall element position, can all induce Hall element
A pulse signal can be produced, the signal passes to winged control Jing after the process of CDI lighters, flies control and reads the engine speed for measuring.
Compared with prior art, this utility model has an advantageous effect in that：
1st, engine speed graph approximately linear, control accuracy are high（±50rpm）, practicality is good；
2nd, engine response speed is accelerated（0.1~0.3）, maneuverability raising；
3rd, without any transmission or pitch-changing mechanism, structure is very simple, and production, operation and maintenance are with low cost；
4th, due to there is no loaded down with trivial details frame for movement, so overall mass is light, small volume, it is easy to transport.
Description of the drawings
Fig. 1 is the data anastomosing algorithm flow chart based on Kalman filtering algorithm；
Fig. 2 is the height algorithm flow chart of the height blending algorithm based on Federated Filters；
Fig. 3 is the flow chart of speed regulating control technology；
Fig. 4 is four rotor flying principle schematics；
Fig. 5 is six rotor flying principle schematics.
Specific embodiment
A kind of oil moves multi-rotor unmanned aerial vehicle fixed pitch variable speed control system, and its composition includes acquisition system, control system
And execution system；The acquisition system is a kind of control system of multisensor, and its composition includes that three-axis gyroscope, three axles accelerate
Degree meter, three axle magnetometer, barometer, distance measuring sensor, Airborne GPS and Hall element composition；The composition bag of the control system
Include and fly control plate and ECU, the control system is made up of winged control plate and ECU, mainly including processor, secondary power supply and communication interface
Deng hardware components, and the software section such as attitude blending algorithm, height blending algorithm, pid control algorithm；The execution system
Composition includes steering wheel and EFI.
Turning rate valu of the three-axis gyroscope survey aircraft body around three axial directions；The 3-axis acceleration is measured
Acceleration of the amount airframe along three axial directions；Magnetic declination of the three axle magnetometer survey aircraft body relative to three axles；
The barometer and distance measuring sensor measure the flying height of unmanned plane；The Airborne GPS measures the three-dimensional coordinate of unmanned plane；Institute
State Hall element and unmanned vehicle engine tach signal is sent to winged control plate, fly control plate reading and measure engine speed；By various
The information fusion of sensor and correction, fly control plate and obtain position, the speed of a ship or plane, navigation attitude and the elevation information of unmanned plane, by by these
Information compared with expected value decides whether to adjust engine speed；If desired engine speed is adjusted, is flown control plate transmission control and is referred to
Order, gives servos control air door all the way, adjusts air inflow, controls electromagnetic relay and oil pressure regulator to ECU sending signals all the way,
So as to adjust oil inlet quantity；The change of the air inflow and oil inlet quantity causes the change of oil gas total amount, so as to change turning for electromotor
Speed；The EFI is used for the speed of response for improving electromotor.
Control system described above determines pitch variable speed system in multiple straight drive, and pitch change is determined in the multiple straight drive
Rotary speed system includes the propeller of some electromotors and equal number, one spiral shell of direct drive of each of which electromotor independence
Rotation oar, the pitch of each propeller are fixed.The boat of unmanned plane can be controlled by changing the rotating speed of electromotor in real time accurately
Appearance, position, the speed of a ship or plane and height.This multiple straight drive determines pitch variable speed system suitable for any fuel power multi-rotor unmanned aerial vehicle.
As propeller is directly coupled on engine spindle, the change of engine speed directly causes the change of revolution speed of propeller, adjusts
The value of thrust of each propeller, obtains different angular velocity and acceleration, and then adjusting position, the speed of a ship or plane, navigation attitude and height.
The mathematical model of many rotor systems includes four equation group:Power equation group, momental equation group, navigation equation group and fortune
Dynamic equation group；Arrangement has shown that nonlinear mathematical model of the system in hovering or slower flight is together:
Whereinx、y、zFor the position of body coordinate pair terrestrial coordinates,、、Respectively along terrestrial coordinate systemx、y、zThe speed in direction
Degree,、、The respectively angle of pitch, roll angle and yaw angle,、、Respectively rate of pitch, roll angular velocity and yaw angle
Speed.
Gyroscope is used for turning rate valu of the survey aircraft body around three axial directions.Using gyroscope measurement anglec of rotation speed
During rate, if aircraft is in rotation, the value for measuring is nonzero value, and when aircraft does not rotate, the value of measurement is zero.Such as, it is horizontal at 60 degree
The rolling angle rate value that gyroscope on the aircraft of roll angle is measured is zero, equally when aircraft does forward flight, angular speed
Value is zero.Theoretically, if not having the accumulation of error, current roll angle just can be accumulated by the time of angular speed value
Divide to estimate.But in fact, the value of gyroscope measurement even several second surely can accumulate volume through a few minutes with time drift
Outer error is come, and eventually results in cognition full of prunes to the current relative level roll angle of aircraft.Therefore, individually make
The specific course of aircraft cannot also be kept with gyroscope.
Accelerometer is used for acceleration of the survey aircraft body along three axial directions.Can survey by a three axis accelerometer
The direction of motion of the airframe with respect to earth surface is obtained, but once flying platform motion is got up, situation will become multiple
Miscellaneous is more.If flying platform does freely falling body, the accekeration that accelerometer is measured is zero.If flying platform is towards certain side
To acceleration movement is done, each axial acceleration value can be containing the accekeration of gravity generation so that cannot obtain real adding
Velocity amplitude.For example, the three axis accelerometer on 60 degree of roll angle aircrafts can measure the normal acceleration value of 2G, and true
Relatively regional surface of boarding a plane is 60 degree of inclination angle.Therefore, be used alone accelerometer cannot make aircraft keep one it is fixed
Course.
Magnetometer is used for magnetic field intensity of the survey aircraft body along three axial directions.Accordingly, body can be cleared out relative to ground
The drift angle in magnetic field.Because magnetic north pole and the geographic arctic are simultaneously misaligned, the angle for generally having 11 ° or so between them, so
Also need to the instantaneous course angle of airframe can be just obtained through related conversion.
The strong point of gyroscope is the rotary motion of measuring apparatus itself.Equipment displacement is more adept at, but can not be true
The orientation of locking equipment.The strong point of accelerometer is the stressing conditions of measuring apparatus.To equipment opposite outer reference substance（Such as
Face）Motion be more adept at.But for measuring apparatus relative to ground posture of putting, then degree of accuracy is not high.The strong point of magnetometer
It is the orientation of location equipment.Current device and the angle on the four direction of all directions can be measured.But three is not
Attitude and the position of aircraft can be individually determined, so being accomplished by data fusion.Using based on Kalman filtering in this utility model
The data anastomosing algorithm of algorithm, as shown in Figure 1.
What the flying height of unmanned plane was obtained generally by barometric surveying, but it is distributed not due to there is atmospheric pressure
Therefore uniform factor, barometrical measured value can produce certain error, it is impossible to ensure accurate measured value.GPS location
The use of system can improve the certainty of measurement of multi-rotor unmanned aerial vehicle device height.But the mode of the positioning of GPS is not active,
If GPS system is closed suddenly or connects not smooth, multi-rotor unmanned aerial vehicle alignment system can be made to break down or cannot make
With.Distance measuring sensor can Accurate Determining height, but be susceptible to the impact of aerosol or dust, cause measurement error.
Accelerometer is utilized in UAV Flight Control System, by the integration to speed in time, can accurately reflect flight
Highly.Therefore, rationally using the metrical information of various height sensors, based on Theory of Information Fusion, can obtain it is a kind of it is low into
This, the height measurement method of high accuracy and high reliability.
In order to solve this shortcoming that multi-rotor unmanned aerial vehicle is highly controlled, this utility model adopts Federated Filter Design most
Excellent emerging system.Under general flight condition, it is assumed that barometer, gyroscope, the data output of strapdown accelerometer and system
Output is synchronous, and the cycle is set to identical fixed value, and according to the wave filter of different frequency different to respond design
Wave filter, puts data output frequencies close sensor together, big separated of frequency phase-difference, so can be achieved be
The optimum state of system, makes whole system have excellent controllability and measurability.Using based on federation in this utility model
The height blending algorithm of wave filter, as shown in Figure 2.
In this utility model, electromotor adopts non-carburetor speed adjusting technique, propeller to be adjusted by engine direct tape splicing is dynamic, and
Any intermediate transmission mechanism is not adopted.Magnetic bead on engine spindle often goes to Hall element position, can all induce Hall element
A pulse signal can be produced, the signal passes to winged control Jing after the process of CDI lighters, flies control and reads the engine speed for measuring.
As it was previously stated, the information fusion by multisensor, winged control can obtain the current position of airframe, speed of a ship or plane boat
Appearance and elevation information, by contrasting with expected value, decide whether to adjust engine speed.Control instruction is sent if necessary,
Servos control air door is given all the way, air inflow is adjusted, electromagnetic relay and oil pressure regulator is controlled to ECU all the way, adjusts oil inlet quantity.
The change of air inflow and oil inlet quantity causes the change of oil gas total amount, so as to change the rotating speed of electromotor.As propeller directly connects
On engine spindle, the change of engine speed directly causes the change of revolution speed of propeller, adjusts the pulling force of each propeller
Value, obtains different angular velocity and acceleration, and then accurate adjusting position in real time, the speed of a ship or plane, navigation attitude and height is as shown in Figure 3.
Example one：
Quadrotor is a kind of VUAV of six degree of freedom, therefore is especially suitable for static and quasistatic bar
Fly under part.But, on the other hand, quadrotor has four input powers, while but have six outputs, so it
It is a kind of under-actuated systems again（Under-actuated systems refer to few input multiple output system）.Common depopulated helicopter has the inclination angle can
With the propeller for changing, and quadrotor is unlike this, the rotation direction of the two groups of propellers in before and after it and left and right conversely,
And change lift by changing propeller speed, and then change attitude and the position of four-rotor helicopter.
While 3 rotate counterclockwise of electromotor 1 and electromotor of quadrotor, electromotor 2 and electromotor 4 are suitable
Hour hands rotate, therefore when aircraft balances flight, gyroscopic effect and air force moment of torsion effect are cancelled.
As shown in figure 4, electromotor 1 and electromotor 3 make rotate counterclockwise, positive oar, electromotor 2 and electromotor 4 are installed
Turn clockwise, anti-oar is installed, it is stipulated that move along x-axis positive direction and be referred to as travelling forward, arrow is upper rotor plane of movement
Side represents that this engine speed is improved, and represents that this engine speed declines in the lower section of rotor plane of movement.
（1）Vertical movement：As in Fig. 4（a）It is shown, when needing to raise, fly control and send control instruction, while increasing each
The air inflow and distributive value of electromotor so that the rotating speed increase of each electromotor, so as to directly cause correspondence propeller pulling force
Increase, when total pulling force be enough to overcome the weight of whole machine, quadrotor just liftoff vertical ascent；Conversely, while reducing every
The air inflow and distributive value of individual electromotor, each engine speed reduce, so as to directly cause the reduction of correspondence propeller pulling force,
Until balance landing, this is i.e. along the vertical movement of z-axis.When ignore external disturbance and four rotor lifts equal to aircraft conduct oneself with dignity
When, aircraft just keeps floating state.
（2）Elevating movement：As in Fig. 4（b）It is shown, the oil gas total amount increase of electromotor 1 and electromotor 4, rotating speed increase,
The oil gas total amount of electromotor 2 and 3 reduces, and rotating speed reduces.As the conjunction lift of rotor 1 and 4 rises, the conjunction of rotor 2 and 3
Drop in lift, the unbalanced moments of generation make fuselage rotate around y axles, in the same manner, when the oil gas of electromotor 1 and electromotor 4 it is total
Amount reduces, and rotating speed reduces, the oil gas total amount increase of electromotor 2 and 3, and rotating speed increase, fuselage are just revolved to another direction around y-axis
Turn, realize the elevating movement of aircraft.
（3）Rolling movement：As in Fig. 4（c）It is shown, the oil gas total amount increase of electromotor 1 and electromotor 2, rotating speed increase,
The oil gas total amount of electromotor 3 and 4 reduces, and rotating speed reduces.As the conjunction lift of rotor 1 and 2 rises, the conjunction liter of rotor 3 and 4
Power declines, and the unbalanced moments of generation makes fuselage rotate around x axles, in the same manner, when the oil gas total amount of electromotor 1 and electromotor 2 subtracts
Little, rotating speed reduces, the oil gas total amount increase of electromotor 3 and 4, and rotating speed increase, fuselage are just rotated to another direction around y-axis, real
The elevating movement of existing aircraft.
（4）Yawing rotation：As in Fig. 4（d）It is shown, as air drag effect can be formed and rotate during rotor rotational
Reaction torque in opposite direction, in order to overcome reaction torque to affect, can make two rotating forwards in four rotors, and two invert, and diagonally
Each rotor rotational direction on line is identical.The size of reaction torque is relevant with rotor rotating speed, when four engine speed are identical,
The reaction torque of four rotor generations is mutually balanced, and quadrotor does not rotate；When the incomplete phase of four engine speed
Meanwhile, unbalanced reaction torque can cause quadrotor to rotate.When the oil gas total amount of electromotor 1 and electromotor 3 increases
Greatly, rotating speed rises, and the oil gas total amount of electromotor 2 and electromotor 4 is reduced, and when rotating speed declines, rotor 1 and rotor 3 are to fuselage
Conjunction reaction torque be more than the conjunction reaction torque of rotor 2 and rotor 4 to fuselage, fuselage just turns around z-axis in the presence of reaction torque more than needed
It is dynamic, the yawing rotation of aircraft is realized, is turned to contrary with the steering of electromotor 1, electromotor 3.
（5）Move forward and backward：As in Fig. 4（e）Shown, around wanting to realize aircraft in the horizontal plane motion, must
Certain power must be applied to aircraft in the horizontal plane.Increase the oil gas total amount of electromotor 2 and 3, increase rotating speed, close pulling force
Increase, the corresponding oil gas total amount for reducing electromotor 1 and 4, reduces rotating speed, closes pulling force and reduces, and keeps reaction torque to balance.Fly
There is a certain degree of inclination first in row device, so that rotor thrust produces horizontal component, therefore before aircraft being realized
Fly motion.Fly and flight forward contrast backward.
（6）Tendency motion：As in Fig. 4（f）It is shown, due to symmetrical configuration, so tendency flight operation principle with front and back
Motion is just the same.
Example two：
The present embodiment selects six rotorcraft, and its electromotor quantity is 6, other contents and one phase of specific embodiment
Together.Illustrate by taking the moving forward and backward of six rotorcraft as an example below：
Move forward and backward：Motion around wanting to realize aircraft in the horizontal plane, it is necessary in the horizontal plane to flight
Device applies certain power.As shown in figure 5, increasing the oil gas total amount of electromotor 3 and 4, increase rotating speed, close pulling force increase, accordingly
Reduce the oil gas total amount of electromotor 1 and 6, reduce rotating speed, close pulling force and reduce, and keep the rotating speed of electromotor 2 and 5 constant, and
Reaction torque is balanced.There is a certain degree of inclination first in aircraft, so that rotor thrust produces horizontal component, therefore can be real
The front winged motion of existing aircraft.Fly and flight forward contrast backward.
Above example is only to illustrate technological thought of the present utility model, it is impossible to limit protection model of the present utility model with this
Enclose, it is every according to the utility model proposes technological thought, any change done on the basis of technical scheme each falls within this reality
Within the scope of novel protected.
Claims (4)
1. a kind of oil moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system, it is characterised in that its composition includes acquisition system, control
System and execution system；The acquisition system is a kind of control system of multisensor, and its composition includes three-axis gyroscope, three axles
Accelerometer, three axle magnetometer, barometer, distance measuring sensor, Airborne GPS and Hall element composition；The group of the control system
Into including winged control plate and ECU；The composition of the execution system includes steering wheel and EFI.
2. a kind of oil according to claim 1 moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system, it is characterised in that described
Turning rate valu of the three-axis gyroscope survey aircraft body around three axial directions；The three axis accelerometer survey aircraft body edge
The acceleration of three axial directions；Magnetic declination of the three axle magnetometer survey aircraft body relative to three axles；The barometer and
Distance measuring sensor measures the flying height of unmanned plane；The Airborne GPS measures the three-dimensional coordinate of unmanned plane；The Hall element is sent out
Unmanned vehicle engine tach signal is sent to winged control plate, is flown control plate reading and is measured engine speed；Shown EFI starts for improving
The speed of response of machine.
3. a kind of oil according to claim 1 and 2 moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system, it is characterised in that
The control system determines pitch variable speed system in multiple straight drive, if the multiple straight drive is determined pitch variable speed system and included
The propeller of dry electromotor and equal number, one propeller of direct drive of each of which electromotor independence, each spiral shell
The pitch of rotation oar is fixed.
4. a kind of oil according to claim 3 moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system, it is characterised in that described
The propeller that pitch variable speed system is determined in multiple straight drive is directly coupled on engine spindle, and the change of engine speed is directly drawn
The change of super helix oar rotating speed, adjusts the value of thrust of each propeller, obtains different angular velocity and acceleration, and then adjusts position
Put, the speed of a ship or plane, navigation attitude and height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620653134.8U CN206050075U (en) | 2016-06-28 | 2016-06-28 | A kind of oil moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620653134.8U CN206050075U (en) | 2016-06-28 | 2016-06-28 | A kind of oil moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206050075U true CN206050075U (en) | 2017-03-29 |
Family
ID=58373286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620653134.8U Active CN206050075U (en) | 2016-06-28 | 2016-06-28 | A kind of oil moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206050075U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043695A (en) * | 2016-06-28 | 2016-10-26 | 辽宁壮龙无人机科技有限公司 | Oil driven multi-rotor unmanned aerial vehicle fixed pitch variable speed system and control technique |
| CN107329484A (en) * | 2017-05-11 | 2017-11-07 | 西安天问智能科技有限公司 | The dynamic displacement multi-rotor aerocraft control system of oil and control method |
| CN109436311A (en) * | 2018-12-21 | 2019-03-08 | 辽宁壮龙无人机科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN111776197A (en) * | 2020-06-08 | 2020-10-16 | 宁波诺丁汉大学 | Propeller stable speed regulation unmanned aerial vehicle and control method thereof |
| CN112462798A (en) * | 2020-12-04 | 2021-03-09 | 三生万物(北京)人工智能技术有限公司 | Unmanned aerial vehicle and method for improving flight performance of unmanned aerial vehicle |
| CN114509976A (en) * | 2022-02-17 | 2022-05-17 | 上海东古智能科技有限公司 | Oil moves ECU controller that directly drives unmanned aerial vehicle |
-
2016
- 2016-06-28 CN CN201620653134.8U patent/CN206050075U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043695A (en) * | 2016-06-28 | 2016-10-26 | 辽宁壮龙无人机科技有限公司 | Oil driven multi-rotor unmanned aerial vehicle fixed pitch variable speed system and control technique |
| CN106043695B (en) * | 2016-06-28 | 2019-06-11 | 辽宁壮龙无人机科技有限公司 | A kind of dynamic multi-rotor unmanned aerial vehicle fixed pitch variable speed system of oil and control technology |
| CN107329484A (en) * | 2017-05-11 | 2017-11-07 | 西安天问智能科技有限公司 | The dynamic displacement multi-rotor aerocraft control system of oil and control method |
| CN109436311A (en) * | 2018-12-21 | 2019-03-08 | 辽宁壮龙无人机科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN111776197A (en) * | 2020-06-08 | 2020-10-16 | 宁波诺丁汉大学 | Propeller stable speed regulation unmanned aerial vehicle and control method thereof |
| CN112462798A (en) * | 2020-12-04 | 2021-03-09 | 三生万物(北京)人工智能技术有限公司 | Unmanned aerial vehicle and method for improving flight performance of unmanned aerial vehicle |
| CN114509976A (en) * | 2022-02-17 | 2022-05-17 | 上海东古智能科技有限公司 | Oil moves ECU controller that directly drives unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206050075U (en) | A kind of oil moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system | |
| CN106043695B (en) | A kind of dynamic multi-rotor unmanned aerial vehicle fixed pitch variable speed system of oil and control technology | |
| CN106249745B (en) | The control method of four axis unmanned planes | |
| Lozano | Unmanned aerial vehicles: Embedded control | |
| Wang et al. | Mathematical modeling and control of a tilt-rotor aircraft | |
| CN101549754B (en) | A composite rotating fixed-wing aircraft and its design method | |
| NL2017971B1 (en) | Unmanned aerial vehicle | |
| US20200010182A1 (en) | Pivoting wing system for vtol aircraft | |
| CN106114853B (en) | A kind of push-button aircraft | |
| CN201376669Y (en) | Spinning-fixed-wing composite aircraft | |
| CN104765272A (en) | Four-rotor aircraft control method based on PID neural network (PIDNN) control | |
| CN105752320A (en) | Duct type unmanned aerial vehicle and control method thereof | |
| CN105923147B (en) | A kind of fixed-wing unmanned plane landing control method | |
| KR102135285B1 (en) | Veryical takeoff and landing fixed wing unmanned aerial vehicle | |
| CN109606674A (en) | Tail sitting posture vertical take-off and landing drone and its control system and control method | |
| CN107264813A (en) | A kind of tailstock vertical takeoff and landing vehicle flight control system | |
| WO2022048543A1 (en) | Flight control method, unmanned aerial vehicle, and storage medium | |
| KR20140125222A (en) | Unmanned air vehicles for performing vertical take-off and landing, and method of maneuverability flight of unmanned air vehicles | |
| CN205239908U (en) | Fixed tilt angle rotor craft | |
| CN106143878A (en) | Multiaxis fixed-wing integrated machine controller based on sliding mode control algorithm | |
| Hayama et al. | Trial production of kite wing attached multicopter for power saving and long flight | |
| Lin et al. | Design, model and attitude control of a model-scaled gyroplane | |
| CN202753709U (en) | Upright vertical take-off and landing aircraft | |
| CN113371189A (en) | Vertical take-off and landing unmanned aerial vehicle and control method | |
| CN102756806A (en) | Upright-standing vertical take-off and landing airplane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 76-45, Shenbei Road, Shenbei New District, Shenyang City, Liaoning Province 110000 Patentee after: Liaoning Dazhuang UAV Technology Co.,Ltd. Address before: 110137 Shenbei Road, Shenbei New Area, Shenyang, Liaoning, No. 76-43 (A gate) Patentee before: LIAONING ZHUANGLONG UNMANNED AERIAL VEHICLE TECHNOLOGY Co.,Ltd. |