CN106828910A - A kind of attitude coutrol mechanism of culvert type VUAV - Google Patents
A kind of attitude coutrol mechanism of culvert type VUAV Download PDFInfo
- Publication number
- CN106828910A CN106828910A CN201710187277.3A CN201710187277A CN106828910A CN 106828910 A CN106828910 A CN 106828910A CN 201710187277 A CN201710187277 A CN 201710187277A CN 106828910 A CN106828910 A CN 106828910A
- Authority
- CN
- China
- Prior art keywords
- rudder face
- fixed
- propeller
- vuav
- fixed rudder
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
- B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
- B64C29/0025—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being fixed relative to the fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8263—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft comprising in addition rudders, tails, fins, or the like
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of attitude coutrol mechanism of culvert type VUAV, including fixed rudder face, rotation rudder face, Servo-controller, rudder face connecting rod, propeller, power-driven mechanism.Fixed rudder face is angled on fuselage with vertical axes, rotates rudder face and is installed on immediately below fixed rudder face, and Servo-controller is connected by rudder face connecting rod with rudder face is rotated, and rudder face is rotated according to control system order-driven, adjusts UAV Attitude.Structure of the present invention, the reaction torque that fixed rudder face is produced increases and increases with revolution speed of propeller；Rotate rudder face and constitute the overall structure of similar " wing " with fixed rudder face, the full machine moment variations that its deflection is produced are the torque sums that the torque for itself producing is produced with fixed rudder face；Rotate rudder face to be installed on immediately below fixed rudder face, improve its separate condition in wide-angle, so as to produce bigger control moment, enhance the handling and sensitivity of unmanned plane, the need for effectively having adapted to realize that highly difficult, complicated unmanned plane is acted.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, and in particular to a kind of gesture stability machine of culvert type VUAV
Structure.
Background technology
Unmanned plane is a kind of smaller, unmanned build, can in the air realize autonomous flight and perform certain task
Aircraft.Unmanned plane also represents because the application of its uniqueness all obtains extensive use in Military and civil fields in recent years and develops rapidly
It is an important development direction of following aviation.Especially the research of VUAV is for researcher, fan and army
It is all very popular in thing, how to realize housing construction compactedness, produce bigger lift, and how to complete compound action, height
Difficulty task, increases maneuverability and sensitivity of the VUAV in flat boat, is technical barrier urgently to be resolved hurrily.
The content of the invention
The present invention proposes a kind of achievable VTOL, and UAV Attitude, the culvert high of maneuverability, sensitivity is adjusted flexibly
The attitude coutrol mechanism of road formula VUAV.Compared to existing unmanned plane, with lift is steady, compact conformation, can
Fly flat, during vertical flight, complete highly difficult, compound action.
The present invention is achieved like this, the attitude coutrol mechanism of the culvert type VUAV, including fixed rudder
Face, rotation rudder face, propeller, power-driven mechanism, fixed rudder face are angled installed in unmanned aerial vehicle body knot with vertical axes
On structure, rotate the underface that rudder face is arranged on fixed rudder face, installation site and fixed rudder face keep fixed interval (FI), fixed rudder face with
Engine prop Plane of rotation is angled, is used to offset the reaction torque brought when propeller rotates；The fixed rudder face
The reaction torque of generation increases as propeller produces the increase of moment of torsion, to offset the propeller torque under different rotating speeds.
Preferably, also including Servo-controller, rudder face connecting rod, Servo-controller is connected by rudder face connecting rod with rudder face is rotated, root
Rudder face is rotated according to the order-driven of unmanned aerial vehicle control system, UAV Attitude is adjusted.
Preferably, fixed rudder face has 4 altogether, into the distribution of " ten " font Central Symmetry.
Preferably, during the rotation control surface deflection, while changing the pressure distribution situation of fixed rudder face, fixed rudder face is produced
It is beneficial to the torque of unmanned aerial vehicle (UAV) control.
Compared with prior art, the advantage of the invention is that：
Using structure described in the present invention program, when revolution speed of propeller increases, the air velocity below propeller increases therewith
Plus, power of the airflow function on fixed rudder face increases therewith, therefore the reaction torque that fixed rudder face is produced is consequently increased；Rotate rudder
Face constitutes the overall structure of similar " wing " with fixed rudder face, when control surface deflection is rotated, can simultaneously change fixed rudder
The pressure distribution situation in face, and then make to fix rudder face and produce to be beneficial to the torque of unmanned aerial vehicle (UAV) control, therefore, rotate what rudder face brought
Moment variations are the torque sum that the torque that own rotation angle is brought is produced with fixed rudder face；Rudder face is rotated to pacify with certain interval
Loaded on fixed rudder face lower section, separation situation of the rudder face under wide-angle state can be improved, improve the angle for rotating rudder face work
Degree scope, and then bigger control moment is produced, it is beneficial to the gesture stability of unmanned plane, specific aim enhances UAV Attitude tune
Whole handling and sensitivity, the need for effectively having adapted to realize that highly difficult, complicated unmanned plane is acted.
Brief description of the drawings
Fig. 1 is front view of the invention.
Specific embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
Its specific embodiment is：
A kind of attitude coutrol mechanism of culvert type VUAV, including fixed rudder face 1, rotation rudder face 2, servorudder
Machine 3, rudder face connecting rod 4, propeller 5, power-driven mechanism, fixed rudder face 1 are angled installed in unmanned plane machine with vertical axes
On body structure, the underface that rudder face 2 is arranged on fixed rudder face 1 is rotated, installation site keeps fixed interval (FI), watches with fixed rudder face 1
Take steering wheel 3 to be connected with each rotation rudder face 2 by controlling each rudder face connecting rod 4, the order-driven according to unmanned aerial vehicle control system is rotated
Rudder face 2, plays the effect of regulation UAV Attitude.
Fixed rudder face 14 altogether, into the distribution of " ten " font Central Symmetry, with the Plane of rotation of engine prop 5 into certain
Angle, is used to offset the reaction torque brought when propeller 5 rotates.The reaction torque that the fixation rudder face 1 is produced is produced with propeller 5
The increase of moment of torsion and increase, can be very good to offset the moment of torsion of propeller 5 under different rotating speeds, its principle is：The rotating speed of propeller 5
Increase, the air velocity of the lower section of propeller 5 increases therewith, power of the airflow function on fixed rudder face 1 increases therewith, therefore fixed
The reaction torque that rudder face 1 is produced is consequently increased.
Rotate rudder face 2 to be arranged on immediately below fixed rudder face 1, and certain gap is kept with fixed rudder face 1, can be larger
Control moment needed for being produced in angular range, solves Traditional control rudder face control dynamics not good enough from aerodynamics angle
Problem.Its principle is：Rotate rudder face 2 and constitute the overall structure of similar " wing " with fixed rudder face 1, rotate rudder face
During 2 deflection, can simultaneously change the pressure distribution situation of fixed rudder face 1, and then make to fix rudder face 1 and produce to be beneficial to unmanned aerial vehicle (UAV) control
Torque, therefore rotate the power that the moment variations brought of rudder face 2 are produced for torque that own rotation angle is brought with fixed rudder face 1
Square sum；Rotate rudder face 2 and the lower section of fixed rudder face 1 be installed on certain interval, can improve rudder face under wide-angle state point
From situation, the angular range for rotating the work of rudder face 2 is improve, and then produce bigger control moment, be beneficial to the appearance of unmanned plane
State is controlled.
Certainly, the present invention can also have other various embodiments, ripe in the case of without departing substantially from spirit of the invention and its essence
Know those skilled in the art and work as and various corresponding changes and deformation, but these corresponding changes and change can be made according to the present invention
Shape should all belong to the protection domain of appended claims of the invention.
Claims (4)
1. a kind of attitude coutrol mechanism of culvert type VUAV, it is characterised in that including fixed rudder face (1), rotate
Rudder face (2), propeller (5), power-driven mechanism, fixed rudder face (1) are angled installed in unmanned aerial vehicle body with vertical axes
In structure, rudder face (2) is rotated installed in the underface of fixed rudder face (1), between installation site and fixed rudder face (1) keep fixing
Gap, fixed rudder face (1) is angled with engine prop (5) Plane of rotation, is used to offset when propeller (5) rotates and brings
Reaction torque；The reaction torque that the fixed rudder face (1) produces increases as propeller (5) produces the increase of moment of torsion, to offset
Propeller (5) moment of torsion under different rotating speeds.
2. the attitude coutrol mechanism of a kind of culvert type VUAV according to claim 1, it is characterised in that：Also
Including Servo-controller (3), rudder face connecting rod (4), Servo-controller (3) is connected by rudder face connecting rod (4) with rudder face (2) is rotated, according to
The order-driven of unmanned aerial vehicle control system rotates rudder face (2), adjusts UAV Attitude.
3. the attitude coutrol mechanism of a kind of culvert type VUAV according to claim 1, it is characterised in that：Gu
Determine rudder face (1) and have 4 altogether, into the distribution of " ten " font Central Symmetry.
4. the attitude coutrol mechanism of a kind of culvert type VUAV according to claim 1, it is characterised in that：Institute
When stating rotation rudder face (2) deflection, while changing the pressure distribution situation of fixed rudder face (1), fixed rudder face (1) produces and is beneficial to nothing
Ergonomic torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710187277.3A CN106828910A (en) | 2017-03-27 | 2017-03-27 | A kind of attitude coutrol mechanism of culvert type VUAV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710187277.3A CN106828910A (en) | 2017-03-27 | 2017-03-27 | A kind of attitude coutrol mechanism of culvert type VUAV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106828910A true CN106828910A (en) | 2017-06-13 |
Family
ID=59129831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710187277.3A Pending CN106828910A (en) | 2017-03-27 | 2017-03-27 | A kind of attitude coutrol mechanism of culvert type VUAV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106828910A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110844059A (en) * | 2019-10-14 | 2020-02-28 | 北京航空航天大学 | A variable inclination double rotor pneumatic rudder unmanned aerial vehicle |
| CN111409854A (en) * | 2020-04-13 | 2020-07-14 | 涵涡智航科技(玉溪)有限公司 | Device for measuring lift force of control surface of ducted aircraft |
| CN112455657A (en) * | 2020-12-11 | 2021-03-09 | 中国航天空气动力技术研究院 | Steering engine torque compensation mechanism for reducing torque of control surface |
| CN117104546A (en) * | 2023-10-16 | 2023-11-24 | 中国空气动力研究与发展中心计算空气动力研究所 | Multi-duct unmanned aerial vehicle and control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0661206A1 (en) * | 1992-12-28 | 1995-07-05 | Hughes Missile Systems Company | An unmanned vertical take-off and landing, horizontal cruise, air vehicle |
| CN201211928Y (en) * | 2008-05-29 | 2009-03-25 | 哈尔滨盛世特种飞行器有限公司 | Culvert single rotor saucer-shaped unmanned aircraft |
| CN101704415A (en) * | 2009-11-17 | 2010-05-12 | 哈尔滨盛世特种飞行器有限公司 | Ducted single-propeller saucer-shaped unmanned aerial vehicle |
| CN101934858A (en) * | 2010-07-08 | 2011-01-05 | 王泽峰 | Miniature electric ducted propeller type intelligent unmanned aerial vehicle |
| US20110180671A1 (en) * | 2010-01-28 | 2011-07-28 | Honeywell International Inc. | Differential vane vehicle control |
| CN102673775A (en) * | 2012-05-15 | 2012-09-19 | 北京理工大学 | Design method of reactive torque rudder structure |
-
2017
- 2017-03-27 CN CN201710187277.3A patent/CN106828910A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0661206A1 (en) * | 1992-12-28 | 1995-07-05 | Hughes Missile Systems Company | An unmanned vertical take-off and landing, horizontal cruise, air vehicle |
| CN201211928Y (en) * | 2008-05-29 | 2009-03-25 | 哈尔滨盛世特种飞行器有限公司 | Culvert single rotor saucer-shaped unmanned aircraft |
| CN101704415A (en) * | 2009-11-17 | 2010-05-12 | 哈尔滨盛世特种飞行器有限公司 | Ducted single-propeller saucer-shaped unmanned aerial vehicle |
| US20110180671A1 (en) * | 2010-01-28 | 2011-07-28 | Honeywell International Inc. | Differential vane vehicle control |
| CN101934858A (en) * | 2010-07-08 | 2011-01-05 | 王泽峰 | Miniature electric ducted propeller type intelligent unmanned aerial vehicle |
| CN102673775A (en) * | 2012-05-15 | 2012-09-19 | 北京理工大学 | Design method of reactive torque rudder structure |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110844059A (en) * | 2019-10-14 | 2020-02-28 | 北京航空航天大学 | A variable inclination double rotor pneumatic rudder unmanned aerial vehicle |
| CN111409854A (en) * | 2020-04-13 | 2020-07-14 | 涵涡智航科技(玉溪)有限公司 | Device for measuring lift force of control surface of ducted aircraft |
| CN111409854B (en) * | 2020-04-13 | 2021-07-16 | 涵涡智航科技(玉溪)有限公司 | Device for measuring lift force of control surface of ducted aircraft |
| CN112455657A (en) * | 2020-12-11 | 2021-03-09 | 中国航天空气动力技术研究院 | Steering engine torque compensation mechanism for reducing torque of control surface |
| CN117104546A (en) * | 2023-10-16 | 2023-11-24 | 中国空气动力研究与发展中心计算空气动力研究所 | Multi-duct unmanned aerial vehicle and control method |
| CN117104546B (en) * | 2023-10-16 | 2024-01-05 | 中国空气动力研究与发展中心计算空气动力研究所 | Multi-duct unmanned aerial vehicle and control method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |
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| RJ01 | Rejection of invention patent application after publication |