CN108128448A - The coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas and its control method - Google Patents

Abstract

The invention discloses a double tail support type coaxial tilting rotor unmanned aerial vehicle, which belongs to the field of aircraft. The UAV includes a rotor, a rotor hub, a wing, a fuselage, a tail support, an empennage and a rotor shaft, the rotor hub is installed on the head of the fuselage through the rotor shaft, and the rotor is installed on the rotor hub; The rotors are coaxial upper and lower rotors, the upper and lower rotors have several blades respectively, and the rotation direction of the upper rotor and the lower rotor is opposite; the wings on both sides are fixedly connected with the fuselage, and there are ailerons on the wings; the tail is H-shaped Layout, including the vertical tail and the flat tail, the two vertical tails are fixed on the main beam of the wing through the tail brace, and there is a degree of freedom of rotation between the tail brace and the wing main beam, so that the angle between the rotor axis and the tail brace changes The range is 0-90°; the horizontal tail is installed horizontally between the two vertical fins, and the rudder is installed on the vertical tail for heading control, and the elevator is installed on the horizontal tail for pitch control. The UAV has the characteristics of light structure, low cost, strong environmental adaptability, good high-speed performance and long cruising time.

Description

Twin-tail support coaxial tilt-rotor unmanned aerial vehicle and its control method

technical field

The invention belongs to the field of aircraft, and in particular relates to a double tail support type coaxial tilting rotor unmanned aerial vehicle.

Background technique

Tilt rotor aircraft is a kind of composite aircraft combining helicopters and fixed-wing aircraft. It has both the advantages of helicopters and fixed-wing aircraft, and has received more and more attention in recent years. Helicopters have the functions of hovering and vertical take-off and landing, have low dependence and requirements on the airport, and have high flexibility. They have extremely wide application value in both military and civilian fields. The problem of leaf airflow separation limits the improvement of the maximum forward flight speed of the helicopter; while the fixed-wing aircraft can reach transonic or even supersonic speeds, but the aircraft is highly dependent on the airport, and the construction and maintenance costs of the airport are high, so The composite aircraft combining helicopter and fixed-wing aircraft has become a hot research topic. The most typical composite aircraft is the tiltrotor. The propeller of the tiltrotor can not only be used as a rotor in helicopter mode to generate lift, but also can be used as an aircraft propeller to generate thrust to increase the flight speed.

The tiltrotor has the vertical take-off and hovering performance of a helicopter, and also has the high-speed cruise performance of a fixed-wing aircraft. The world's first mature tiltrotor is the Osprey (V-22). V-22 is a transverse tiltrotor, but the transverse tiltrotor has a larger windward area and greater waste resistance power ; Secondly, the V-22 has a large lateral dimension and needs to occupy a large space; again, the rotor produces strong aerodynamic interference with the wings in the helicopter mode, which affects the aerodynamic performance of the entire aircraft; The structural weight is too heavy, which seriously limits its flight performance; finally, the overall cost of the V-22 is too high, and its flexibility and adaptability are limited.

Contents of the invention

The purpose of the present invention is to solve the deficiencies in the prior art, combining technologies such as coaxial tilting dual rotors and fixed wings, a double tail support type coaxial tilting rotor unmanned aerial vehicle is proposed. Compared with traditional coaxial tiltrotor aircraft, the UAV has the characteristics of light structure, low cost, strong environmental adaptability, good high-speed performance and long cruising time.

For realizing above-mentioned purpose of the invention, the technical scheme that the present invention adopts is as follows:

A double-tail support type coaxial tilting rotor UAV, which includes a rotor, a rotor hub, a wing, a fuselage, a tail support, an empennage and a rotor shaft, and the rotor hub is installed on the head of the fuselage through the rotor shaft, The rotor is installed on the propeller hub; the rotor is a coaxial upper and lower rotor, and the upper and lower rotors have several blades respectively, and the rotation direction of the upper rotor and the lower rotor is opposite; the wings on both sides are fixedly connected with the fuselage, There are ailerons on the wings; the tail has an H-shaped layout, including a vertical tail and a flat tail. The angle between the shaft and the tail brace varies from 0° to 90°; the horizontal tail is installed horizontally between the two vertical tails, and the rudder is installed on the vertical tail for heading control, and the elevator is installed on the horizontal tail for pitch control.

The drone has two working modes: helicopter mode and airplane mode: in helicopter mode, the coaxial dual rotors are above the drone to generate lift; in airplane mode, the coaxial dual rotors are in front of the whole machine to generate pulling force , at which point the wing produces the required lift. The fuselage, the rotor and the wing can be tilted around the main beam of the wing within the range of 0-90°, so as to realize the conversion between the airplane mode and the helicopter mode.

Preferably, the number of blades on the upper and lower rotors is three.

Preferably, in the rotor, the blade airfoil adopts Clark-Y airfoil, and the installation angle of the blade is 4° larger at the root than at the tip.

Preferably, the rotation direction of the upper and lower rotors is: viewed from the nose, the upper rotor rotates counterclockwise, and the lower rotor rotates clockwise.

Preferably, the fuselage adopts a shuttle-shaped design, which is symmetrical up, down, left, and right.

Preferably, the wing is a trapezoidal wing, the leading edge sweep angle is 15°, the trailing edge is perpendicular to the fuselage, and the wing airfoil is NACA64A010.

As a preference, a fairing is provided in front of the tail brace.

Further, mission equipment and counterweights are placed in the fairing.

Preferably, the airfoils of the vertical tail and the horizontal tail are both NACA0010 airfoils.

Another object of the present invention is to provide a control method based on the above-mentioned unmanned aerial vehicle, which is specifically as follows: during the flight of the unmanned aerial vehicle, there are two working modes: helicopter mode and airplane mode; The angle between the rotor shaft and the tail support, which can be switched between helicopter mode and airplane mode; where:

In helicopter mode, control the rotor shaft and the tail support to form an angle of 90°, so that the rotor is above the UAV to generate lift to enable the UAV to achieve vertical take-off and landing or hover; and the plane of the wing is perpendicular to the tail support, lowering the aircraft The aerodynamic interference between the body and the rotor improves the aerodynamic performance;

In the aircraft mode, the control rotor axis and the plane of the wing are kept parallel to the tail support, and the rotor is in front of the UAV, which generates the pulling force of the aircraft forward, and the UAV generates the lift required by the aircraft by the wing during the flight;

When the UAV turns from the forward flight to the vertical movement, the control rotor axis and the tail support gradually form a 90° angle from the horizontal, so that the wings are gradually unloaded, and the rotor gradually bears the load in the vertical direction; when the UAV turns from the vertical movement to In the forward flight state, the angle between the rotor shaft and the tail brace is gradually turned from 90° to horizontal, so that the wing is gradually loaded, and the pulling force generated by the rotor is gradually tilted from the vertical direction to the horizontal direction.

Compared with the prior art, the present invention has the following beneficial effects:

1) The double-tail support type coaxial tilting-rotor UAV proposed by the present invention can have both the advantages of helicopters and fixed-wing aircraft, and has excellent high-speed and cruising performance. In helicopter mode, it does not need airports or runways. Vertical take-off and landing, strong safety and adaptability; in aircraft mode, it can not only meet the requirements of high subsonic speed, but also have strong cruise capability, so it has a wide range of application prospects.

2) The double-tail support type coaxial tilt-rotor UAV proposed by the present invention has excellent performance in aerodynamics. Compared with other dual-rotor configurations, such as tandem and transverse, the rotating dual-rotor has a greatly reduced windward area and reduces waste resistance.

3) The double-tail support type coaxial tilt-rotor UAV proposed by the present invention has a small structural weight and a reasonable structural layout. The coaxial dual-rotors share one propeller hub to avoid the structural weight caused by the dual propeller hubs. The tilting mechanism of the UAV proposed by the present invention adopts a simple turbine mechanism to reduce complexity,

4) The dual-tail support type coaxial tilt-rotor unmanned aerial vehicle proposed by the invention is easy to operate. In the helicopter mode, the collective pitch, lateral steering moment, and longitudinal steering moment of the coaxial dual-rotor are controlled. In the aircraft mode, the control pair The wings, rudder, and elevator are used to control the attitude angle. The manipulation in the two modes is easy to switch, and the manipulation efficiency is high.

5) The double tail support type coaxial tilting rotor unmanned aerial vehicle proposed by the present invention has low cost, good performance, high flexibility and strong adaptability.

Description of drawings

Figure 1 Axonometric view of the structure of the double-tail support coaxial tilt-rotor UAV;

Fig. 2 The front view of the structure of the double tail brace coaxial tilting rotor UAV;

Figure 3 is a schematic diagram of the dual-tail support type coaxial tilting rotor UAV helicopter mode;

The schematic diagram of Fig. 4 double-tail support type coaxial tilting rotor unmanned aerial vehicle aircraft mode;

Fig. 5 is a schematic diagram of the double-tail support type coaxial tilting rotor UAV when it is converted from the helicopter mode to the aircraft mode;

Among the figure: rotor 1, propeller hub 2, wing 3, fuselage 4, tail brace 5, vertical tail 6, rudder 7, horizontal tail 8, elevator 9, aileron 10, fairing 11, rotor shaft 12.

Detailed ways

The present invention will be further elaborated and illustrated below in conjunction with the accompanying drawings and specific embodiments. The technical features of the various implementations in the present invention can be combined accordingly on the premise that there is no conflict with each other.

As shown in Figures 1 and 2, it is a schematic structural diagram of a coaxial tilt-rotor UAV with double tail supports. The UAV includes a rotor 1, a hub 2, a wing 3, a fuselage 4, a tail brace 5, a vertical tail 6, a rudder 7, a flat tail 8, an elevator 9, an aileron 10, a fairing 11, and a rotor shaft 12. The fuselage is the main part of the whole drone. The propeller hub 2 is installed on the head of the fuselage 4 through the rotor shaft 12. The fuselage 4 adopts a shuttle-shaped design to reduce the resistance of the whole machine. on the central axis of the fuselage 4, so as to ensure that the UAV has better aerodynamic characteristics in both the helicopter mode and the airplane mode, and avoid generating additional trimming moments. A rotor 1 is installed on the propeller hub 2, and the rotor 1 is a coaxial up and down rotor (coaxial double rotor). The upper and lower rotors have three blades respectively. The airfoil of the blades adopts Clark-Y airfoil, and the installation angle of the blades is 4° larger at the root than at the tip. The rotation direction of the upper and lower rotors, looking back from the nose, the upper rotor rotates counterclockwise, and the lower rotor rotates clockwise to balance the reaction torque. The coaxial dual-rotor can control the collective pitch of the upper and lower rotors as well as vertical and lateral control through the hub.

The wings 3 on both sides are fixed wings, which are fixedly connected with the fuselage 4 respectively, and are designed in an integrated manner, with excellent aerodynamic performance. Wing 3 is a trapezoidal single wing, the leading edge sweep angle is 15°, the trailing edge is perpendicular to the fuselage, and the wing airfoil is NACA64A010. Ailerons 10 are arranged on the wing 3 for roll control in airplane mode.

The tail is an H-shaped layout, including 6 vertical tails and 8 flat tails, and the airfoils are all NACA0010 airfoils. The horizontal tail 8 is installed horizontally between the two vertical tails 6, and the vertical tail 6 is equipped with a rudder 7 for heading control in the aircraft mode, and an elevator 9 is installed on the horizontal tail 8 for pitch control in the aircraft mode. The two vertical fins 6 are respectively fixed on the main beam of the wing through the tail brace 5, and then connected to the fuselage 4. And in the UAV, the tail brace 5 is not fixed to the main beam of the wing, but is connected by means of hinges, etc., so that it has a degree of freedom of rotation. The range of this degree of freedom of rotation is to make the angle between the rotor shaft 12 and the tail brace 5 vary from 0° to 90°, so that the fuselage 4 can drive the rotor 1, the hub 2 and the wing 3 around the main beam of the wing. Tilt within the range of 0-90° to realize the conversion between airplane mode and helicopter mode.

Fairing 11 is arranged before tail support 5, and fairing profile is spindle body, and counterweight, bearing block, airborne equipment, mission load etc. can be placed, and size can be adjusted according to actual needs.

The control method based on the above-mentioned double tail brace coaxial tilting rotor UAV is as follows:

There are two working modes of helicopter mode and airplane mode during the flight of the drone. During the flight, the UAV can switch between the helicopter mode and the aircraft mode by adjusting the angle between the rotor shaft 12 and the tail support 5 according to the flight mission; wherein:

In the helicopter mode, as shown in Figure 3, the rotor shaft 12 is controlled to form an angle of 90° with the tail support 5, so that the rotor 1 is above the UAV, and the lift force is generated so that the UAV can take off and land vertically or hover; and the In this state, the plane of the wing 3 is perpendicular to the tail brace 5, which reduces the aerodynamic interference between the fuselage and the rotor and improves the aerodynamic performance;

In aircraft mode, as shown in Figure 4, the control rotor axis 12 and the plane of the wing 3 are kept parallel to the tail support 5, that is, the angle between the rotor axis 12 and the tail support 5 is 0°, and the rotor 1 is in front of the drone. Generate the pulling force for the aircraft to move forward, and the wing 3 generates the required lift for the aircraft during the flight of the UAV;

When the UAV turns from forward flight to vertical movement, control the rotor shaft 12 and the tail support 5 to gradually form a 90° angle from the horizontal, so that the wing 3 is gradually unloaded, and the rotor 1 gradually bears the load in the vertical direction. Similarly, as shown in Figure 5, when the UAV turns from the vertical motion to the forward flight state, the angle between the control rotor shaft 12 and the tail brace 5 is gradually turned from 90° to horizontal, so that the wing 3 is gradually loaded, and the rotor 1 The resulting tension gradually tilts from vertical to horizontal.

The double-tail support coaxial tilt-rotor UAV has the advantages of light structure, high flexibility, low cost, and strong environmental adaptability, and has broad application prospects in military and civilian fields.

The above-mentioned embodiment is only a preferred solution of the present invention, but it is not intended to limit the present invention. Various changes and modifications can be made by those skilled in the relevant technical fields without departing from the spirit and scope of the present invention. Therefore, all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims (10)

1. A double tail support type coaxial tilting rotor unmanned aerial vehicle is characterized in that, comprises rotor (1), propeller hub (2), wing (3), fuselage (4), tail support (5) , empennage and rotor shaft (12), described rotor hub (2) is installed on the head of fuselage (4) by rotor shaft (12), and described rotor (1) is installed on the rotor hub (2); The rotor (1) is a coaxial upper and lower rotor, the upper and lower rotors have several blades respectively, and the rotation direction of the upper rotor and the lower rotor is opposite; the wings (3) on both sides are fixedly connected with the fuselage (4), and the wings (3) there is an aileron (10); the empennage is an H-shaped layout, including a vertical empennage (6) and a flat empennage (8), and two vertical empennages (6) are fixed on the main beam of the wing through the tail brace (5). And there is a degree of freedom of rotation between the tail brace (5) and the main beam of the wing, so that the angle between the rotor shaft (12) and the tail brace (5) varies from 0 to 90°; the flat tail (8) is installed horizontally on Between the two vertical tails (6), a rudder (7) is installed on the vertical tail (6) for heading control, and an elevator (9) is installed on the horizontal tail (8) for pitch control. 2. The double tail support type coaxial tilting rotor unmanned aerial vehicle as claimed in claim 1, is characterized in that, the number of blades on the described upper and lower rotors is 3. 3. The double tail support type coaxial tilting rotor unmanned aerial vehicle as claimed in claim 1, is characterized in that, in described rotor (1), blade airfoil adopts Clark-Y airfoil, the installation of blade The root of the horn is 4° larger than the tip. 4. The double tail support type coaxial tilting rotor unmanned aerial vehicle as claimed in claim 1, is characterized in that, the rotation direction of described upper and lower rotor is: under the state of flying forward, looking back from the nose, the upper rotor Rotate counterclockwise, the lower rotor rotates clockwise. 5. The double tail support type coaxial tilting rotor unmanned aerial vehicle as claimed in claim 1, is characterized in that, described fuselage (4) adopts shuttle-shaped design, is symmetrical up and down, left and right. 6. The double tail support type coaxial tilting rotor unmanned aerial vehicle as claimed in claim 1, is characterized in that, described wing (3) is trapezoidal wing, and leading edge sweep angle is 15 °, and trailing edge Perpendicular to the fuselage, the wing airfoil is NACA64A010. 7. The double tail support type coaxial tilting rotor UAV according to claim 1, characterized in that a fairing (11) is arranged in front of the tail support (5). 8. The double tail support type coaxial tilting rotor unmanned aerial vehicle as claimed in claim 7, is characterized in that, task equipment and counterweight are placed in described fairing (11). 9. The double tail support type coaxial tilting rotor unmanned aerial vehicle as claimed in claim 1, is characterized in that, the airfoil of described vertical tail (6) and horizontal tail (8) is NACA0010 airfoil. 10. A method for controlling the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle has two operating modes of helicopter mode and aircraft mode during the flight of the unmanned aerial vehicle; the unmanned aerial vehicle controls the rotor axis by adjusting the The angle between (12) and the tail support (5) can be switched between helicopter mode and airplane mode; where: In the helicopter mode, control the rotor shaft (12) and the tail support (5) to form an angle of 90°, so that the rotor (1) is above the UAV, and generate lift to enable the UAV to take off and land vertically or hover; The plane of the wing (3) is perpendicular to the tail brace (5), reducing the aerodynamic interference between the fuselage and the rotor and improving the aerodynamic performance; In airplane mode, the control rotor shaft (12) and the plane of the wing (3) are kept parallel to the tail support (5), and the rotor (1) is in front of the UAV, generating the pulling force of the aircraft forward, and the UAV is flying. Produce the required lift of aircraft by wing (3) among; When the UAV turns from forward flight to vertical movement, control the rotor shaft (12) and the tail support (5) to gradually form a 90° angle from the horizontal, so that the wing (3) is gradually unloaded, and the rotor (1) is gradually supported by the vertical direction. load; when the UAV is transferred from the vertical motion to the forward flight state, the control rotor shaft (12) and the tail support (5) are gradually turned to the horizontal from the angle of 90 °, so that the wing (3) is gradually loaded, and the rotor ( 1) The generated pulling force gradually tilts from the vertical direction to the horizontal direction.