TWI750083B

TWI750083B - Dual-mode hybrid drone

Info

Publication number: TWI750083B
Application number: TW110114529A
Authority: TW
Inventors: 林清一
Original assignee: 長榮大學
Priority date: 2021-04-22
Filing date: 2021-04-22
Publication date: 2021-12-11
Also published as: TW202241759A

Abstract

一種具垂直起降、水平飛行功能之雙模態混合動力無人機，係以混合動力結合電池及汽油引擎發電系統，建立長效能動力供給。以電池及無刷馬達驅動位於機身內的導風扇及下機翼的垂直升力螺旋槳，作為垂直起飛的動力；無人機起飛離地後，遙控啟動水平推進螺旋槳的汽油引擎，產生水平推力，水平飛行，藉機翼的升力做長滯空巡航飛行。該雙模態混合動力無人機的設計採上下兩個機翼，可以在較高速飛行抗拒強風、或在較低速度獲得足夠的升力執行任務，避免失速。藉此，本發明無人機可垂直起降及水平飛行，消除固定翼無人機需要跑道的不便性，更以機翼的水平飛行特性延伸續航滯空能力。而且垂直起飛動力係採用安裝於機身內的高推力導風扇及安裝於下機翼的垂直升力螺旋槳動力，提高無人機的酬載能力，改善習知無人機的缺點，形成高酬載、長滯空、垂直起降水平飛行雙模態之航空特色，更以混合動力延續飛行時所需的電力供應。A dual-mode hybrid unmanned aerial vehicle with vertical take-off and landing and horizontal flight functions. It uses hybrid power combined with a battery and gasoline engine power generation system to establish a long-efficiency power supply. Batteries and brushless motors drive the guide fan in the fuselage and the vertical lift propeller of the lower wing as the driving force for vertical takeoff; after the drone takes off from the ground, the gasoline engine of the horizontally propelled propeller is remotely activated to generate horizontal thrust. To fly, take advantage of the lift of the wing to make a long-duration cruise flight. The dual-mode hybrid UAV is designed with two upper and lower wings, which can fly at a higher speed to resist strong winds or obtain sufficient lift at a lower speed to perform tasks and avoid stalling. Thereby, the UAV of the present invention can take off and land vertically and fly horizontally, eliminating the inconvenience of a fixed-wing UAV that requires a runway, and extending the endurance and stagnation capability with the horizontal flight characteristics of the wing. Moreover, the vertical take-off power system adopts the high-thrust guide fan installed in the fuselage and the vertical lift propeller power installed in the lower wing, which improves the payload capacity of the UAV and improves the shortcomings of the conventional UAV to form a high payload and long The dual-mode aviation feature of stagnant, vertical take-off and landing and horizontal flight also uses hybrid power to continue the power supply required for flight.

Description

雙模態混合動力無人機Dual-mode hybrid drone

本發明係關於一種具垂直起降、水平飛行功能的雙模態(dual mode)混合動力無人機，尤指能在無跑道助航的狹窄空間就垂直動力起飛、能藉雙機翼平低速或高速飛行，並以混合動力以汽油引擎及與其共軸的無刷馬達發電機，提供長滯空電力需求。The present invention relates to a dual mode (dual mode) hybrid unmanned aerial vehicle with vertical take-off and landing and horizontal flight functions, in particular, it can take off with vertical power in a narrow space without runway assistance, and can use dual wings at low speed or at low speeds. It flies at high speeds, and uses hybrid power, gasoline engines and coaxial brushless motor generators to provide long-air power requirements.

按，無人機依照起飛與降落的特性，可分為水平起降（horizontal take-off and landing, HTOL）與垂直起降（vertical take-off and landing, VTOL）兩類型。其中固定翼無人機（簡稱定翼機，fixed-wing aircraft）即是以電池驅動的無刷馬達或汽油驅動的引擎為動力，獲得水平速度，從翼型設計產生穩定升力來飛行，是水平起降(HTOL)的代表；時下流行的多旋翼無人機（multi-rotorcraft）則是以電池及無刷馬達驅動垂直升力螺旋槳轉動產生垂直升力，帶動飛行，是垂直起降(VTOL)之代表。上述兩種機型的無人機各有優缺點。目前的飛行器技術，同等重量的載具，固定翼飛機都遠比旋翼機，有更大的酬載、更長的滯空能力、以及更快的飛行速度。若考慮航程、酬載、速度的任務需求，應是固定翼飛機為最佳選擇，但它的起飛與降落場域條件要求較高，且需要有平坦的跑道或地面進行起飛與降落。多旋翼機的好處則是可以做到垂直起降，因此對於降落場地的要求相對較低，可以達到快速機動佈署的優點。According to the characteristics of take-off and landing, UAVs can be divided into two types: horizontal take-off and landing (HTOL) and vertical take-off and landing (VTOL). Among them, fixed-wing aircraft (fixed-wing aircraft for short) is powered by a battery-driven brushless motor or gasoline-powered engine, and obtains horizontal speed. The airfoil design generates stable lift to fly, which is horizontal. The representative of HTOL; the current popular multi-rotorcraft (multi-rotorcraft) uses a battery and brushless motor to drive a vertical lift propeller to rotate to generate vertical lift and drive the flight. It is a representative of vertical take-off and landing (VTOL). The above two types of drones have their own advantages and disadvantages. The current aircraft technology, the same weight of the vehicle, the fixed-wing aircraft is far more than the rotorcraft, has a larger payload, longer airborne capability, and faster flight speed. If you consider the mission requirements of range, payload, and speed, fixed-wing aircraft should be the best choice, but its take-off and landing field conditions are relatively high, and a flat runway or ground is required for take-off and landing. The advantage of multi-rotor aircraft is that it can achieve vertical take-off and landing, so the requirements for the landing site are relatively low, and it can achieve the advantages of rapid mobile deployment.

上述定翼機與旋翼機於應用上各有其優缺點，本發明人有鑑於此，乃加以研究改良與整合，遂有本發明之產生。The above-mentioned fixed-wing aircraft and rotary-wing aircraft have their own advantages and disadvantages in application. In view of this, the present inventors studied improvements and integrations, and thus the present invention was born.

爰是，本發明的主要發明目的是在提供一種兼具旋翼機與定翼機功能而具垂直起降、水平飛行雙模態的無人機；更為長續航能力，以汽油引擎加裝共軸式無刷馬達發電機，形成電池、無刷馬達與汽油引擎的混合動力系統；而且可在狹小空間起飛及降落(例如屋頂上、船艦上)，更由於定翼機的性能與引擎的推力，可以抗拒強風做長程飛行。The main purpose of the present invention is to provide an unmanned aerial vehicle with dual modes of vertical take-off and landing and horizontal flight with both the functions of a rotary wing aircraft and a fixed-wing aircraft. It has a longer endurance and is equipped with a coaxial gasoline engine. Type brushless motor generator, forming a hybrid system of battery, brushless motor and gasoline engine; and can take off and land in a small space (such as on the roof, on the ship), and because of the performance of the fixed-wing aircraft and the thrust of the engine, Can resist strong winds for long-distance flights.

本發明的主要特徵在於，於機身的前後(x軸向)分別設置有一導風扇，以及於上、下機翼的下機翼兩側(y軸向)配置有無刷馬達(brushless motor)所驅動垂直升力螺旋槳，其分布位置為特定位置並對稱構成四個垂直旋翼動力，作為垂直起飛的動力來源，再配合該無人機水平推進的水平推進螺旋槳與高升力的上、下機翼的雙主翼組合，構成一架雙機翼無人機的特色。於無人機內配置雙模態動力，各自獨立運作，不會產生轉態時的不穩定性，造成無人機起降轉換失敗而失控。The main feature of the present invention is that a guide fan is provided at the front and rear (x-axis) of the fuselage, and a brushless motor (brushless motor) is arranged on both sides of the lower wing (y-axis) of the upper and lower wings. Drive the vertical lift propeller, which is distributed in a specific position and symmetrically constitutes four vertical rotor powers. As the power source for vertical take-off, it is combined with the horizontal propulsion propeller of the drone and the double main wings of the high-lift upper and lower wings. The combination constitutes the characteristics of a dual-wing UAV. Equipped with dual-mode power in the UAV, each operates independently, and will not produce instability during the transition, causing the UAV to fail to take off and land and lose control.

上述水平推進的水平推進螺旋槳係以汽油引擎驅動，該汽油引擎具備遙控啟動功能，在無人機離地後再予啟動，轉換飛行模態。由於垂直起降動力與雙機翼及汽油引擎動力的組合，使該定翼機可以在無跑道助航的狹窄空間起飛及降落、更可以做長距離水平飛行。The horizontal propulsion propeller of the horizontal propulsion is driven by a gasoline engine. The gasoline engine has a remote start function, which can be started after the UAV is off the ground to switch the flight mode. Due to the combination of vertical take-off and landing power, dual wings and gasoline engine power, the fixed-wing aircraft can take off and land in a narrow space without runway assistance, and can also do long-distance horizontal flight.

上述導風扇(electric ducted fan, EDF)及無刷馬達驅動的垂直升力螺旋槳所連接的電池，係以48伏特電壓供電，可以快速啟動、控制及獲得適當的推力輸出，作為垂直起飛的動力。通過飛控軟體設計，以及四具電池操作的動力，適當的位置配置，針對x軸及y軸兩種不同動力來源的穩定控制，使得無人機可以穩定起飛。The electric ducted fan (EDF) and the battery connected to the vertical lift propeller driven by the brushless motor are powered by a voltage of 48 volts, which can quickly start, control and obtain appropriate thrust output as the power for vertical takeoff. Through the flight control software design, four battery-operated power, proper position configuration, and stable control of the x-axis and y-axis two different power sources, the drone can take off stably.

上述汽油引擎與無刷馬達改裝的無刷馬達發電機共軸(coaxial)，當引擎啟動後即產生直流電力，再經直流轉換控制與調變為52V電壓，提供垂直起飛電池之回充電能(recharge)。該無刷馬達發電機直流充電控制可以快速補充電池消耗的電能。The above-mentioned gasoline engine and the brushless motor modified brushless motor generator coaxial (coaxial), when the engine starts, it will generate DC power, and then through the DC conversion control and adjustment to 52V voltage, provide the vertical take-off battery recharge energy ( recharge). The brushless motor generator DC charging control can quickly supplement the electric energy consumed by the battery.

該上、下機翼的雙機翼結構，在低速度飛行時，兩個機翼都提供適當的升力貢獻，可以降低失速速度(stall speed)值。雙機翼翼型剖面設計的升力係數在12 公尺/秒的水平推力速度時就可以承擔無人機的最大起飛重量(maximum take-off weight, MTOW)。本發明的設計條件在12公尺/秒速度以下，是一般固定翼無人機很難達到的低失速性能。低速飛行可以提供無人機執行任務時的特殊條件。With the double-wing structure of the upper and lower wings, both wings provide proper lift contribution when flying at low speeds, which can reduce the stall speed value. The lift coefficient of the dual-wing airfoil profile design can bear the maximum take-off weight (MTOW) of the UAV at a horizontal thrust speed of 12 m/s. The design condition of the present invention is below 12 meters per second, which is a low stall performance that is difficult for general fixed-wing drones to achieve. Low-speed flight can provide special conditions for drones to perform missions.

上述上機翼的設計為三段式，其中機翼中間段內部為結構油箱及無人機的主要結構支撐機構，該機翼中間段的兩外段機翼為100%無漸縮比(taper ratio)結構。機翼中間段有支撐尾翼的尾桿及位在上、下機翼之間的翼間支撐結構板，可強化上、下雙層機翼的剛性，降低飛行時可能震動的不穩定性。結構油箱可以依飛行續航條件客製化設計，機翼中間段係凹向機身內，可增加體積，使油箱容量可以達從4公升提高到12公升，符合長續航需求。The above-mentioned upper wing is designed as a three-section type, in which the middle section of the wing contains the structural fuel tank and the main structural support mechanism of the UAV. The two outer sections of the middle section of the wing have 100% taper ratio. )structure. The middle section of the wing has a tail rod to support the tail and an inter-wing support structure plate located between the upper and lower wings, which can strengthen the rigidity of the upper and lower double-layer wings and reduce possible vibration instability during flight. The structural fuel tank can be customized according to the flight endurance conditions. The middle section of the wing is recessed into the fuselage, which can increase the volume, so that the fuel tank capacity can be increased from 4 liters to 12 liters, which meets the needs of long endurance.

上述下機翼與上機翼的左右兩外段採用設計相同，同為100%無漸縮比機翼。下機翼尖安裝垂直動力的低kV值無刷馬達驅動的垂直升力螺旋槳，同時承擔垂直升力所需的結構應力。The left and right outer sections of the above-mentioned lower wing and upper wing adopt the same design, and they are both 100% wing without tapering ratio. The lower wing tip is equipped with a vertical lift propeller driven by a low kV brushless motor with vertical power, and it bears the structural stress required for vertical lift at the same time.

上述上、下機翼間配置有相互連接的翼間支撐結構板，可強化上、下機翼的結構剛性，降低機翼震動影響飛行升力及飛行穩定控制，並防範機翼變形，提供穩定的升力來源。The above-mentioned upper and lower wings are equipped with interconnected inter-wing support structural plates, which can strengthen the structural rigidity of the upper and lower wings, reduce the influence of wing vibration on flight lift and flight stability control, and prevent wing deformation, providing stable Source of lift.

上述上機翼均加裝翼尖小翼(wing tip)，以提升飛行時的側向穩定操控性能。The above-mentioned upper wings are all equipped with wing tips to improve lateral stability and control performance during flight.

通過飛行控制軟體操控本發明雙模態混合動力無人機的飛行軌跡，起飛階段為垂直動力飛行模態(VTOL)，離地後即刻以遙控方式啟動水平推力引擎的水平推進螺旋槳，無人機開始水平加速並逐漸爬升，當水平速度達到足夠承載起飛重量後，或速度大於機翼設計的最低速度時(＞12 m/sec)，垂直動力關機，轉換為固定翼飛行模態(HTOL)。The flight trajectory of the dual-mode hybrid drone of the present invention is controlled by the flight control software. The take-off phase is the vertical power flight mode (VTOL). The horizontal thrust engine's horizontal propulsion propellers are activated by remote control immediately after leaving the ground, and the drone starts to level. Accelerate and climb gradually. When the horizontal speed reaches enough to carry the take-off weight, or when the speed is greater than the minimum speed of the wing design (>12 m/sec), the vertical power is turned off and converted to the fixed-wing flight mode (HTOL).

請參閱1～3圖示，本發明實施例的雙模態混合動力無人機1，是一可以垂直起飛及水平巡航飛行的無人機，可用於廣泛的物流應用。機體結構主要包含有一機身10、位在該機身10的左右兩側分別具有一位在上層的上機翼11及位在下層的下機翼12，構成對稱的左右兩側雙層機翼，該上、下機翼11、12之間以翼間支撐結構板30連結。位於該機身10的尾部配置有一尾翼13(可為ㄇ型尾翼，如圖1～3所示；或全動式雙十字尾翼，如圖4～6所示)。定義機身10的長度中心線為x軸，上、下機翼11、12的長軸中心線與x軸垂直交叉為y1軸、y2軸(如圖2)；其中，上機翼11長度較下機翼12長，且上機翼11的y1軸較下機翼12的y2軸移往該機身10尾部半個下機翼12的寬度，該上、下機翼11、12構成的飛機重心位於上機翼11的前緣。該無人機1起飛前的配重須仔細量測，以平衡飛機的縱向穩定。Please refer to figures 1 to 3, the dual-mode hybrid drone 1 of the embodiment of the present invention is a drone that can take off vertically and cruise horizontally, and can be used in a wide range of logistics applications. The fuselage structure mainly includes a fuselage 10, an upper wing 11 on the upper layer and a lower wing 12 on the lower layer on the left and right sides of the fuselage 10, forming a symmetrical left and right double-layered wing. , The upper and lower wings 11, 12 are connected by an inter-wing support structure plate 30. A tail wing 13 is arranged at the tail of the fuselage 10 (it can be a ㄇ-shaped tail wing, as shown in Figures 1 to 3; or a full-moving double cross tail wing, as shown in Figures 4 to 6). The length centerline of the fuselage 10 is defined as the x-axis, and the long axis centerlines of the upper and lower wings 11, 12 perpendicularly intersect the x-axis as the y1 axis and the y2 axis (as shown in Figure 2); among them, the upper wing 11 is longer than The lower wing 12 is long, and the y1 axis of the upper wing 11 is moved to the tail of the fuselage 10 half the width of the lower wing 12 compared with the y2 axis of the lower wing 12. The upper and lower wings 11, 12 constitute an aircraft The center of gravity is located at the leading edge of the upper wing 11. The counterweight of the drone 1 must be carefully measured before takeoff to balance the longitudinal stability of the aircraft.

上述上機翼11為三段式，分別具有一機翼中間段110及位在該機翼中間段110兩端翼尖各設置有一左右對稱且往上彎折的翼尖小翼110a，以維持無人機1水平巡航飛行時之側向穩定。該機翼中間段110沒有翼形，配置有結構油箱111(如圖1、2)。位於機身10尾端的尾桿132結構及兩側上、下機翼11、12的結構、與機身10的結合，為整架無人機1的結構重點。該機翼中間段110可以依據需求，往機艙體內延伸加大結構油箱111之容積。The upper wing 11 is a three-section type, each having a wing middle section 110 and a wing tip winglet 110a that is symmetrical and upwardly bent at both ends of the wing middle section 110 to maintain The sideways stability of UAV 1 during horizontal cruising flight. The middle section 110 of the wing does not have a wing shape, and is equipped with a structural fuel tank 111 (as shown in Figures 1 and 2). The structure of the tail rod 132 at the tail end of the fuselage 10 and the structure of the upper and lower wings 11 and 12 on both sides, and the combination with the fuselage 10 are the key points of the structure of the entire UAV 1. The middle section 110 of the wing can extend into the cabin body to increase the volume of the structural fuel tank 111 according to requirements.

該結構油箱111包含手動開關閥做手動操作控制，以防因電子閥受到干擾而誤動作。該結構油箱111所配置的數位流量計，可為旋轉式流量偵測器，將顯示所剩油料比例，可以從機身10讀取顯示數字，以及透過通訊系統傳遞到地面監控站，讓飛行操作人員知道殘餘油量。The structural oil tank 111 contains a manual switch valve for manual operation control to prevent malfunction due to interference of the electronic valve. The digital flow meter configured in the fuel tank 111 of this structure can be a rotary flow detector, which will display the proportion of remaining fuel. The displayed number can be read from the fuselage 10 and transmitted to the ground monitoring station through the communication system for flight operation. The personnel know the amount of remaining oil.

該上、下機翼11、12左右兩側部分均為無漸縮比的機翼(如圖1、2)，翼型結構是提供低速飛行器的設計。The left and right sides of the upper and lower wings 11 and 12 are wings with no tapering ratio (as shown in Figures 1 and 2), and the airfoil structure is designed to provide a low-speed aircraft.

該下機翼12的兩端有加強結構設計，各安裝一具低kV值無刷馬達120及其搭配的垂直升力螺旋槳121(如圖1、2)，做為y軸向垂直升力的動力來源。The two ends of the lower wing 12 have a reinforced structure design, and a low-kV brushless motor 120 and its matching vertical lift propeller 121 (as shown in Figures 1 and 2) are installed as the power source for the vertical lift in the y-axis. .

該機身10的前後部分於適當位置各包裹隱入一個以無刷馬達102驅動的導風扇103(如圖2)，作為x軸向垂直升力的動力來源。該x軸向導風扇103與y軸向垂直升力螺旋槳121的設計組合，可以提供較高推力，以解決無人機1酬載重量之技術瓶頸。而且兩組無刷馬達102驅動的導風扇103與兩組無刷馬達120驅動的垂直升力螺旋槳121，分別位於機體的x軸與y軸位置，其位置與中心經過最佳化組合搭配後，可獲得穩定控制特性。A guide fan 103 driven by a brushless motor 102 (as shown in FIG. 2) is concealed in the front and rear parts of the fuselage 10 at appropriate positions as the power source of the vertical lift in the x-axis. The design combination of the x-axis guide fan 103 and the y-axis vertical lift propeller 121 can provide higher thrust to solve the technical bottleneck of the payload of the UAV 1. In addition, two sets of guide fans 103 driven by brushless motors 102 and two sets of vertical lift propellers 121 driven by brushless motors 120 are respectively located on the x-axis and y-axis positions of the body. Obtain stable control characteristics.

位在該下機翼12的無刷馬達120及機身10的導風扇103之無刷馬達102分別搭配兩組48V高能電池，以提供起飛及降落所需之電力，四具動力分散搭配，提高系統可靠度。The brushless motor 120 of the lower wing 12 and the brushless motor 102 of the guide fan 103 of the fuselage 10 are respectively equipped with two sets of 48V high-energy batteries to provide power for take-off and landing. The four powers are distributed and matched to improve System reliability.

該機身10的中間部分為酬載艙104(如圖1、2)，提供無人機裝載貨物的空間。機身10的前艙與後艙、該導風扇103的外圍邊緣空間，可用來安裝高能電池、電力電路、監控系統。The middle part of the fuselage 10 is a payload bay 104 (as shown in Figures 1 and 2), which provides space for the drone to load cargo. The front and rear cabins of the fuselage 10 and the peripheral edge space of the guide fan 103 can be used to install high-energy batteries, power circuits, and monitoring systems.

該機身用於載貨的酬載艙(payload bay)104，是位在該機身10的主要部份，可以依據無人機1的需求設計空間大小，該酬載艙104的蓋子配置於機身10的上方，可以存取載裝物品。該雙模態無人機1的垂直飛行動力為電池電力供應，該機身內可承載高能率電池。在巡航飛行過程中，無刷馬達發電機轉換後的充電系統，將為電池再充電，以維持降落所需之電池電力。酬載艙104內的酬載安裝，必須配合無人機1的重心位置的量測給予適當調整。而且，x軸向的的導風扇103位置與y軸向以無刷馬達驅動的垂直升力螺旋槳121需與重心點維持一個固定的關係，以為穩定飛行控制的必要條件The payload bay 104 of the fuselage for carrying cargo is located in the main part of the fuselage 10. The size of the space can be designed according to the requirements of the UAV 1. The cover of the payload bay 104 is arranged on the fuselage Above 10, you can access the loaded items. The vertical flight power of the dual-mode UAV 1 is battery power supply, and the fuselage can carry high-energy-rate batteries. During the cruise flight, the charging system converted by the brushless motor generator will recharge the battery to maintain the battery power required for landing. The installation of the payload in the payload bay 104 must be appropriately adjusted in accordance with the measurement of the center of gravity position of the UAV 1. Moreover, the position of the guide fan 103 in the x-axis and the vertical lift propeller 121 in the y-axis driven by a brushless motor must maintain a fixed relationship with the center of gravity, which is a necessary condition for stable flight control.

該無人機1的上、下機翼11、12均採用襟副翼(flaperon) 112、122控制面設計(如圖1、2)，該襟副翼112、122是分別配置於上、下機翼11、12的後緣，與上、下機翼11、12的翼面樞接，該襟副翼112、122係受一驅動裝置控制，使該襟副翼112、122可以樞接點為軸心，面對無人機1前面做俯仰角(pitch)及轉彎滾角(roll)調整，達到爬升與轉彎的飛行操作控制。該驅動裝置包含有一伺服馬達與曲柄及連桿結合做上下擺動最大35度角的操作控制，以做角度的調整，使該襟副翼112、122得以扮演縱向的y軸俯仰升降(pitch)與x軸滾向(roll)的操作控制。The upper and lower wings 11 and 12 of the UAV 1 are designed with flaperons 112 and 122 control surfaces (as shown in Figures 1 and 2), and the flaperons 112 and 122 are respectively configured on the upper and lower planes. The trailing edges of the wings 11 and 12 are pivotally connected to the wing surfaces of the upper and lower wings 11 and 12. The flaperons 112 and 122 are controlled by a driving device so that the flaperons 112 and 122 can be pivotally connected to The axis, facing the front of the UAV 1, adjusts the pitch angle and the turning angle (roll) to achieve the flight operation control of climbing and turning. The driving device includes a servo motor combined with a crank and a connecting rod to perform the operation control of up and down swing at a maximum angle of 35 degrees to adjust the angle so that the flaperons 112 and 122 can act as longitudinal y-axis pitches and pitches. Operation control of x-axis roll.

該無人機1配置的ㄇ型尾翼13(如圖1～3)，包含有二垂直尾翼部分130及一水平尾翼部分131構成ㄇ型，控制面大小均與由上機翼11後端向後延伸、用以固定尾翼13的尾桿132長度、最大起飛重量、巡航速度有關的參數組合，以達到最佳控制操作能力。每一垂直尾翼部分130及水平尾翼部分131係分別被一組驅動裝置所控制，做角度調整，提供無人機1水平飛行時的水平尾翼部分131控制y軸俯仰(pitch)與垂直尾翼部分130控制z軸偏航(yaw)的操作。The U-shaped tail 13 (as shown in Figures 1 to 3) of the UAV 1 includes two vertical tail portions 130 and a horizontal tail portion 131 to form a ㄇ shape. The size of the control surface is the same as that extended from the rear end of the upper wing 11, It is used to fix the length of the tail rod 132 of the tail wing 13, the maximum take-off weight, and the combination of parameters related to the cruise speed to achieve the best control operation ability. Each vertical tail part 130 and horizontal tail part 131 are respectively controlled by a set of driving devices for angle adjustment to provide the horizontal tail part 131 to control the y-axis pitch and vertical tail part 130 when the UAV 1 is flying horizontally. The operation of z-axis yaw (yaw).

另一第二實施例的尾翼13a為如圖4～6所示，為一全動式雙十字型尾翼(即具兩個十字形尾翼)。該尾翼13a的控制面大小與尾桿132長度、最大起飛重量、巡航速度有關的參數組合。雙十字型尾翼13a共有八個小型控制驅動器來操作，可以因應客製化需求縮短尾桿132，且達到更靈活的操作性能。Another second embodiment of the tail wing 13a is shown in FIGS. 4-6, which is a full-moving double cross-shaped tail wing (that is, it has two cross-shaped tail fins). The size of the control surface of the tail wing 13a is a combination of parameters related to the length of the tail rod 132, the maximum take-off weight, and the cruising speed. The double cross tail 13a has a total of eight small control drivers to operate, which can shorten the tail rod 132 in response to customization requirements and achieve more flexible operating performance.

另外，於機身10的後端x軸上，往後配置有一由水平推進引擎所推動的水平推進螺旋槳20(如圖1、2、3)，用以驅動無人機1水平飛行。In addition, on the rear x-axis of the fuselage 10, a horizontal propulsion propeller 20 (as shown in FIGS. 1, 2, and 3) propelled by a horizontal propulsion engine is arranged rearward to drive the drone 1 to fly horizontally.

應用時，該無人機1起飛上升時，控制垂直起降的導風扇103及垂直升力螺旋槳121啟動，無人機1獲得的升力大於最大起飛重量後離地飛行。此時將即刻遙控啟動水平推力的汽油引擎，開始水平驅動飛行，以免對該無人機1垂直飛行模態造成飛行控制上的干擾與危害穩定性能。水平速度從機翼獲得升力後，將逐漸減輕垂直動力的供應，從飛控系統的速度演算機制， L= (1/2)[ρ·A·C _L·V ²] 當上、下機翼11、12的升力L大於最大起飛重量後，該無人機1將轉型為一定翼機模態飛行，飛控系統關掉垂直動力兩個導風扇103的無刷馬達102及兩個無刷馬達120。無人機1轉型為固定翼飛機的模式，而且，上、下機翼11、12的雙機翼設計，可以在較低速度下維持必要的升力，避免失速。 In application, when the UAV 1 takes off and rises, the guide fan 103 that controls the vertical take-off and landing and the vertical lift propeller 121 are activated, and the UAV 1 obtains a lift greater than the maximum take-off weight and then flies off the ground. At this time, the gasoline engine with horizontal thrust will be remotely activated immediately to start horizontal driving flight, so as not to interfere with the vertical flight mode of the UAV 1 and damage the stability performance of the flight control. After the horizontal speed gains lift from the wing, it will gradually reduce the supply of vertical power. From the speed calculation mechanism of the flight control system, L= (1/2)[ρ·A·C _L ·V ² ] when the upper and lower wings After the lift L of 11 and 12 is greater than the maximum take-off weight, the UAV 1 will transition to a certain wing aircraft mode flight, and the flight control system will turn off the vertical power of the brushless motors 102 of the two guide fans 103 and the two brushless motors 120 . UAV 1 is transformed into a fixed-wing aircraft mode, and the dual-wing design of the upper and lower wings 11 and 12 can maintain the necessary lift at lower speeds to avoid stalling.

上述水平推進螺旋槳20的汽油引擎21(如圖1～3)，係連接有共軸的無刷馬達發電機22(如台灣新型專利M561642所示的發電機構)。係於汽油引擎21啟動後發電提供電池的再充電電力以及航電系統所需的電力。無刷馬達改裝的無刷馬達發電機22產生三相交流電力，經過整流濾坡後，電源再經直流對直流轉換器(DC/DC Converter)將電壓提升到52V，以利於充電到電池中及分散到電源分電盤。該22可以延續無人機1的長滯空時間，而且於滯空時間內均能有足夠的電力維持無人機1的飛行控制，避免斷電失控。The gasoline engine 21 (see FIGS. 1 to 3) of the horizontally propelled propeller 20 is connected to a coaxial brushless motor generator 22 (such as the power generation mechanism shown in Taiwan's new patent M561642). After the gasoline engine 21 is started, it generates power to provide battery recharging power and power required by the avionics system. The brushless motor generator 22 modified by the brushless motor generates three-phase AC power. After the rectification and filtering slope, the power source is then boosted to 52V through a DC/DC converter to facilitate charging into the battery and Distributed to the power distribution board. The 22 can extend the long dead time of the UAV 1, and there is enough power to maintain the flight control of the UAV 1 during the dead time, so as to avoid power failure and loss of control.

當無人機1到達目的地區域時，飛控系統將操控無人機1在目標區盤旋飛行，逐漸降低水平推進螺旋槳20的推力，而升力L接近無人機1的重量時，無人機1的高度會開始下降，以此關鍵法則，決定無人機1必須轉換為垂直降落模式，啟動導風扇103及垂直升力螺旋槳121後，關閉水平推進螺旋槳20，朝目標區接近及垂直降落飛行。該無人機1從起飛、爬升至水平巡航飛行，到最後緩降落的飛行軌跡，即如圖7所示。When UAV 1 reaches the destination area, the flight control system will control UAV 1 to hover and fly in the target area, and gradually reduce the thrust of horizontal propulsion propeller 20. When the lift L is close to the weight of UAV 1, the height of UAV 1 will change. Starting to descend, based on the key rule, it is determined that the UAV 1 must be converted to the vertical landing mode. After the guide fan 103 and the vertical lift propeller 121 are activated, the horizontal propulsion propeller 20 is turned off, and the UAV 1 approaches the target area and flies for a vertical landing. The flight trajectory of the UAV 1 from take-off, climb, horizontal cruise flight, and finally slow landing is shown in Fig.7.

由上述之說明可知，本發明所揭示的雙模態混合動力無人機1，具備垂直起降及水平飛行的操作能力，於機身10的x軸方向配置導風扇103及下機翼12兩側y2軸方向配置無刷馬達120驅動的垂直升力螺旋槳121為爬升動力來源。在機身10後方更具備水平推進且為引擎動力的水平推進螺旋槳20，能於垂直起飛後，轉變成為水平飛行定翼機特性。該無人機1可以在無跑道助航的狹窄空間起飛、降落，並且以定翼機性能以較大的承載重量、較高的速度、更長的航程優點，提升運載無人機的性能。It can be seen from the above description that the dual-mode hybrid unmanned aerial vehicle 1 disclosed in the present invention is capable of vertical take-off and landing and horizontal flight. The guide fan 103 and the lower wing 12 are arranged in the x-axis direction of the fuselage 10 The vertical lift propeller 121 driven by the brushless motor 120 is configured in the y2-axis direction as the climbing power source. The horizontal propulsion propeller 20, which is equipped with horizontal propulsion and engine power behind the fuselage 10, can be transformed into a horizontally flying fixed-wing aircraft after vertical take-off. The UAV 1 can take off and land in a narrow space without runway assistance, and with the performance of a fixed-wing aircraft with the advantages of larger carrying weight, higher speed, and longer range, the performance of the carrier UAV can be improved.

綜上所述，本發明不僅具新穎性且具產業利用性，依法提出發明專利申請，懇請惠予審查並核予專利，實感德便。In summary, the present invention is not only novel but also industrially applicable. It is convenient to file an application for a patent for invention according to law.

1:無人機 10:機身 102、120:無刷馬達 103:導風扇 104:酬載艙 11:上機翼 110:機翼中間段 110a:翼尖小翼 111:結構油箱 112、122:襟副翼 12:下機翼 121:垂直升力螺旋槳 13、13a:尾翼 130:垂直尾翼部分 131:水平尾翼部分 132:尾桿 20:水平推進螺旋槳 21:汽油引擎 22:無刷馬達發電機 30:翼間支撐結構板 x、y(y1、y2)、z:軸線 1: drone 10: Body 102, 120: Brushless motor 103: Guide fan 104: Payload cabin 11: upper wing 110: Middle section of wing 110a: Winglet 111: structural fuel tank 112, 122: flaperons 12: Lower wing 121: vertical lift propeller 13, 13a: tail 130: Vertical tail section 131: Horizontal tail part 132: Tail Rod 20: horizontal propeller 21: Gasoline engine 22: Brushless motor generator 30: Inter-wing support structure board x, y (y1, y2), z: axis

圖1所示是本發明第一實施例的立體圖。圖2所示是本發明第一實施例的俯視圖。圖3所示是本發明第一實施例的側視圖。圖4所示是本發明第二實施例的立體圖。圖5所示是本發明第二實施例的俯視圖。圖6所示是本發明第二實施例的側視圖。圖7所示是本發明實施例的飛行軌跡圖。 Fig. 1 is a perspective view of the first embodiment of the present invention. Fig. 2 is a top view of the first embodiment of the present invention. Fig. 3 shows a side view of the first embodiment of the present invention. Fig. 4 is a perspective view of the second embodiment of the present invention. Fig. 5 is a top view of the second embodiment of the present invention. Fig. 6 shows a side view of the second embodiment of the present invention. Fig. 7 shows a flight trajectory diagram of an embodiment of the present invention.

1:無人機 1: drone

10:機身 10: Body

104:酬載艙 104: Payload cabin

11:上機翼 11: upper wing

110:機翼中間段 110: Middle section of wing

110a:翼尖小翼 110a: Winglet

111:結構油箱 111: structural fuel tank

112、122:襟副翼 112, 122: flaperons

12:下機翼 12: Lower wing

120:無刷馬達 120: Brushless motor

121:垂直升力螺旋槳 121: vertical lift propeller

13:尾翼 13: Tail

130:垂直尾翼部分 130: Vertical tail section

131:水平尾翼部分 131: Horizontal tail part

132:尾桿 132: Tail Rod

20:水平推進螺旋槳 20: horizontal propeller

21:汽油引擎 21: Gasoline engine

22:無刷馬達發電機 22: Brushless motor generator

30:翼間支撐結構板 30: Inter-wing support structure board

x、y、z:軸線 x, y, z: axis

Claims

一種雙模態混合動力無人機，係包含有一機身，內部配置有酬載艙，該機身的長度中心線定義為x軸，該x軸上的前後方分別設置有一以電池及無刷馬達驅動的導風扇；具上機翼及下機翼，係分別由該機身的左右兩側向外延伸且上、下排列，該上機翼及該下機翼的後緣分別配置有具飛行控制且驅動調整升力及航向的襟副翼；該下機翼係各別設置有一個以無刷馬達驅動的垂直升力螺旋槳；位在該機身的尾端係設置有控制方向用的一尾翼；該機身後方的該x軸上係配置有以一汽油引擎驅動並具水平推進力的一水平推進螺旋槳；藉該導風扇及位於該下機翼上的該垂直升力螺旋槳提供該無人機的垂直起降動力，該水平推力螺旋槳讓該無人機水平飛行，以達致較大酬載能力、較長滯空能力以及較穩定的飛行性能。 A dual-mode hybrid unmanned aerial vehicle. It includes a fuselage with a payload bay inside. The length centerline of the fuselage is defined as the x-axis. Driven guide fan; with upper and lower wings, which extend outward from the left and right sides of the fuselage and are arranged up and down respectively. The trailing edges of the upper and lower wings are respectively equipped with flying Control and drive the flaperons that adjust the lift and heading; each of the lower wing systems is provided with a vertical lift propeller driven by a brushless motor; at the end of the fuselage is provided with a tail wing for direction control; The x-axis behind the fuselage is equipped with a horizontal propulsion propeller driven by a gasoline engine with horizontal propulsion; the guide fan and the vertical lift propeller located on the lower wing provide the vertical lift of the drone Take-off and landing power. The horizontal thrust propeller allows the UAV to fly horizontally to achieve greater payload capacity, longer airborne capability, and more stable flight performance.

如請求項1所述之雙模態混合動力無人機，其中該汽油引擎係以共軸方式連接一無刷馬達發電機，該無刷馬達發電機產生的電力係回充給該電池電力。 The dual-mode hybrid unmanned aerial vehicle according to claim 1, wherein the gasoline engine is connected to a brushless motor generator in a coaxial manner, and the electric power generated by the brushless motor generator is recharged to the battery power.

如請求項1或2所述之雙模態混合動力無人機，其中該汽油引擎係以遙控啟動，於該無人機垂直起飛後再予啟動，以免對該無人機垂直飛行模態造成飛行控制上的干擾與危害穩定性能。 The dual-mode hybrid drone as described in claim 1 or 2, wherein the gasoline engine is started by remote control and restarted after the drone takes off vertically, so as not to cause the vertical flight mode of the drone to control the flight Disturbance and damage to stable performance.

如請求項1所述之雙模態混合動力無人機，其中襟副翼係以連桿驅動，可以同時進行該無人機的滾向、轉彎及俯仰升降的操作控制。 The dual-mode hybrid unmanned aerial vehicle described in claim 1, wherein the flaperon system is driven by a connecting rod, and can simultaneously perform the operation and control of the unmanned aerial vehicle's rolling, turning, pitching and lifting operations.

如請求項1所述之雙模態混合動力無人機，其中該尾翼係由兩垂直尾翼部分與一水平尾翼部分組成ㄇ型，每一該垂直尾翼部分、該水平尾翼部分尾翼的控制面係分別被一組驅動裝置控制，而做控制角度的調整。 The dual-mode hybrid unmanned aerial vehicle described in claim 1, wherein the tail system is composed of two vertical tail parts and a horizontal tail part, and the control surfaces of each of the vertical tail part and the horizontal tail part tail are respectively It is controlled by a group of driving devices to adjust the control angle.

如請求項1所述之雙模態混合動力無人機，其中該尾翼係由兩個十字尾翼所構成。 The dual-mode hybrid unmanned aerial vehicle according to claim 1, wherein the tail system is composed of two cross tail wings.

如請求項1所述之雙模態混合動力無人機，其中該上機翼為三段式設計，分別具有一機翼中間段及位在該機翼中間段兩端的翼尖各設置有一左右對稱且往上彎折的翼尖小翼。 The dual-mode hybrid unmanned aerial vehicle described in claim 1, wherein the upper wing is a three-stage design, each having a middle section of the wing and the wingtips located at both ends of the middle section of the wing are provided with a left-right symmetry. And the winglets bent upward.

如請求項7所述之雙模態混合動力無人機，其中該機翼中間段內配置有結構油箱。 The dual-mode hybrid unmanned aerial vehicle described in claim 7, wherein a structural fuel tank is arranged in the middle section of the wing.

如請求項8所述之雙模態混合動力無人機，其中該結構油箱包含手動開關閥做手動操作控制，以防因電子閥受到干擾而誤動作；並配置有數位流量計，以顯示所剩油料比例，可從該機身讀取顯示數字，以及透過通訊系統傳遞到地面監控站。 The dual-mode hybrid unmanned aerial vehicle described in claim 8, wherein the structure of the fuel tank contains a manual switch valve for manual operation control to prevent malfunction due to interference of the electronic valve; and is equipped with a digital flowmeter to display the remaining fuel The ratio can be read from the fuselage and the displayed number can be transmitted to the ground monitoring station through the communication system.

如請求項1所述之雙模態混合動力無人機，其中該上機翼、該下機翼的長軸中心線與該x軸垂直交叉的軸線定義定義為y1軸、y2軸；該上機翼的長度較該下機翼長，且該y1軸較該y2軸移往該機身尾部端半個該下機翼的寬度，俾該上機翼、該下機翼構成的該無人機重心位於該上機翼的前緣。 The dual-mode hybrid unmanned aerial vehicle as described in claim 1, wherein the axis of the upper wing and the long axis of the lower wing perpendicular to the x-axis is defined as the y1 axis and the y2 axis; the upper aircraft The length of the wing is longer than the lower wing, and the y1 axis moves toward the tail end of the fuselage half the width of the lower wing compared to the y2 axis, so that the upper wing and the lower wing constitute the UAV's center of gravity Located at the leading edge of the upper wing.