CN112744354A

CN112744354A - Flight mode control method of distributed tilting multi-rotor aircraft

Info

Publication number: CN112744354A
Application number: CN202110178020.8A
Authority: CN
Inventors: 张丹; 谢安桓; 娄斌; 严旭飞; 王晓波; 陈令凯; 谢也
Original assignee: Zhejiang Lab
Current assignee: Zhejiang Lab
Priority date: 2021-02-07
Filing date: 2021-02-07
Publication date: 2021-05-04
Anticipated expiration: 2041-02-07
Also published as: CN112744354B

Abstract

The invention discloses a flight mode control method of a distributed tilting multi-rotor aircraft, which realizes the function of switching control of three flight modes of a single aircraft. The main point of its technical solution is that the distributed tilting multi-rotor aircraft has at least 6 sets of distributed tilting power systems, which can realize multi-flight mode switching, including multi-rotor flight mode, fixed-wing flight mode, and compound-wing flight mode. The above-mentioned flight mode control is realized by the tilting mechanism changing the power direction of the tilting power system. During the flight mode conversion process, the control system realizes the paired and step-by-step tilting of each tilting power system by sequentially controlling each group of symmetrical tilting mechanisms, and the control system will coordinately control the tilting mechanism of the tilting mechanism. Rotation action and speed of rotation of the rotor. During the tilting process, the tilting power system implements a stop-tilt-restart scheme. The multi-flight mode greatly improves the mission adaptability of the aircraft and realizes the multi-function of the aircraft in the future.

Description

Flight mode control method of distributed tilting multi-rotor aircraft

Technical Field

The invention belongs to the field of flight control of aircrafts, and particularly relates to a flight mode control method of a distributed tilting multi-rotor aircraft.

Background

The vertical take-off and landing aircraft generally refers to a rotor aircraft (such as a helicopter, a multi-rotor aircraft and the like), and the aircraft has high-efficiency vertical take-off and landing performance, hovering performance, low-altitude low-speed flight and unique back-flight and side-flight capabilities, so that the aircraft can be vertically taken off and landed in complex regions such as naval vessels, islands, mountainous areas, high-rise forest cities and the like, but the maximum flight speed of the aircraft is greatly limited due to asymmetric left and right air flows of rotor blades during forward flight; meanwhile, the aircraft is limited by the problem of aerodynamic efficiency of rotor type aircrafts, is very effective in voyage and time, and cannot execute large-range and wide-target flight tasks. However, the conventional fixed-wing aircraft has great advantages in high-speed flight and long-endurance flight. The two aircrafts have unique advantages, but the defects are correspondingly highlighted, and the fixed-wing aircrafts often need runways to take off and land, so that the adaptability to terrain is poor; the endurance of a multi-rotor aircraft is insufficient, and the mission range is quite limited.

Disclosure of Invention

The invention aims to provide a flight mode control method of a distributed tilting multi-rotor aircraft, aiming at the defects of the prior art.

The purpose of the invention is realized by the following technical scheme: a distributed tilting multi-rotor aircraft comprises an aircraft body, wings and at least 6 sets of tilting power systems; the tilting power system comprises a tilting mechanism, a power motor and a rotor wing. The rotor is connected with the output shaft of the power motor, the power motor is installed on the tilting mechanism, and the power motor realizes the change of the power direction through the tilting mechanism. The tilting power system is arranged on the wing through a tilting mechanism and is symmetrically distributed relative to the axis of the fuselage.

Furthermore, the wings comprise a main wing and an auxiliary wing which are respectively arranged at the front part and the rear part of the fuselage to form a tandem wing layout.

Furthermore, when all the power directions of the tilting power systems are in a vertical state, the gravity center of the aircraft meets the requirements of the multi-rotor aircraft on gravity center distribution and power distribution.

Further, the tilting mechanism can enable the power motor and the rotor wing to integrally turn by 90 degrees.

According to the flight mode control method based on the distributed tilting multi-rotor aircraft, the tilting power system is driven by the tilting mechanism to change the power direction by controlling the rotating speed of the power motor, so that the flight mode of the aircraft is switched. The flight modes include a fixed wing mode, a multi-rotor mode, and a compound wing mode. The power direction of the tilting power system is all horizontal and is in a fixed wing mode; the power direction of the tilting power system is vertical to a multi-rotor mode; the vertical part of the power direction part of the tilting power system is in a composite wing mode horizontally.

Further, the method comprises the following steps:

(1) sending a task instruction to an airborne flight control system of the aircraft by a ground station of the aircraft; the mission instructions include flight routes and corresponding flight missions.

(2) The flight control system receives a task instruction sent by a ground station;

(3) and the flight control system identifies and plans the received task instruction, and plans the flight modes of different stages in the corresponding flight routes according to the task instruction.

(4) The flight control system judges whether the current flight mode is consistent with the flight plan or not:

if the current flight mode is consistent with the planned current-stage flight mode, jumping to the step (10);

and (5) if the current flight mode is not consistent with the planned current-phase flight mode, executing the step.

(5) And the flight control system selects a corresponding flight mode according to the flight plan to carry out conversion preparation, and obtains a serial number corresponding to the tilting power system which needs to be tilted. In the process of flight mode conversion, paired step-by-step tilting of each tilting power system is realized by sequentially controlling each group of symmetrical tilting mechanisms.

(6) The flight control system judges whether to stop a pair of power motors which need to tilt at present according to the real-time flight speed of the aircraft:

if the flying speed meets the requirement, stopping the power motor which needs to tilt at present, and executing the step (7);

and (5) if the flying speed does not meet the requirement, stopping the power motor continuously and jumping to the step (8).

(7) The flight control system stops a pair of power motors which need to tilt at present, controls other power motors to carry out power distribution again, provides flight lift force and keeps stable flight;

(8) a pair of tilting mechanisms which need to tilt at present are actuated clockwise or anticlockwise by 90 degrees, and the power direction is changed; and (5) jumping to the step (6) to judge whether to stop the next pair of power motors needing to be tilted until all power motors needing to be tilted are traversed, so that the aircraft is converted into a planned current-stage flight mode.

(9) And (5) starting the power motors stopped in the step (7), redistributing all power and locking the current flight mode.

(10) And (5) after the flight task corresponding to the current stage is executed, jumping to the step (4) to match the flight mode until the cycle is finished after the task instruction from the ground station is executed.

The invention has the beneficial effects that: the invention controls the flight mode of the aircraft by the tilting power system, and the flight mode comprises a multi-rotor vertical take-off and landing mode, a fixed-wing high-speed cruise mode and a composite-wing fusion task mode, thereby realizing the extremely high free control capability of the aircraft, fusing the advantages of two aircrafts, namely a fixed-wing aircraft and a multi-rotor aircraft, making up the respective defects, having the functions of vertical take-off and landing, hovering and the like, having the capabilities of high cruise speed, long voyage and the like, and realizing the performance improvement requirement of the future aircraft. Benefiting from distributed power technique and the rotor technique that verts, many rotor crafts of distributed verting can carry out the transform of multiple flight mode, including fixed wing mode, many rotor modes, compound mode etc. make it can adapt to multiclass task, improve the application ability of aircraft.

Drawings

FIG. 1 is a schematic view of a distributed tiltrotor multi-rotor aircraft in cruise flight mode (fixed wing);

FIG. 2 is a schematic view of a distributed tiltrotor multi-rotor aircraft in a vertical takeoff and landing mode (multi-rotor);

FIG. 3 is a block diagram of a method of flight mode control for a distributed tiltrotor multi-rotor aircraft;

in the figure, a fuselage 1, a main wing 2, a vertical tail fin 3, an auxiliary wing 4, an elevator 5, a tilting power system 6 and an undercarriage 7.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, and the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The invention relates to a tilting power system which comprises a tilting mechanism, a power motor and a rotor wing. The rotor wing is arranged on the output shaft of the power motor, and the power motor is arranged on the tilting mechanism. The power motor realizes the angle change of the power direction through the tilting mechanism. The tilting mechanism can turn the power motor and the rotor wing together by 90 degrees.

The invention discloses a distributed tilting multi-rotor aircraft which comprises an aircraft body 1, a main wing 2, a vertical tail wing 3, an auxiliary wing 4, an elevator 5, an undercarriage 7 and at least 6 sets of tilting power systems 6. The main wing 2 and the auxiliary wing 4 are respectively arranged at the front part and the rear part of the fuselage 1 to form a tandem wing layout; in the embodiment, 20 sets of tilting power systems 6 are uniformly distributed on the main wing 2 and the auxiliary wing 4 and are bilaterally symmetrical relative to the fuselage 1, the tilting mechanisms are arranged on the wings, and the front edge parts (the power motor and the whole rotor wing) of the tilting power systems 6 extending out of the wings can be turned by 90 degrees; when the power directions of all the tilting power systems 6 are in a vertical state, the gravity center of the aircraft can meet the requirements of the multi-rotor aircraft on gravity center distribution and power distribution.

According to the flight mode control method of the distributed tilting multi-rotor aircraft, the tilting power system is driven by the tilting mechanism to change the power direction by controlling the rotating speed of the power motor, so that the flight mode of the aircraft is switched. Wherein the flight mode comprises: fixed wing mode for high speed cruise; a multi-rotor mode of vertical take-off, landing and hovering; and the front flying mode and the hovering mode are flexibly switched. As shown in fig. 1, the aircraft is in a fixed wing mode when the power direction of the tilting power system 6 is all horizontal; as shown in fig. 2, if the power direction of the tilting power system 6 is full vertical, the aircraft is in a multi-rotor mode; the vertical part of the power direction part of the tilting power system 6 is horizontal, and the aircraft is in a composite wing mode. The lift of the compound wing mode is provided by the wing and the rotor wing together.

Selecting the next flight mode to be switched according to the flight mode, the attitude, the speed, the subsequent route, the task and the like of the aircraft, and simultaneously controlling the tilting action of the tilting mechanism and the rotating speed of the rotor wing; as shown in fig. 3, the specific steps are:

(1) sending a task instruction to an airborne flight control system of the aircraft by a ground station of the aircraft;

the aircraft ground station sets a flight route and a task generation task instruction, the flight route and the task generation task instruction are sent to an aircraft airborne flight control system by data transmission DDT (digital data transmission), and the task instruction is received by corresponding data transmission. The flight path includes flight speed, turning radius, and the like.

(2) And the aircraft airborne flight control system receives a task instruction sent by the ground station.

(3) The flight control system identifies and plans the received task instruction:

and the flight control system carries out actual flight planning of the aircraft according to the task instruction, and mainly plans flight modes corresponding to different stages in the flight route.

(5) And the flight control system selects a corresponding flight mode according to the flight plan, performs conversion preparation and obtains a serial number corresponding to the tilting power system which needs to tilt. In the process of flight mode conversion, paired step-by-step tilting of each tilting power system is realized by sequentially controlling each group of symmetrical tilting mechanisms.

and (5) if the flying speed does not meet the requirement, stopping the power motor continuously, keeping the current state and jumping to the step (8).

(7) The flight control system stops a pair of power motors which need to tilt at present, controls other power motors to carry out power distribution again, provides flight lift force and keeps stable flight.

(10) And (5) after the task corresponding to the current stage is executed, jumping to the step (4) to match the flight mode until the aircraft finishes executing all task instructions from the ground station and then finishing the circulation.

Taking the initial stage of takeoff of the aircraft as an example, the aircraft needs to be switched from a multi-rotor mode to a fixed wing mode after vertical takeoff, the flight control system issues instructions to corresponding tilting mechanisms, and each tilting power system is sequentially turned by 90 degrees through the tilting mechanisms in pairs according to the instructions, the power direction of the tilting power system is vertically changed into horizontal, and the aircraft is converted from the multi-rotor mode to the fixed wing mode.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.

Claims

1. a flight mode control method of a distributed tilting multi-rotor aircraft, is characterized in that, by controlling the rotating speed of the power motor, the tilting power system is driven by the tilting mechanism to change the power direction, and then the switching of the aircraft flight mode is realized.

The flight modes include fixed-wing mode, multi-rotor mode and compound-wing mode. The full horizontal power direction of the tilting power system is the fixed-wing mode; the full vertical power direction of the tilting power system is the multi-rotor mode; the vertical part of the vertical part of the power direction of the tilting power system is the composite wing mode.

The distributed tilting multi-rotor aircraft includes a fuselage, a wing, and at least 6 sets of tilting power systems, etc.; the tilting power system includes a tilting mechanism, a power motor and a rotor. The rotor is connected to the output shaft of the power motor, the power motor is installed on the tilting mechanism, and the power motor realizes the change of the power direction through the tilting mechanism. The tilting power system is mounted on the wing through a tilting mechanism, and is symmetrically distributed with respect to the fuselage axis.

2. the flight mode control method of distributed tilting multi-rotor aircraft according to claim 1, is characterized in that, comprises the following steps:

(1) The ground station of the aircraft sends mission instructions to the onboard flight control system of the aircraft; the mission instructions include flight routes and corresponding flight tasks.

(2) The flight control system receives the mission command from the ground station;

(3) The flight control system identifies and flight plans the received mission instructions, and plans the flight modes corresponding to different stages of the flight route according to the mission instructions.

(4) The flight control system judges whether the current flight mode is consistent with the flight plan:

If the current flight mode is consistent with the planned flight mode at the current stage, skip to step (10);

If the current flight mode is inconsistent with the planned flight mode at the current stage, step (5) is performed.

(5) The flight control system selects the corresponding flight mode to prepare for the change according to the flight plan, and obtains the number corresponding to the tilting power system that needs to be tilted. During the flight mode conversion process, the paired and step-by-step tilting of each tilting power system is realized by sequentially controlling each group of symmetrical tilting mechanisms.

(6) According to the real-time flight speed of the aircraft, the flight control system determines whether to stop the pair of power motors that need to be tilted:

If the flight speed meets the requirements, stop the power motor that currently needs to be tilted, and execute step (7);

If the flight speed does not meet the requirements, the power motor will not be stopped, and skip to step (8).

(7) The flight control system stops the pair of power motors that currently need to be tilted, and controls the rest of the power motors to redistribute power to provide flight lift and maintain flight stability;

(8) perform 90° clockwise or counterclockwise action on a pair of tilting mechanisms that currently need to be tilted to change the power direction; then jump to step (6) to judge whether to stop the next pair of power motors that need to be tilted, Until all the power motors that need to be tilted are traversed, the aircraft is switched to the planned flight mode at the current stage.

(9) Start the power motor stopped in step (7), redistribute all power, and lock the current flight mode.

(10) After executing the flight task corresponding to the current stage, jump to step (4) to match the flight mode, and the cycle ends until the task command from the ground station is executed.

3. the flight mode control method of the distributed tilting multi-rotor aircraft as claimed in claim 1, it is characterized in that, described wing comprises main wing and sub-wing, be respectively arranged on the front part and rear part of fuselage to form string Column wing layout.

4. the flight mode control method of distributed tilting multi-rotor aircraft as claimed in claim 1, it is characterized in that, when all tilting power system power directions are vertical state, aircraft center of gravity satisfies multi-rotor aircraft to center of gravity distribution and power distribution requirements.

5 . The flight mode control method for a distributed tilting multi-rotor aircraft according to claim 1 , wherein the tilting mechanism can turn the power motor and the rotor as a whole by 90°. 6 .