CN106542093A - Efficient multi-rotor aerocraft - Google Patents
Efficient multi-rotor aerocraft Download PDFInfo
- Publication number
- CN106542093A CN106542093A CN201710016976.1A CN201710016976A CN106542093A CN 106542093 A CN106542093 A CN 106542093A CN 201710016976 A CN201710016976 A CN 201710016976A CN 106542093 A CN106542093 A CN 106542093A
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- rotor
- power
- motor
- attitude
- power rotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention proposes a kind of efficient multi-rotor aerocraft, and the rotor of control power and control attitude is individually arranged.Power rotor is only responsible for flight altitude control, is slowly run acquisition higher efficiency using large scale rotor.Attitude rotor is responsible for comprehensive gesture stability, using the more flexible power saving of the quick speed change of small size rotor.Beneficial effects of the present invention are：Above measure can be kept for longer cruising time with less electricity, realize the efficient flight of multi-rotor aerocraft.
Description
Technical Field
The invention relates to the technical field of multi-rotor aircrafts, in particular to a high-efficiency multi-rotor aircraft.
Background
The multi-rotor aircraft is an aircraft with simple structure, flexible control and stable flight attitude. Generally, different types such as four-axis, six-axis, eight-axis, etc. are common. Thanks to the development of micro-electromechanical and sensor technologies in recent years, the multi-rotor aircraft is widely applied to the fields of aeromodelling, aerial shooting platforms and the like.
Taking the most common four-axis aircraft with X-type layout as an example, the control method of the multi-rotor aircraft generally comprises the following steps: the flight control sends out height control signal, and all rotor increase and decrease the rotational speed in step, and the flight control sends course control signal, and two sets of rotor that are in the diagonal increase and decrease the rotational speed respectively, and the flight control sends every single move, roll control signal, and two sets of adjacent rotor increase and decrease the rotational speed respectively.
The multi-rotor aircraft is powered by a battery. The sensors, the processor, the motor and the like all need to be powered by batteries, and particularly, the power consumption of the motor for providing power is the largest. The battery-powered multi-rotor aircraft is limited in the current battery technology development level, the battery-powered multi-rotor aircraft is short in cruising time and small in load capacity, and the performance and application fields of the multi-rotor aircraft are greatly limited. To overcome the disadvantage of short endurance time of multi-rotor aircraft, many approaches have been considered to increase endurance time of multi-rotor aircraft, such as: fuel engines are used as power, balloons are used as auxiliary power, and fuel cells and the like are utilized. These solutions, however, have such disadvantages. For example, fuel engine solutions have certain drawbacks in terms of vibration, noise, response speed, safety. The fuel cell technology is not mature, the balloon auxiliary power body is huge, and the influence of wind is large.
Generally, rotors are large in size and operate at relatively low speeds with high flight efficiency, but rapid speed changes are difficult and have limited flexibility. Conversely, rotors are small in size and operate at higher speeds with less efficient flight but greater flexibility. The present battery power multi-rotor aircraft, the rotor generally adopt the same size, can't compromise the high efficiency of jumbo size rotor and the advantage of small-size rotor flexibility.
Many rotor crafts keep the various flight attitudes of aircraft through constantly each rotor rotational speed of quick adjustment, and frequent variable speed can increase the electric quantity consumption and reduce the time of endurance, if the rotor can rotate with the constant speed or the frequency and the range that minimize the variable speed can effectively reduce the energy consumption, extension time of endurance.
Disclosure of Invention
The utility model provides a high-efficient many rotor crafts, includes rotor mechanism, undercarriage, cabin, installs in the cabin and flies accuse case, group battery, load compartment, its characterized in that:
the rotor wing mechanism comprises a power rotor wing, a power rotor wing motor, a power rotor wing bracket, a posture rotor wing motor and a posture rotor wing bracket,
the power rotor wings are driven by a power rotor wing motor in a direct connection mode or in a speed reduction linkage mode, the number of the power rotor wings is two or more than two, the power rotor wings are in even number, every two power rotor wings are in a group, the power rotor wings are symmetrically and vertically arranged at two ends of a power rotor wing bracket relative to a vertical central axis of an aircraft, and every two power rotor wings are in a group and respectively adopt positive propellers and negative propellers with;
the attitude rotor wings are directly driven by an attitude rotor wing motor in a direct connection mode, the number of the attitude rotor wings is four or more than four, the number of the attitude rotor wings is even, every two attitude rotor wings are in a group and are symmetrically distributed relative to the vertical middle axis of the aircraft, the same size of positive propellers is adopted, the same size of negative propellers is adopted, the number of the positive propellers and the number of the negative propellers of all the attitude rotor wings are equal, and the multiple groups of the attitude rotor wings are mutually crossed and are;
the product of the area of the power rotor wing and the lift coefficient is larger than that of the attitude rotor wing, and the maximum power of the power rotor wing motor is larger than that of the attitude rotor wing motor;
the power rotor motor is connected with an electric regulation signal, the electric regulation is in signal connection with a remote controller receiver, the remote controller receiver is in wireless signal connection with a remote controller, the remote controller only transmits a height control signal to the power rotor motor or the power rotor motor is in signal connection with the electric regulation, the electric regulation is in signal connection with a flight control box, and the flight control box only transmits the height control signal to the power rotor motor;
the attitude rotor motor is in signal connection with an electric speed controller, the electric speed controller is in signal connection with a flight control box, and the flight control box transmits height, course, roll and pitching control signals to the attitude rotor motor.
Furthermore, the mode that the power rotor is linked by the power rotor motor speed reduction includes the speed reduction linkage through a speed reduction gear set or a speed reduction belt pulley set.
Furthermore, the KV value of the power rotor wing motor is smaller than that of the attitude rotor wing motor.
Furthermore, the power rotor wing adopts a low-speed paddle type.
Compared with the prior art, the high-efficiency multi-rotor aircraft has the following characteristics and advantages:
1. the high-efficiency multi-rotor aircraft functionally distinguishes a power rotor for providing power and a posture rotor for adjusting the posture. Brings a larger degree of freedom for designing a high-efficiency multi-rotor aircraft. Each rotor function of traditional many rotor crafts is the same, has both undertaken the power function and has undertaken the gesture function, and is limited more when chooseing for use rotor size and rotor motor power. The invention separates the power function and the posture function, and can more optimally realize the power and posture adjusting function. Because the power rotor motor only runs at a fixed speed or only participates in height control and does not participate in course, pitching and rolling attitude adjustment, the rotating speed change frequency and amplitude of the power rotor motor are greatly reduced, a method of low speed and large propeller can be adopted to obtain higher power efficiency, electric quantity is saved, and endurance time is prolonged. In a similar way, the attitude rotor wing for adjusting the attitude can realize the effect of more flexibility and power saving through miniaturization.
2. According to the efficient multi-rotor aircraft, the KV value of the power rotor motor is lower, so that better torque performance can be obtained to drive a rotor with a larger size, and higher force effect can be obtained. The posture rotor motor has higher KV value and quick speed change, and is favorable for obtaining better flexibility.
3. The power rotor of the high-efficiency multi-rotor aircraft adopts a low-speed propeller type. The slow-speed oar can realize great pulling force under low rotational speed, can exert higher efficiency. The outer side of the propeller is large in area and thick and solid, and the propeller root is thin. The adoption of the low-speed paddle is beneficial to obtaining higher power efficiency at low rotating speed, saving power consumption and prolonging the endurance time.
The features and advantages of the present invention will become more apparent from the detailed description of the invention when taken in conjunction with the drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a perspective view of a six-axis high-efficiency multi-rotor aircraft according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of an eight-axis high-efficiency multi-rotor aircraft according to embodiment 2 of the present invention;
wherein,
1. the power rotor, 2, power rotor motor, 3, gesture rotor support, 4, gesture rotor, 5, gesture rotor motor, 6, cabin, 61, fly the accuse case, 62, group battery, 63, load compartment, 7, undercarriage, 8, power rotor support.
Detailed Description
The invention is described in detail below with reference to the drawings and the detailed description.
As shown in fig. 1, the present embodiment 1 provides a high-efficiency multi-rotor aircraft in which a nacelle 6 is attached to a landing gear 7. The flight control box 61, the battery pack 62 and the load compartment 63 are installed inside the nacelle 6. The installation is connected with power rotor support 8 on cabin 6, and the vertical power rotor motor 2 that is installed in 8 both ends of power rotor support, installation connection power rotor 1 on the rotation axis of power rotor motor 2. The power rotor quantity is 2 and adopts the same positive oar of size and anti-oar respectively, can offset the moment of torsion effect to the fuselage each other when providing syntropy pulling force. The erection joint has gesture rotor support 3 on cabin 6, and the vertical gesture rotor motor 5 of installing in 3 outer ends of gesture rotor support, erection joint gesture rotor 4 on the rotation axis of gesture rotor motor 5. The quantity of gesture rotor is 4, and two liang of relative aircraft vertical middle axis symmetric distribution adopts the same positive oar of size and anti-oar respectively around the fuselage, and is unanimous with diagonal gesture rotor oar type. The battery pack 62 is electrically connected to the flight control box 61 via a wire. The power rotor motor 2 and the attitude rotor motor 5 are electrically connected through an electric regulator installed in the flight control box 61. The power rotor motor 2 and the attitude rotor motor 5 are electrically adjusted and connected with a flight control signal in the flight control box.
The main power of the high-efficiency multi-rotor aircraft is provided by the power rotor 1. The size and the area of the power rotor wing 1 are larger than those of the attitude rotor wings 4, and the maximum power of the power rotor wing motor 2 is larger than that of the attitude rotor wings 5. A larger size rotor rotates at a lower speed to facilitate higher flight efficiency. When the load of the aircraft is constant, the power rotor wing 1 provides a constant value of pulling force equal to the total weight of the aircraft, and the pulling force is used as main power to overcome the gravity of the aircraft and does not participate in the adjustment of the aircraft, pitching, rolling and course postures. The aircraft altitude, pitch, roll, course flight attitude are responsible for by four attitude rotors 4. The power rotor wing does not participate in the control of course, pitching and rolling postures, the amplitude and the frequency of the change of the rotating speed in the flying process are greatly reduced, and the electric power is saved. The size and the area of the attitude rotor wing 4 are small, a low-power motor is selected, and the speed change is flexible and the electricity is saved. The control logic of the four attitude rotors 4 for controlling the attitude of the aircraft is the same as that of the traditional four-axis aircraft, so that the flight control development difficulty is greatly reduced.
The specific control method is explained below:
firstly, taking off:
step 1: the remote controller wirelessly sends a takeoff command to the flight control box 61.
Step 2: the flight control box 61 sends a constant speed rotation signal to the power rotor motor 2. The power rotor motor 2 generates a constant value lift force. This lift is preferably exactly equal to the aircraft gravity.
And step 3: flight control box 61 sends attitude adjustment commands to attitude rotor motor 5, including height, heading, pitch, and roll attitude adjustment signals.
And 4, step 4: the aircraft takes off and rises to a specified altitude.
Second, hover
Step 1: the remote control sends a hover signal to flight control box 61.
Step 2: the constant-speed rotation signal sent by the flight control box 61 to the power rotor motor 2 is maintained unchanged, the attitude sensor in the flight control box 61 senses the hovering state and sends a state signal to the processor, and after the signal is processed by the flight control processor, the attitude sensor sends a height, course, pitching and rolling attitude adjustment signal to the attitude rotor motor 5 to keep hovering.
Third, flight
Step 1: the remote controller sends flight signals to the flight control box 61, and the flight signals comprise forward and backward movement, course rotation and lateral flying and transverse movement.
Step 2: the constant speed rotation signal sent by flight control box 61 to power rotor motor 2 remains unchanged. The flight control box 61 sends a pitching signal to the attitude rotor motor 5 to realize forward and backward movement; sending a course signal, and enabling the aircraft to spin to realize a course rotating function; the aircraft sends out a roll signal to realize the function of lateral movement.
Four, fall
Step 1: the remote control issues a landing command to flight control box 61.
And 2, sending a height reducing signal to the power rotor motor 2 by the flight control box 61, and reducing the rotation speed of the power rotor motor 2 to generate lift force lower than the gravity of the aircraft. The flight control box 61 sends signals for controlling height, roll, pitch and course to the attitude rotor motor 5. The aircraft is lowered in height under the control of the self gravity and the attitude rotor motor 5 to realize landing.
FIG. 2: is a schematic diagram of an eight-axis high-efficiency multi-rotor aircraft according to embodiment 2 of the present invention. Wherein four A rotors are power rotors 1, and the specification is 14 x 47 of APC company, power motor model 4008. The four B rotors are attitude rotors 4, the specification of which is APC company 11 x 47, and the model of an attitude rotor motor 4004.
In order to further verify the advantages and the high efficiency of the invention, a endurance comparison experiment is carried out. The two prototype machines in the experiment comparison are respectively: model 1 is a traditional eight-axis multi-rotor aircraft, and model 2 is an eight-axis high-efficiency multi-rotor aircraft.
Table 1: endurance time data comparison table
The experimental prototype adopts the same specification battery, and the weight of taking off is the same. A conventional eight-axis aircraft employs eight 12 x 45 sized propellers of the same size and motors of the same size. The eight-axis high-efficiency multi-rotor aircraft has the advantages that the size and the area of four power rotors are larger, the power of four rotor motors is larger, and the eight-axis high-efficiency multi-rotor aircraft is only responsible for controlling the flight height of the aircraft. The attitude rotor wing is responsible for flying height. And controlling course, pitching and rolling postures. The data in the table 1 show that the efficient multi-rotor aircraft effectively prolongs the endurance time by 50% under the condition of the same size battery and the same takeoff weight, and further verifies the effectiveness and superiority of the efficient multi-rotor aircraft.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (4)
1. The utility model provides a high-efficient many rotor crafts, includes rotor mechanism, undercarriage, cabin, installs in the cabin and flies accuse case, group battery, load compartment, its characterized in that:
the rotor wing mechanism comprises a power rotor wing, a power rotor wing motor, a power rotor wing bracket, a posture rotor wing motor and a posture rotor wing bracket,
the power rotor wings are driven by a power rotor wing motor in a direct connection mode or in a speed reduction linkage mode, the number of the power rotor wings is two or more than two, the power rotor wings are in even number, every two power rotor wings are in a group, the power rotor wings are symmetrically and vertically arranged at two ends of a power rotor wing bracket relative to a vertical central axis of an aircraft, and every two power rotor wings are in a group and respectively adopt positive propellers and negative propellers with;
the attitude rotor wings are directly driven by an attitude rotor wing motor in a direct connection mode, the number of the attitude rotor wings is four or more than four, the number of the attitude rotor wings is even, every two attitude rotor wings are in a group and are symmetrically distributed relative to the vertical middle axis of the aircraft, the same size of positive propellers is adopted, the same size of negative propellers is adopted, the number of the positive propellers and the number of the negative propellers of all the attitude rotor wings are equal, and the multiple groups of the attitude rotor wings are mutually crossed and are;
the product of the area of the power rotor wing and the lift coefficient is larger than that of the attitude rotor wing, and the maximum power of a motor of the power rotor wing is larger than that of the motor of the attitude rotor wing;
the power rotor motor is connected with an electric regulation signal, the electric regulation is in signal connection with a remote controller receiver, the remote controller receiver is in wireless signal connection with a remote controller, the remote controller only transmits a height control signal to the power rotor motor or the power rotor motor is in signal connection with the electric regulation, the electric regulation is in signal connection with a flight control box, and the flight control box only transmits the height control signal to the power rotor motor;
the attitude rotor motor is in signal connection with an electric speed controller, the electric speed controller is in signal connection with a flight control box, and the flight control box transmits height, course, roll and pitching control signals to the attitude rotor motor.
2. The high efficiency multi-rotor aerial vehicle of claim 1, wherein: the mode that power rotor was linked by power rotor motor speed reduction includes through reduction gear group or speed reduction belt pulley group speed reduction linkage.
3. The high efficiency multi-rotor aerial vehicle of claim 1, wherein: the KV value of the power rotor wing motor is smaller than that of the attitude rotor wing motor.
4. The high efficiency multi-rotor aerial vehicle of claim 1, wherein: the power rotor adopts a low-speed propeller type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016976.1A CN106542093A (en) | 2017-01-11 | 2017-01-11 | Efficient multi-rotor aerocraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710016976.1A CN106542093A (en) | 2017-01-11 | 2017-01-11 | Efficient multi-rotor aerocraft |
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| CN106542093A true CN106542093A (en) | 2017-03-29 |
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| CN201710016976.1A Pending CN106542093A (en) | 2017-01-11 | 2017-01-11 | Efficient multi-rotor aerocraft |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106915469A (en) * | 2017-04-14 | 2017-07-04 | 深圳市轻准科技有限公司 | Mixed dynamic unmanned plane |
| CN112193410A (en) * | 2020-05-20 | 2021-01-08 | 杭州肇鹏科技有限公司 | Multi-rotor aircraft with continuously variable transmission |
| JP2022113814A (en) * | 2020-09-17 | 2022-08-04 | 株式会社石川エナジーリサーチ | Engine-mounted autonomous flight device |
| WO2023026797A1 (en) * | 2021-08-26 | 2023-03-02 | 株式会社石川エナジーリサーチ | Engine-carrying flight device |
| WO2024142196A1 (en) * | 2022-12-27 | 2024-07-04 | 株式会社クボタ | Flying apparatus |
| WO2024142240A1 (en) * | 2022-12-27 | 2024-07-04 | 株式会社クボタ | Unmanned aerial vehicle, and unmanned aerial vehicle control system and control method |
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| WO2024142240A1 (en) * | 2022-12-27 | 2024-07-04 | 株式会社クボタ | Unmanned aerial vehicle, and unmanned aerial vehicle control system and control method |
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Application publication date: 20170329 |