CN104608924B - Band verts the multi-rotor aerocraft and its control method of fixed-wing - Google Patents
Band verts the multi-rotor aerocraft and its control method of fixed-wing Download PDFInfo
- Publication number
- CN104608924B CN104608924B CN201510073872.5A CN201510073872A CN104608924B CN 104608924 B CN104608924 B CN 104608924B CN 201510073872 A CN201510073872 A CN 201510073872A CN 104608924 B CN104608924 B CN 104608924B
- Authority
- CN
- China
- Prior art keywords
- rotor
- aircraft
- pitch
- rotating speed
- wing
- 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
- Toys (AREA)
- Turbine Rotor Nozzle Sealing (AREA)
Abstract
Vert the multi-rotor aerocraft and its control method of fixed-wing the present invention relates to a kind of band, which includes fuselage, fixed-wing that the fuselage both sides are set to by shaft, multiple rotors being set on the fuselage, for driving the dynamical system that each rotor wing rotation and fixed-wing vert and the control system for controlling the rotating speed of the tilt angle of the fixed-wing and each rotor of control and pitch.The multi-rotor aerocraft of fixed-wing so set, band provided by the invention verts, fixed-wing can vert, and the angle of attack with independent control, can improve the cruise efficiency and load weight of aircraft, and the mobility of aircraft and handling be effectively improved.
Description
Technical field
The present invention relates to vehicle technology field, more particularly to a kind of band vert fixed-wing multi-rotor aerocraft and its control
Method processed.
Background technology
Traditional aircraft mainly has two kinds of Fixed Wing AirVehicle and rotor craft, and Fixed Wing AirVehicle generally uses water
The mode of flat landing, it is that flying speed is very fast that the lift generated by fixed-wing, which carries out landing and cruise, advantage, voyage and continuous
ETS estimated time of sailing is longer, but the landing of Fixed Wing AirVehicle distance is longer, to the more demanding of runway, its application is made to have limitation
Property.
Rotor craft relies on the lift that rotor generates, and can carry out VTOL.Occur in recent years using quadrotor as
The multi-rotor aerocraft of representative, in addition to aircraft are realized in the difference distribution that with VTOL, can may also rely on rotor lift
Gesture stability does not need to any control rudder face, thus has many advantages, such as that simple in structure, operation is flexible.But due to being revolved during cruise
The resistance of the wing is larger, so the flight efficiency of rotor craft, flying speed, voyage and cruise duration are all not as good as fixed-wing flies
Device.Also, the existing multi-rotor aerocraft overwhelming majority uses motor drive, and power and load are smaller.Therefore, rotor
Aircraft also has its limitation.
Notification number is in the patent document of CN202728575U, discloses a kind of fixed-wing and is answered with what electronic more rotors formed
Close aircraft, this kind of aircraft includes one group of electronic more rotor power system and a master controller, fixed-wing dynamical system with
In structure independently of each other, which includes the fixed-wing control system and for controlling this electronic more rotor power systems
Electronic more rotor control systems of electronic more rotor power system work, the master controller are additionally operable to control fixed-wing control system
System and electronic more rotor control systems work independently or cooperate；The rotor wing rotation of electronic more rotor power systems is put down
Face is parallel with fuselage central shaft.This kind of aircraft both can VTOL and flight as helicopter, can fly as fixed-wing
The same landing of machine and flight can also be realized in landing and flight course using the pattern of two dynamical system hybrid workings.
It, ought wherein a set of dynamical system since the aircraft involved by the patent has two sets of independent dynamical systems
When working independently, another set of dynamical system just becomes deadweight, greatly reduces cruise efficiency and load weight.
Secondly as the wing of the aircraft involved by the patent is fixed on fuselage, therefore airfoil chord plane and rotor
The angle of Plane of rotation cannot change, i.e. the angle of attack of wing is unable to independent control, mobility and manipulation so as to cause aircraft
Property substantially reduces.Also, since its more rotor power system is using motor driving, so compared to fuel engines, it is maximum
Power and load weight are smaller, are not suitable for relatively large aircraft, have significant limitation.
Invention content
Vert the multi-rotor aerocraft of fixed-wing the object of the present invention is to provide a kind of band, and fixed-wing can incline
Turn, the angle of attack with independent control, can improve the cruise efficiency and load weight of aircraft, and the mobility of aircraft and manipulation
Property is effectively improved.The present invention also provides a kind of control methods of above-mentioned multi-rotor aerocraft.
A kind of band provided by the invention verts the multi-rotor aerocraft of fixed-wing, and institute is set to including fuselage, by shaft
State the fixed-wings of fuselage both sides, multiple rotors being set on the fuselage, for driving each rotor wing rotation and solid
Determine dynamical system that the wing verts and for control the rotating speed of the tilt angle of the fixed-wing and each rotor of control and
The control system of pitch.
Preferably, the shaft is perpendicular to the plane of symmetry of the multi-rotor aerocraft.
Preferably, the quantity of the rotor be four, four rotors using the plane of symmetry of the multi-rotor aerocraft as
The plane of symmetry is symmetrical, and is uniformly distributed in before and after the center of gravity of the aircraft.
Preferably, the dynamical system includes power source and Aircraft Steering Engine, and the power source is turboaxle motor, aviation
Piston engine or motor.
Preferably, verting for the fixed-wing is driven by the Aircraft Steering Engine.
It verts the present invention also provides band the control method of the multi-rotor aerocraft of fixed-wing, in aircraft takeoff process
In, rotating speed or the pitch of each rotor are gradually increased to increase lift, aircraft vertical are made to take off, while rotate fixation
The wing adjusts its angle of attack so that its resistance is minimum；After aircraft rises to preset height, rotation fixed-wing to horizontality.
Preferably, when aircraft switchs to cruising condition by takeoff condition, turn of the rotor after increase aircraft center of gravity
The rotating speed or pitch of rotor before speed or pitch, reduction aircraft center of gravity, so that fuselage gradually leans forward, utilize what rotor generated
Forward pulling force flight forward, while rotate fixed-wing and adjust its angle of attack so that its lift resistance ratio is maximum.
Preferably, when aircraft switchs to landing state by cruising condition, turn of the rotor after reduction aircraft center of gravity
Speed or pitch, the rotating speed or pitch for increasing rotor before aircraft center of gravity, so that the posture of fuselage is after leaning forward and gradually becoming
Incline, the speed of aircraft is reduced using the pulling force backward that rotor generates；When aircraft speed is reduced to pre-set velocity, increase
The rotating speed or pitch of rotor after aircraft center of gravity, the rotating speed or pitch for reducing rotor before aircraft center of gravity, make fuselage
Posture gradually become horizontality from hypsokinesis, be then gradually reduced rotating speed or the pitch of all rotors to reduce lift, make
Aircraft vertical lands；In the process, fixed-wing keeps horizontality.
Preferably, in the aircraft landing stage, by increase direction of rotation and aircraft want deflection direction it is opposite
The rotating speed or pitch of each rotor, while reduce direction of rotation and aircraft and want direction identical each rotor of deflection and turn
Speed or pitch, so that aircraft is deflected to respective direction.
Preferably, the rotating speed of each rotor after the aircraft landing stage, reduction aircraft center of gravity or pitch, increase
The rotating speed or pitch of each rotor before aircraft center of gravity, so that fuselage comes back；It is alternatively, each after increasing aircraft center of gravity
The rotating speed or pitch of a rotor, the rotating speed or pitch for reducing each rotor before aircraft center of gravity, so that fuselage is bowed.
Preferably, the rotating speed of each rotor on the right side of the aircraft landing stage, reduction fuselage or pitch, increase fuselage are left
The rotating speed or pitch of each rotor of side, so that aircraft rolling to the right；Alternatively, increase the rotating speed of each rotor on the right side of fuselage
Or the rotating speed or pitch of each rotor on the left of pitch, reduction fuselage, so that aircraft rolling to the left.
Preferably, the rotating speed of each rotor after aircraft cruising phase, reduction aircraft center of gravity or pitch, increase
The rotating speed or pitch of each rotor before aircraft center of gravity, so that fuselage comes back；It is alternatively, each after increasing aircraft center of gravity
The rotating speed or pitch of a rotor, the rotating speed or pitch for reducing each rotor before aircraft center of gravity, so that fuselage is bowed.
Preferably, in aircraft cruising phase, reduce the rotating speed of each rotor or pitch, an increase fuselage left side on the right side of fuselage
The rotating speed or pitch of each rotor of side, so that aircraft deflects to the right；Alternatively, increase the rotating speed of each rotor on the right side of fuselage
Or the rotating speed or pitch of each rotor on the left of pitch, reduction fuselage, so that aircraft deflects to the left.
Preferably, it is opposite by the direction for increasing direction of rotation with aircraft wants rolling in aircraft cruising phase
The rotating speed or pitch of each rotor, while each rotor that reduce direction of rotation identical with the direction that aircraft wants rolling turns
Speed or pitch, so that aircraft is to respective direction rolling.
Preferably, in aircraft cruising phase, by rotating fixed-wing, reduce the angle of attack of the fixed-wing on the left of fuselage, together
The angle of attack of fixed-wing on the right side of Shi Zengjia fuselages, so that aircraft rolling to the left；Alternatively, by rotating fixed-wing, increase fuselage
The angle of attack of the fixed-wing in left side, while reduce the angle of attack of the fixed-wing on the right side of fuselage, so that aircraft rolling to the right.
Aircraft provided by the invention based on multi-rotor aerocraft, the i.e. aircraft equipped with multiple rotors, flies in this kind
The fuselage both sides of device are equipped with fixed-wing, and fixed-wing is arranged on the both sides of fuselage by shaft, and when fixed-wing verts, the angle of attack occurs
Change.When aircraft takeoff, increase lift by gradually increasing rotating speed or the pitch of all rotors, make aircraft vertical
It takes off, while the angle of attack of fixed-wing is adjusted so that its resistance is minimum by controlling the tilt angle of fixed-wing.When aircraft patrols
Endurance adjusts the angle of attack of fixed-wing so that its lift resistance ratio is maximum by controlling the tilt angle of fixed-wing.With flying speed
Increase, fixed-wing generate lift be also continuously increased.Therefore, compared with simple multi-rotor aerocraft, which patrols
It navigates more efficient, voyage and cruise duration are longer.After the resistance of aircraft is equal with the forward pulling force that rotor generates, fly
Row device can keep certain speed cruise.
In the preferred embodiment of the present invention, the power source of dynamical system can be turboaxle motor.It is it should be noted that each
A rotor can share a turboaxle motor, certainly, also can respectively use a turboaxle motor.Turboaxle motor has
There is larger power, the load weight of aircraft can be effectively improved, and course continuation mileage is longer.
The present invention also provides a kind of control method, by controlling the rotating speed of rotor or verting for pitch and fixed-wing
Angle realizes taking off and cruising for aircraft.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 be the specific embodiment of the invention in aircraft takeoff phase schematic top plan view；
Fig. 2 is the connection diagram of fixed-wing and fuselage in the specific embodiment of the invention；
Fig. 3 be the specific embodiment of the invention in aircraft cruising phase front-view schematic diagram；
Fig. 4 be the specific embodiment of the invention in aircraft landing phases schematic top plan view.
In Fig. 1-Fig. 4：
Fuselage -1, fixed-wing -2, dynamical system -3, the first rotor -4, the second rotor -4a, third rotor -4b,
The quadrotor -4c, control system -5, shaft -6, bearing -61.
Specific embodiment
Present embodiment provides a kind of band and verts the multi-rotor aerocraft of fixed-wing, and fixed-wing can incline
Turn, the angle of attack with independent control, can improve the cruise efficiency and load weight of aircraft, and the mobility of aircraft and manipulation
Property is effectively improved.Present embodiment additionally provides a kind of control method of above-mentioned multi-rotor aerocraft.
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
- Fig. 4 is please referred to Fig.1, the aircraft that present embodiment provides on the basis of multi-rotor aerocraft, is set
There is band to vert the fixed-wing 2 of function, it is described in detail below：
The aircraft includes fuselage 1, the fixed-wing 2 for being set to by shaft 61 both sides of fuselage, multiple is set on fuselage 1
Rotor, for driving dynamical system 3 that each rotor wing rotation and fixed-wing 2 vert and for controlling verting for fixed-wing 2
The control system 5 of the rotating speed and pitch of angle and each rotor of control.
It should be noted that shaft 6 can be supported on by bearing 61 on fuselage, the mounting means and the prior art of rotor
The mounting means of middle multi-rotor aerocraft is identical, i.e., each rotor is connected by support arm on the fuselage 1, moreover, each rotor
Rotating speed and pitch can individually be controlled, the pitch regulative mode of each rotor can refer to the paddle of helicopter in the prior art
It is no longer specific herein to introduce away from regulative mode.
In present embodiment, fixed-wing 2 is mounted on two side positions of fuselage 1 by shaft 6, and fixed-wing 2 is with shaft 6
Centered on rotated, to adjust its angle of attack.
It should be noted that the rotating speed and pitch of each rotor and the tilt angle of fixed-wing 2 pass through control system 5
Realize control.
So set, when aircraft takeoff, increase lift by gradually increasing rotating speed or the pitch of all rotors,
Aircraft vertical is made to take off, at the same by control the tilt angle of fixed-wing 2 adjust the angle of attack of fixed-wing 2 so that its resistance most
It is small.When aircraft cruises, by control the tilt angle of fixed-wing 2 adjust the angle of attack of fixed-wing 2 so that its lift resistance ratio most
Greatly.With the increase of flying speed, the lift that fixed-wing 2 generates also is continuously increased.Therefore, with simple multi-rotor aerocraft phase
Than, the cruise efficiency higher of the aircraft, voyage and cruise duration are longer.When the resistance of aircraft generate with rotor it is forward
After pulling force is equal, aircraft can keep certain speed cruise.
In addition, in the preferred embodiment that present embodiment provides, shaft 6 is perpendicular to the plane of symmetry of aircraft.So set
It puts, the rotation center of fixed-wing 2 and the plane of symmetry of aircraft are perpendicular, and the angle of attack adjustment of fixed-wing 2 is more accurate.
In present embodiment, the quantity of rotor can be four, can be that the first rotor 4, second revolves as shown in the figure
Wing 4a, third rotor 4b and quadrotor 4c, wherein, the first rotor 4 and third rotor 4b are located at 1 left side of fuselage, the second rotor
4a and quadrotor 4c is located at the right side of fuselage 1, the first rotor 4 and the second rotor 4a, third rotor 4b and quadrotor 4c with
The aircraft plane of symmetry is symmetrical for the plane of symmetry, in addition, before the first rotor 4 and the second rotor 4a are set to aircraft center of gravity
Side, third rotor 4b and quadrotor 4c are set to the rear side of aircraft center of gravity.
Certainly, the rotor that present embodiment provides is alternatively other quantity, for example, three, five etc., when rotor number
Measure when being three, the rotation center of one of rotor can be located at aircraft center of gravity forward position, and with the aircraft plane of symmetry
It overlaps, other two is symmetrically distributed in the both sides of the aircraft plane of symmetry and positioned at the rearward position of aircraft center of gravity.When rotor is
At five, the rotor that a rotation center coincides with aircraft center of gravity can be increased on the basis of four rotors.Rotor
Setting quantity and set-up mode can be configured according to multi-rotor aerocraft of the prior art, no longer be repeated one by one herein.
Turboaxle motor, whirlpool may be used in the aircraft that present embodiment provides, the power source of dynamical system 3
Taking turns shaft generator has larger power, and course continuation mileage is longer.Dynamical system 3 can utilize Aircraft Steering Engine to drive fixed-wing 2
It verts.
Present embodiment additionally provides a kind of control method of aircraft, for the convenience of description, content will be tied below
The aircraft that tool is closed there are four rotor illustrates.
The control method that present embodiment provides during aircraft takeoff, gradually increases turning for each rotor
Speed or pitch make aircraft vertical take off to increase lift, at the same rotate fixed-wing 2 adjust its angle of attack so that its resistance most
It is small；After aircraft rises to preset height, rotation fixed-wing 2 to horizontality.
When aircraft switchs to cruising condition by takeoff condition, increase the rotating speed or paddle of third rotor 4b and quadrotor 4c
Away from, reduce the rotating speed or pitch of the first rotor 4 and the second rotor 4a so that fuselage 1 gradually leans forward, generated forward using rotor
Pulling force flight forward, while rotate fixed-wing 2 adjust its angle of attack so that its lift resistance ratio is maximum.
When aircraft switchs to landing state by cruising condition, reduce the rotating speed or paddle of third rotor 4b and quadrotor 4c
Away from, increase the rotating speed or pitch of the first rotor 4 and the second rotor 4a so that the posture of fuselage 1 gradually becomes hypsokinesis from leaning forward, profit
The speed of aircraft is reduced with the pulling force backward that rotor generates；When aircraft speed is reduced to pre-set velocity, increase third
The rotating speed or pitch of rotor 4b and quadrotor 4c reduce the first rotor 4 and the rotating speed or pitch of the second rotor 4a, make fuselage 1
Posture gradually become horizontality from hypsokinesis, be then gradually reduced rotating speed or the pitch of all rotors to reduce lift, make
Aircraft vertical lands；In the process, fixed-wing 2 keeps horizontality.
In addition, its gesture stability can be realized by the following method in the aircraft landing stage.By increase direction of rotation with
Aircraft wants the rotating speed or pitch of each rotor of the direction of deflection on the contrary, while reduces direction of rotation and wanted partially with aircraft
The rotating speed or pitch of the identical each rotor in direction turned, so that aircraft is deflected to respective direction.Such as aircraft want to
Right avertence turns, can be by increasing the rotating speed or pitch of the second rotor 4a and third rotor 4b, while reduces the first rotor 4 and the 4th
The rotating speed or pitch of rotor 4c, so that aircraft deflects to the right；Alternatively, such as aircraft wants to deflect to the left, it can be by subtracting
The rotating speed or pitch of small second rotor 4a and third rotor 4b, while increase the first rotor 4 and the rotating speed or paddle of quadrotor 4c
Away from so that aircraft deflects to the left；So achievable aircraft is in the control of the yaw-position in landing stage.
By reducing the rotating speed or pitch of third rotor 4b and quadrotor 4c, increasing the first rotor 4 and the second rotor 4a
Rotating speed or pitch so that fuselage come back；Alternatively, increase the rotating speed or pitch of third rotor 4b and quadrotor 4c, reduce the
The rotating speed or pitch of one rotor 4 and the second rotor 4a, so that fuselage is bowed；So achievable aircraft is in the pitching in landing stage
The control of posture.
By reducing the rotating speed or pitch of the second rotor 4a and quadrotor 4c, increasing the first rotor 4 and third rotor 4b
Rotating speed or pitch so that aircraft rolling to the right；Alternatively, the rotating speed or pitch of the second rotor 4a and quadrotor 4c of increase,
Reduce the rotating speed or pitch of the first rotor 4 and third rotor 4b, so that aircraft rolling to the left；So achievable aircraft is rising
The control of the roll attitude of depression of order section.
And aircraft can control by the following method in each posture of cruising phase.By reducing third rotor 4b and
The rotating speed or pitch of quadrotor 4c increase the first rotor 4 and the rotating speed or pitch of the second rotor 4a, so that fuselage comes back；Alternatively,
Increase the rotating speed or pitch of third rotor 4b and quadrotor 4c, reduce the first rotor 4 and the rotating speed or pitch of the second rotor 4a,
So that fuselage is bowed；So achievable aircraft is in the control of the pitch attitude of cruising phase.
By reducing the rotating speed or pitch of the second rotor 4a and quadrotor 4c, increasing the first rotor 4 and third rotor 4b
Rotating speed or pitch so that aircraft deflects to the right；Alternatively, the rotating speed or pitch of the second rotor 4a and quadrotor 4c of increase,
Reduce the rotating speed or pitch of the first rotor 4 and third rotor 4b, so that aircraft deflects to the left；So achievable aircraft is patrolling
The control of the yaw-position in boat stage.
By the rotating speed or pitch of the opposite each rotor in the direction for increasing direction of rotation with aircraft wants rolling, simultaneously
Reduce the rotating speed or pitch of the direction of rotation each rotor identical with the direction that aircraft wants rolling, so that aircraft is to corresponding
Direction rolling.For example, when aircraft wants rolling to the right, the first rotor 4 and the rotating speed or pitch of quadrotor 4c can be increased, together
When reduce the rotating speed or pitch of the second rotor 4a and third rotor 4b；When aircraft wants rolling to the left, the first rotor 4 can be reduced
With the rotating speed or pitch of quadrotor 4c, while increase the second rotor 4a and third rotor 4b rotating speed or pitch；It so can be real
Existing aircraft is in the control of the roll attitude of cruising phase.It, can also attacking by adjusting fixed-wing 2 in aircraft cruising phase
Angle, with the roll attitude of auxiliary control aircraft.For example, by rotating fixed-wing 2, reduce attacking for the fixed-wing on the left of fuselage
Angle, while increase the angle of attack of the fixed-wing on the right side of fuselage, so that aircraft rolling to the left；By rotating fixed-wing 2, increase fuselage
The angle of attack of the fixed-wing in left side, while reduce the angle of attack of the fixed-wing on the right side of fuselage, so that aircraft rolling to the right；It so can be with
Auxiliary control aircraft is in the roll attitude of cruising phase.
It should be noted that above-mentioned " left side " " right side " is in a top view, using the plane of symmetry of aircraft as reference plane, with machine
The left side and right side that tail is divided to heading for reference orientation.
So set, by control method provided by the invention, rotor is made to realize cooperation rotation, Jin Eryou with fixed-wing 2
Effect improves the cruise efficiency and load weight of aircraft.Moreover, by the control method, the mobility of aircraft and handling
It is effectively improved.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide range caused.
Claims (15)
- The multi-rotor aerocraft of fixed-wing 1. a kind of band verts, which is characterized in that be set to the machine including fuselage, by shaft The fixed-wing of body both sides, multiple rotors being set on the fuselage, for driving each rotor wing rotation and fixed-wing The dynamical system verted and rotating speed and pitch for controlling the tilt angle of the fixed-wing and each rotor of control Control system；During the landing of the multi-rotor aerocraft and during cruise, the control system passes through control It makes the rotating speed of the rotor and pitch realizes the dynamic Control of multi-rotor aerocraft, the control system is by controlling the fixation The tilt angle of the wing realizes the independent control of the angle of attack of the fixed-wing；It is set respectively before and after the center of gravity of the multi-rotor aerocraft There is rotor；In take-off process, increase rotating speed or the pitch of each rotor to increase lift, aircraft vertical is made to take off；By When winged state switchs to cruising condition, increase aircraft center of gravity after rotor rotating speed or pitch, reduce aircraft center of gravity before Rotor rotating speed or pitch so that fuselage gradually leans forward, the forward pulling force flight forward that is generated using rotor is rotated simultaneously Fixed-wing adjusts its angle of attack so that its lift resistance ratio is maximum.
- 2. multi-rotor aerocraft as described in claim 1, which is characterized in that the shaft is perpendicular to the multi-rotor aerocraft The plane of symmetry.
- 3. multi-rotor aerocraft as described in claim 1, which is characterized in that the quantity of the rotor is four, described in four Rotor is symmetrical as the plane of symmetry using the plane of symmetry of the multi-rotor aerocraft, and is uniformly distributed in the multi-rotor aerocraft Before and after center of gravity.
- 4. multi-rotor aerocraft as described in claim 1, which is characterized in that the dynamical system includes power source and aviation rudder Machine, the power source are turboaxle motor, aviation piston engine or motor.
- 5. multi-rotor aerocraft as claimed in claim 4, which is characterized in that the fixed-wing verts by the Aircraft Steering Engine Driving.
- The control method of the multi-rotor aerocraft of fixed-wing 6. a kind of band verts, based on such as claim 1-5 any one of them Multi-rotor aerocraft, which is characterized in that during aircraft takeoff, gradually increase the rotating speed or pitch of each rotor To increase lift, aircraft vertical is made to take off, while rotate fixed-wing and adjust its angle of attack so that its resistance is minimum；When on aircraft It is raised to after preset height, rotation fixed-wing to horizontality.
- 7. control method as claimed in claim 6, which is characterized in that when aircraft switchs to cruising condition by takeoff condition, Increase aircraft center of gravity after rotor rotating speed or pitch, reduce aircraft center of gravity before rotor rotating speed or pitch, with Fuselage is made gradually to lean forward, using rotor generate forward pulling force flight forward, while rotate fixed-wing adjust its angle of attack so that Its lift resistance ratio is maximum.
- 8. control method as claimed in claim 7, which is characterized in that when aircraft switchs to landing state by cruising condition, Reduce aircraft center of gravity after rotor rotating speed or pitch, increase aircraft center of gravity before rotor rotating speed or pitch, with The posture of fuselage is made to gradually become hypsokinesis from leaning forward, the speed of aircraft is reduced using the pulling force backward that rotor generates；When winged 1 when row device speed is reduced to pre-set velocity, the rotating speed or pitch of the rotor after increase aircraft center of gravity reduce aircraft center of gravity The rotating speed or pitch of rotor before make the posture of fuselage gradually become horizontality from hypsokinesis, are then gradually reduced all rotations The rotating speed or pitch of the wing reduces lift, and aircraft vertical is made to land；In the process, fixed-wing keeps horizontality.
- 9. control method as claimed in claim 8, which is characterized in that in the aircraft landing stage, by increasing direction of rotation The rotating speed or pitch of each rotor opposite with the direction that aircraft wants deflection, while reduce direction of rotation and wanted with aircraft The rotating speed or pitch of the identical each rotor in the direction of deflection, so that aircraft is deflected to respective direction.
- 10. control method as claimed in claim 9, which is characterized in that in the aircraft landing stage, reduce aircraft center of gravity it The rotating speed or pitch of each rotor afterwards, the rotating speed or pitch for increasing each rotor before aircraft center of gravity, so that fuselage is lifted Head；Alternatively, increase aircraft center of gravity after each rotor rotating speed or pitch, reduce aircraft center of gravity before each rotor Rotating speed or pitch so that fuselage is bowed.
- 11. control method as claimed in claim 10, which is characterized in that in the aircraft landing stage, reduce on the right side of fuselage The rotating speed or pitch of each rotor, the rotating speed or pitch for increasing each rotor on the left of fuselage, so that aircraft rolling to the right；Or Person increases the rotating speed or pitch of each rotor on the left of the rotating speed of each rotor or the pitch, reduction fuselage on the right side of fuselage, so that Aircraft rolling to the left.
- 12. control method as claimed in claim 11, which is characterized in that in aircraft cruising phase, reduce aircraft center of gravity The rotating speed or pitch of each rotor later, the rotating speed or pitch for increasing each rotor before aircraft center of gravity, so that fuselage It comes back；Alternatively, increase aircraft center of gravity after each rotor rotating speed or pitch, reduce aircraft center of gravity before each rotation The rotating speed or pitch of the wing, so that fuselage is bowed.
- 13. control method as claimed in claim 12, which is characterized in that in aircraft cruising phase, reduce on the right side of fuselage The rotating speed or pitch of each rotor, the rotating speed or pitch for increasing each rotor on the left of fuselage, so that aircraft deflects to the right；Or Person increases the rotating speed or pitch of each rotor on the left of the rotating speed of each rotor or the pitch, reduction fuselage on the right side of fuselage, so that Aircraft deflects to the left.
- 14. control method as claimed in claim 13, which is characterized in that in aircraft cruising phase, pass through increase rotation side The rotating speed or pitch of each rotor opposite to the direction for wanting rolling with aircraft, while reduce direction of rotation and be intended to aircraft The rotating speed or pitch for each rotor for wanting the direction of rolling identical, so that aircraft is to respective direction rolling.
- 15. control method as claimed in claim 14, which is characterized in that in aircraft cruising phase, by rotating fixed-wing, Reduce the angle of attack of the fixed-wing on the left of fuselage, while increase the angle of attack of the fixed-wing on the right side of fuselage, so that aircraft rolling to the left； Alternatively, by rotating fixed-wing, increase the angle of attack of the fixed-wing on the left of fuselage, while reduce attacking for fixed-wing on the right side of fuselage Angle, so that aircraft rolling to the right.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510073872.5A CN104608924B (en) | 2015-02-12 | 2015-02-12 | Band verts the multi-rotor aerocraft and its control method of fixed-wing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510073872.5A CN104608924B (en) | 2015-02-12 | 2015-02-12 | Band verts the multi-rotor aerocraft and its control method of fixed-wing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104608924A CN104608924A (en) | 2015-05-13 |
| CN104608924B true CN104608924B (en) | 2018-07-06 |
Family
ID=53143637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510073872.5A Active CN104608924B (en) | 2015-02-12 | 2015-02-12 | Band verts the multi-rotor aerocraft and its control method of fixed-wing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104608924B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105314105B (en) * | 2015-11-13 | 2017-07-11 | 辽宁通用航空研究院 | Can folding and unfolding wing combined type multi-rotor aerocraft |
| JP2018020742A (en) * | 2016-08-05 | 2018-02-08 | 独立行政法人国立高等専門学校機構 | Flight vehicle, modification kit, control method and control program |
| CN106585979B (en) * | 2016-12-07 | 2019-07-09 | 深圳市元征科技股份有限公司 | A kind of method and unmanned plane of the blade angular adjustment based on unmanned plane propeller |
| CN106871742B (en) * | 2017-01-05 | 2018-07-27 | 北京航天自动控制研究所 | A kind of control system being arranged on body |
| CN107315420A (en) * | 2017-07-01 | 2017-11-03 | 山东翔鸿电子科技有限公司 | A kind of unmanned plane turning method |
| GB2554977B (en) * | 2017-07-21 | 2018-09-26 | Av8Or Ip Ltd | Hybrid multi-rotor unmanned aerial vehicle with adjustable wings |
| CN207809768U (en) * | 2017-11-28 | 2018-09-04 | 深圳市大疆创新科技有限公司 | A kind of unmanned vehicle |
| CN108803643B (en) * | 2018-06-19 | 2021-08-20 | 成都纵横自动化技术股份有限公司 | Flight control method and device, flight controller and composite wing aircraft |
| CN109116860B (en) * | 2018-08-29 | 2022-05-03 | 天津大学 | Nonlinear Robust Control Method for Trirotor UAV |
| CN109466762A (en) * | 2019-01-08 | 2019-03-15 | 贵州剑河中和时代科技有限公司 | A kind of unmanned plane |
| CN110143274B (en) * | 2019-05-13 | 2021-01-15 | 中国人民解放军国防科技大学 | Wing assembly, unmanned aerial vehicle and control method of wing assembly |
| CN116107347B (en) * | 2023-04-12 | 2023-06-30 | 四川腾盾科技有限公司 | Test flight planning method for verifying maximum range index of piston power unmanned aerial vehicle |
| WO2025066275A1 (en) * | 2023-09-28 | 2025-04-03 | 衢州学院 | Aircraft control method and rotorcraft |
| CN118811080A (en) * | 2024-06-04 | 2024-10-22 | 同济大学 | A tilt-wing vertical take-off and landing aircraft and a rotor angle design method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2580312A (en) * | 1947-01-20 | 1951-12-25 | Hamilton K Moore | Convertible airplane and helicopter |
| NO322196B1 (en) * | 2004-07-02 | 2006-08-28 | Simicon As | Hybrid aircraft |
| US20110001020A1 (en) * | 2009-07-02 | 2011-01-06 | Pavol Forgac | Quad tilt rotor aerial vehicle with stoppable rotors |
| CN102358420B (en) * | 2011-07-29 | 2013-08-21 | 中国科学院长春光学精密机械与物理研究所 | Attitude transforming aircraft |
| CN103043212B (en) * | 2011-10-17 | 2016-06-08 | 优利科技有限公司 | Composite aircraft composed of fixed wing and electric multi-rotor |
| CN103861291B (en) * | 2014-03-31 | 2016-02-03 | 王丽芸 | The four-axle aircraft toy of automatic omnidirectional tracking target and control method thereof |
| CN204507265U (en) * | 2015-02-12 | 2015-07-29 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Be with the multi-rotor aerocraft of the fixed-wing that verts |
-
2015
- 2015-02-12 CN CN201510073872.5A patent/CN104608924B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104608924A (en) | 2015-05-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104608924B (en) | Band verts the multi-rotor aerocraft and its control method of fixed-wing | |
| US11084578B2 (en) | Redundant drive train for pylon mounted rotors | |
| AU2019203204B2 (en) | Vertical takeoff and landing (VTOL) air vehicle | |
| US11180248B2 (en) | Fixed wing aircraft with trailing rotors | |
| CN105539834B (en) | A kind of composite wing vertical take-off and landing drone | |
| CN103129737A (en) | Inclined fixed wing unmanned plane | |
| CN106240814A (en) | A kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer | |
| CN203332392U (en) | Tiltable-rotation type fixed-wing unmanned aerial vehicle | |
| CN108394556A (en) | A kind of efficient tilting rotor wing unmanned aerial vehicle | |
| CN108791818A (en) | A kind of novel tilting wing unmanned plane with variable-pitch propeller | |
| WO2017042291A1 (en) | Aircraft for transport and delivery of payloads | |
| CN109263932A (en) | A kind of multi-rotor aerocraft being vertically moved up or down | |
| CN205998126U (en) | A kind of unmanned plane during flying system | |
| US20200172243A1 (en) | Asymmetric aerial vehicle | |
| CN105329441B (en) | A kind of four axis all-wing aircraft aircraft of combined type | |
| CN207482180U (en) | Aircraft | |
| CN107757876A (en) | Aircraft | |
| CN114802742A (en) | Vertical and horizontal dual-purpose aircraft based on tilting power | |
| CN216994841U (en) | Vertical and horizontal dual-purpose aircraft based on tilting power | |
| RU2746770C1 (en) | Vertical take-off and landing aircraft and its flight control method | |
| CN211223856U (en) | Unmanned aerial vehicle with vertical rotor and oblique rotor fixed in mixed mode | |
| CN211055368U (en) | Tandem five-rotor helicopter | |
| CN109878700A (en) | A kind of feather combination wing vertical take-off and landing drone | |
| CN117699086A (en) | High maneuver tailstock type aircraft with grid wings without control surfaces | |
| JP2703220B2 (en) | Vertical attitude landing aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 643000 No.9 Aviation Avenue, Zigong Aviation Industrial Park, Sichuan Province Patentee after: China Electric Special Aircraft Systems Engineering Co., Ltd. Address before: 618300 No. 74 Taizhong Road, Guanghan City, Deyang City, Sichuan Province Patentee before: In Dianke (Deyang Guanghan) Special Aircraft System Engineering Co. Ltd. |