CN112027078B - An amphibious composite wing unmanned aerial vehicle and its control method - Google Patents

Abstract

The invention discloses an amphibious composite wing unmanned aerial vehicle and a control method thereof, and solves the technical problem that the existing unmanned aerial vehicle cannot have the taking-off convenience, the endurance and the load capacity. The airplane comprises a fuselage, wherein fixed wings are arranged on two sides of the fuselage, a vertical propeller is arranged at the head of the fuselage, an empennage and a rudder are arranged at the tail of the fuselage, the fuselage is connected with a retractable airplane wheel system, horizontal spiral wing groups are arranged on two sides of the fuselage, each horizontal spiral wing group comprises a front spiral wing group and a rear spiral wing group, the rear spiral wing group is higher than the front spiral wing group, and the vertical propeller, the rudder and the horizontal spiral wing groups are respectively connected with an electric driving system. The invention not only has the functions of water lifting and land lifting, but also can realize sliding lifting and vertical lifting, can realize compound mode lifting, can select proper lifting mode according to specific terrain conditions, weather conditions and load size, and can achieve the effects of energy conservation and consumption reduction.

Description

A kind of amphibious composite wing unmanned aerial vehicle and its control method

technical field

The invention belongs to the technical field of unmanned aerial vehicles, in particular to an amphibious composite wing unmanned aerial vehicle and a control method thereof.

Background technique

With the continuous development of UAV technology, sensor technology, and advanced control methods, the functions of UAVs are becoming more and more complex, and the stability is getting better and better. UAVs are widely used in civil, military and police applications. According to the flight platform configuration, UAVs can be divided into fixed-wing UAVs and rotary-wing UAVs.

The use of fixed-wing UAVs in practical applications has the advantages of long range and high load, but the use conditions are limited by factors such as the take-off site, and it is often necessary to take parachute landing, or take off and land in a suitable area far away from the operating point. For example, a fixed-wing UAV disclosed by the utility model patent with the authorization announcement date of 2019.05.14 and the authorization announcement number CN208855870U includes a vertical take-off and landing system, a fixed-wing system, and a locking device provided on the vertical take-off and landing system.

Although the rotary-wing drone is not limited by the take-off site, the aircraft has a short range and a small load capacity, so the rotary-wing drone cannot complete long-range and heavy-load flight tasks. For example, the invention patent application with the application publication date of 2018.10.02 and the application publication number CN108609181A discloses a real-world three-dimensional surveying and mapping aerial photography drone and its control method. Its structure includes a fuselage, four helical wings and a landing gear. Below is the cabin.

SUMMARY OF THE INVENTION

In view of the deficiencies in the above-mentioned background technologies, the present invention proposes an amphibious composite wing UAV and a control method thereof, which solves the technical problem that the existing UAV cannot have both the take-off convenience, endurance capability and load-carrying capability.

The technical scheme of the present invention is achieved as follows: an amphibious composite wing UAV, comprising a fuselage, symmetrical fixed wings are arranged on both sides of the fuselage, a vertical propeller is arranged at the head of the fuselage, and a tail of the fuselage is arranged with a vertical propeller. A tail and a rudder are provided, the fuselage is connected with a retractable wheel system, and two sides of the fuselage are provided with a horizontal helical wing group. The position height of the wing group is higher than that of the front propeller group, the fixed wing is located between the front propeller group and the rear propeller group, and the vertical propeller, the rudder and the horizontal propeller group are respectively connected with an electric drive system .

Further, the front screw wing group includes two front screw wings symmetrically arranged on both sides of the fuselage, the rear screw wing group includes two rear screw wings symmetrically arranged on both sides of the fuselage, the two rear screw wings and the two rear screw wings are symmetrically arranged on both sides of the fuselage. The front propellers are distributed in an X-shape around the center of gravity of the whole machine.

Further, the connecting line between the front helical wing and the rear helical wing forms an included angle of 3°-10° with the axis of the fuselage.

Further, the longitudinal section of the fuselage is oval, and the diameter of the middle section is larger than the diameter of both ends.

Further, a small generator is arranged in the fuselage, and the small generator is connected to the electric drive system.

Further, two stabilizing sheets are arranged below the fuselage, and the two stabilizing sheets are arranged along the length direction of the fuselage and are symmetrical about the center line of the fuselage.

Further, the control method of the amphibious composite wing UAV includes the take-off stage, the cruise stage and the landing stage:

The take-off stage includes a water take-off mode and a land take-off mode, both of which include three control modes:

①Control the vertical propeller to start to generate pulling force, and realize taxi takeoff in fixed-wing flight mode;

②Control the horizontal helical wing group to start, and realize the vertical take-off in the helical wing flight mode;

③ While controlling the vertical propellers to start to generate the pulling force, control the horizontal propellers to start at the same time, so as to realize the composite take-off of taxiing take-off and vertical take-off;

The cruise stage includes a small-load cruise mode and a heavy-load cruise mode. In the low-load cruise mode, only the vertical propeller is controlled to start, and the cruise is in a fixed-wing flight mode; in the heavy-load cruise mode, the vertical propeller and the horizontal propeller group are controlled to start at the same time. , cruising in a composite manner;

The landing stage includes a water landing mode and a land landing mode, both of which include two control modes:

①When the load is large, control the horizontal screw group to close, and land in the fixed-wing roll mode;

②When the load is small, control the horizontal propeller group to start and land in vertical descent mode.

Further, the landing stage includes a composite landing. When the load is large, the flight speed is low, and it is close to the water surface or the ground, the horizontal helical wing group is controlled to start, and the composite landing of sliding landing and vertical landing is realized.

Further, it also includes the transitional flight stage. When the composite method is used to take off, the airspeed will continue to increase and the lift generated by the fixed wing will continue to increase accordingly. Wing provides.

Further, it also includes a hovering stage. When flying close to the target area, the rotational speed of the vertical propeller is controlled to gradually decrease until the lift force to maintain the flight is equal to the gravity of its own load when the target area is reached.

The invention not only has the functions of water take-off and landing and land take-off and landing, but also can realize sliding take-off and landing, vertical take-off and landing, and composite mode take-off and landing, so it can be combined with specific terrain conditions, weather conditions and load size. Select the appropriate takeoff and landing mode. In addition, the present invention provides a control method for the transitional flight stage, the cruise stage and the hovering stage through the regulation of the vertical propeller and the horizontal propeller group, so that the flight can be stably in any stage, and at the same time, energy saving and consumption reduction can be achieved. Effect.

Description of drawings

In order to illustrate the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, which are common in the art. As far as technical personnel are concerned, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the front view of Fig. 1;

Fig. 3 is the left side view of Fig. 1;

In the figure: 1. fuselage; 2. fixed wing; 3. vertical propeller; 4. tail; 5. rudder; 6. front propeller; 7. rear propeller; 8. stabilizer.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Embodiment 1, an amphibious composite wing UAV, as shown in FIG. 1 , includes a fuselage 1 arranged in a hull form, the longitudinal section of the fuselage 1 is elliptical, and the diameter of the middle section is larger than the diameter of both ends. Symmetrical fixed wings 2 are provided on both sides of the middle section of the fuselage 1, and the fixed wings 2 are rectangular wings including ailerons and flaps, which can achieve the effects of traditional ailerons and flaps.

The head of the fuselage 1 is provided with a vertical propeller 3, and the vertical propeller 3 can provide pulling force; the tail of the fuselage 1 is provided with a tail 4 and a rudder 5, and the tail 4 is a vertical tail with double tail braces, and the tail 4 is used for Keep the fuselage balance; two rudders 5 are symmetrically arranged above the tail 4, and the rudders 5 cooperate with the ailerons and flaps to realize the steering function. The vertical propeller 3 and the rudder 5 are both connected with an electric drive system, which can realize individual control of a single component.

The bottom of the fuselage 1 is connected with a retractable wheel system and two stabilizing sheets 8 . The retractable wheel system is used for land taxiing take-off and landing, and the stabilizer 8 is used for water taxiing take-off and landing and land vertical take-off and landing. When sailing on the water surface, the stabilizing sheet 8 can increase the stability, reduce the influence of waves on the fuselage, and can increase the stability when landing vertically on land.

Both sides of the fuselage 1 are provided with a horizontal helical wing group connected with the electric drive system, the horizontal helical wing group includes a front helical wing group and a rear helical wing group, and the position of the rear helical wing group is higher than the height of the front helical wing group. The height of the position, the way of low front and high back, can prevent the rear screw wing group from touching the water surface when the drone takes off and landed on the water surface.

Specifically, the fixed wing 2 is located between the front screw wing group and the rear screw wing group. As shown in FIG. 2 and FIG. 3 , the front screw wing group includes two front screw wings 6 symmetrically arranged on both sides of the fuselage 1. The front screw wings 6 are connected to the fixed wing 2 through a bracket, that is, the front screw wings 6 are indirectly Connected to body 1. The rear screw wing group includes two rear screw wings 7 symmetrically arranged on both sides of the fuselage 1, and the rear screw wings 7 are directly connected to the fuselage through a bracket. The two rear propellers 7 and the two front propellers 6 are distributed in an X-shape around the center of gravity of the whole machine. Both the front propeller 6 and the rear propeller 7 include a drive motor connected with an electric drive system, and the drive motor is connected with a propeller.

Embodiment 2, an amphibious composite wing unmanned aerial vehicle, the connection line between the front helical wing 6 and the rear helical wing 7 is at an angle of 3°-10° with the axis of the fuselage 1. On the basis that the wing 7 is higher than the front screw wing 6, the coordination and stability between the center of gravity of the fuselage, the center of the fuselage, the flight attitude and the lift generated by the screw wing are ensured.

Other structures of this embodiment are the same as those of Embodiment 1.

Embodiment 3, an amphibious composite wing UAV, the fuselage 1 is provided with a small generator, and the small generator is connected to the electric drive system. The drone can be parked in a specific area and use its own small generator to charge the battery of its own electric drive system.

Other structures of this embodiment are the same as those of Embodiment 1 or 2.

Embodiment 4, a control method of an amphibious composite wing unmanned aerial vehicle, comprising a take-off stage, a cruise stage and a landing stage:

The take-off stage includes a water take-off mode and a land take-off mode, both of which include three control modes:

①Control the vertical propeller 3 to start to generate pulling force, and realize the taxiing take-off in the fixed-wing 2 flight mode;

②Control the horizontal helical wing group to start, and realize the vertical take-off in the helical wing flight mode;

③ While controlling the vertical propeller 3 to start to generate pulling force, control the horizontal propeller group to start at the same time, so as to realize the composite take-off of taxiing take-off and vertical take-off;

The cruise stage includes a small-load cruise mode and a heavy-load cruise mode. In the small-load cruise mode, only the vertical propeller 3 is controlled to start, and the cruise is in a fixed-wing flight mode; in the heavy-load cruise mode, the vertical propeller 3 and the horizontal propeller group are controlled. Start at the same time to realize cruise in a composite way;

The landing stage includes a water landing mode and a land landing mode, both of which include two control modes:

①When the load is large, control the horizontal screw group to close, and land in the fixed-wing roll mode;

②When the load is small, control the horizontal propeller group to start and land in vertical descent mode.

The structure of this embodiment is the same as that of the third embodiment.

Embodiment 5, a control method for an amphibious composite wing unmanned aerial vehicle. The landing stage includes a composite landing. When the load is large, the flight speed is low, and is close to the water surface or the ground, the horizontal helical wing group is controlled to start to realize sliding. Combination of landing and vertical landing.

The structure of this embodiment is the same as that of the third embodiment.

Other control methods in this embodiment are the same as those in Embodiment 4.

Embodiment 6, a control method of amphibious composite wing unmanned aerial vehicle, including the transitional flight stage, when the composite method is used to take off, the lift force generated by the fixed wing 2 will continue to increase while the airspeed continues to increase, and the level of synchronous control will continue to increase. The rotational speed of the propeller group is gradually reduced until the flight lift is completely provided by the fixed wing 2 .

The structure of this embodiment is the same as that of the third embodiment.

Other control methods in this embodiment are the same as those in Embodiment 4 or 5.

Embodiment 7, a control method for amphibious composite wing unmanned aerial vehicle, including the hovering stage, when flying to approach the target area, control the rotational speed of the vertical propeller 3 to gradually decrease, until reaching the target area, the lift that maintains the flight is equal to gravity of its own load.

The structure of this embodiment is the same as that of the third embodiment.

Other control methods in this embodiment are the same as those in Embodiment 4 or 5 or 6.

The non-exhaustive parts of the present invention are conventional technical means known to those skilled in the art.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (2)

1. The utility model provides an amphibious composite wing unmanned aerial vehicle, includes fuselage (1), fuselage (1) both sides are provided with stationary vane (2) of symmetry, and the head of fuselage (1) is provided with vertical screw (3), and the afterbody of fuselage (1) is provided with fin (4) and rudder (5), its characterized in that: the airplane body (1) is connected with a retractable airplane wheel system, horizontal spiral wing groups are arranged on two sides of the airplane body (1) and comprise a front spiral wing group and a rear spiral wing group, the position height of the rear spiral wing group is higher than that of the front spiral wing group, the fixed wing (2) is positioned between the front spiral wing group and the rear spiral wing group, and the vertical propeller (3), the rudder (5) and the horizontal spiral wing groups are respectively connected with an electric driving system;

the front spiral wing group comprises two front spiral wings (6) symmetrically arranged on two sides of the machine body (1), the rear spiral wing group comprises two rear spiral wings (7) symmetrically arranged on two sides of the machine body (1), and the two rear spiral wings (7) and the two front spiral wings (6) are distributed in an X shape around the gravity center of the whole machine;

the connecting line between the front spiral wing (6) and the rear spiral wing (7) forms an included angle of 3-10 degrees with the axis of the fuselage (1);

the longitudinal section of the machine body (1) is elliptical, and the diameter of the middle section is larger than that of the two ends;

two stabilizing sheets (8) are arranged below the machine body (1), and the two stabilizing sheets (8) are arranged along the length direction of the machine body (1) and are bilaterally symmetrical about the center line of the machine body (1);

a small generator is arranged in the machine body (1) and connected with the electric driving system.

2. The control method of the amphibious compound wing unmanned aerial vehicle according to claim 1, comprising a take-off phase, a cruise phase and a landing phase: the method is characterized in that:

the takeoff phase comprises an overwater takeoff mode and a land takeoff mode, and the two takeoff modes respectively comprise three control modes:

firstly, controlling a vertical propeller (3) to start to generate pulling force, and realizing taxi takeoff in a flight mode of a fixed wing (2);

controlling the horizontal spiral wing set to start, and realizing vertical takeoff in a spiral wing flight mode;

controlling the vertical propellers (3) to start to generate pulling force, and controlling the horizontal spiral wing groups to start simultaneously to realize combined mode of sliding take-off and vertical take-off;

the cruise stage comprises a small-load cruise mode and a heavy-load cruise mode, wherein the small-load cruise mode only controls the vertical propeller (3) to start and cruise in a fixed-wing flight mode; in the heavy-load cruise mode, the vertical propeller (3) and the horizontal spiral wing set are controlled to be started simultaneously, and cruise is realized in a composite mode;

the landing stage includes water landing mode and land landing mode, and two kinds of landing modes all include two kinds of control mode:

firstly, when the load is large, the horizontal spiral wing set is controlled to be closed, and the landing is carried out in a fixed wing running mode;

when the load is small, controlling the horizontal spiral wing set to start and land in a vertical descending mode;

the landing stage comprises composite landing, when the load is large, the flying speed is low and the load is close to the water surface or the ground, the horizontal spiral wing group is controlled to be started, and the composite landing of sliding landing and vertical landing is realized;

the aircraft also comprises a transitional flight stage, after the aircraft takes off in a composite mode, the airspeed is increased continuously, the lift force generated by the fixed wing (2) is increased continuously, and the rotating speed of the horizontal spiral wing set is controlled to be reduced gradually in a synchronous mode until the flight lift force is completely provided by the fixed wing (2);

and a hovering stage, wherein when the aircraft flies to a position close to the target area, the rotating speed of the vertical propeller (3) is controlled to be gradually reduced until the target area is reached, and the flying lift force is maintained to be equal to the gravity of the self load.

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