CN113879524A

CN113879524A - A kind of rotorcraft and control method

Info

Publication number: CN113879524A
Application number: CN202010625973.XA
Authority: CN
Inventors: 杜聪聪; 彭建平; 刘长林; 丁瑞
Original assignee: Hiwing Aviation General Equipment Co ltd
Current assignee: Hiwing Aviation General Equipment Co ltd
Priority date: 2020-07-02
Filing date: 2020-07-02
Publication date: 2022-01-04

Abstract

The invention provides a rotor craft and a control method, comprising a rotor, a fuselage, a posture control device, a power cabin and a navigation cabin, wherein the navigation cabin is positioned at the foremost part of the craft, the power cabin is connected with the navigation cabin, rotor turntables are respectively positioned at the upper end surface and the lower end surface of the power cabin and are respectively fixedly connected with two engine rotating shafts in the power cabin, a group of rotors are fixed on each rotor turntable, and the rotors are driven to rotate by the rotor turntables; the aircraft body is connected with the power cabin, and the tail part of the aircraft body is provided with two groups of attitude control devices for controlling the rolling attitude of the aircraft. The invention controls the attitude of the aircraft through the rotating direction of the double-layer rotor and the rotating direction of the paddle of the attitude control device, and has simple structure and low cost.

Description

Rotor craft and control method

Technical Field

The invention belongs to the technical field of aircraft design, and particularly relates to a foldable rotor aircraft.

Background

The rotor craft generally has the flight time and the distance is short, and shortcoming such as radius of operation is little adopts big gun to penetrate transmission mode, boosting delivery mode or year carry to put in the mode, can enlarge unmanned aerial vehicle's task use radius. Current collapsible rotor craft divide into multiaxis rotor and unipolar rotor, and the unipolar rotor has great advantage than the multiaxis rotor on flight efficiency, folding space. The common single-shaft rotor craft adopts the rotor wing tilting control, has complex structure and great control difficulty,

the existing foldable single-shaft rotor craft mainly performs roll and pitch control in a variable pitch mode, and is complex in structure and high in cost.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a foldable single-shaft rotor aircraft. The scheme of the invention can solve the problems in the prior art.

The technical solution of the invention is as follows:

a rotor craft comprises a rotor, a fuselage, a posture control device, a power cabin and a navigation cabin, wherein the navigation cabin is positioned at the foremost part of the craft, the power cabin is connected with the navigation cabin, rotor turntables are respectively positioned at the upper end surface and the lower end surface of the power cabin and are respectively fixedly connected with two engine rotating shafts in the power cabin, a group of rotors are fixed on each rotor turntable, and the rotors are driven to rotate by the rotor turntables; the aircraft body is connected with the power cabin, and the tail part of the aircraft body is provided with two groups of attitude control devices for controlling the rolling attitude of the aircraft.

Furthermore, a navigation device is arranged in the navigation cabin, and the navigation cabin can be arranged in the launching device in size.

Furthermore, every side in the fuselage outside set up the recess of placing rotor and attitude control device according to rotor and attitude control device's shape and position after folding, rotor and attitude control device are folded and are followed shape with the appearance of fuselage.

Furthermore, the rotor size of aircraft on the basis that satisfies the lift requirement of aircraft, design the rotor size according to the biggest size of the recess that the fuselage can design to reach the purpose that provides bigger lift.

Furthermore, the middle point of a connecting line of a rotating shaft of a rotor wing of the aircraft and the rotating disc is located at 30% of the front edge of the rotor wing, namely the lift focal point of the blade, and the sizes of the upper layer rotor wing and the lower layer rotor wing are completely the same.

Further, the attitude control device comprises a folding arm, an attitude control motor and a paddle, wherein the folding arm is hinged with the machine body, and the attitude control motor is positioned at the top end of the folding arm and fixedly connected with the paddle through a motor rotating shaft to drive the rotation of the paddle.

Furthermore, the paddle is a two-way driving symmetrical paddle, and can rotate clockwise and anticlockwise according to the rotation of the attitude control motor, so that pulling force in two directions is generated.

Further, the attitude control device is folded outside the aircraft body when the aircraft is stored, the folding arm is bounced open through the torsion spring when the aircraft works, and the attitude control motor drives the paddle to rotate so as to provide attitude control for the aircraft.

According to another aspect of the present invention, there is provided a method of controlling a rotary-wing aircraft, comprising the steps of:

when the rotating speed of the upper and lower rotary wings is increased simultaneously, the lift force is greater than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to accelerate to rise; when the rotating speed of the upper rotor wing and the lower rotor wing is reduced simultaneously, the lifting force generated by the rotor wings is smaller than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to accelerate and descend;

meanwhile, the folding arm loses external restraint and pops out, the attitude control motor drives the paddle to rotate, and the paddle is matched with the rotor wing in a rotating mode to adjust the attitude of the aircraft

Further, the attitude adjustment method of the aircraft comprises the following steps: when unmanned aerial vehicle is hovering state, the direction of rotation of upper and lower layer rotor is opposite, and the difference in rotation speed of upper and lower rotor provides the yawing moment.

The upper rotor turns to for just, and lower floor's rotor turns to for the burden, and when upper rotor rotational speed improved, lower floor's rotor rotational speed reduced, unmanned aerial vehicle produced negative yawing moment, and when upper rotor rotational speed reduced, when lower floor's rotor rotational speed improved, unmanned aerial vehicle produced positive yawing moment.

When unmanned aerial vehicle hovers, when the attitude control motor among unmanned aerial vehicle's the attitude control device is rotatory in the positive direction, drive paddle machine and produce reverse moment, unmanned aerial vehicle rolls over left, and when the attitude control motor among unmanned aerial vehicle's the attitude control device is rotatory in the negative direction, drive paddle machine and produce positive moment, unmanned aerial vehicle rolls over right.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, through the design of the double-layer rotor and the attitude control device, the attitude of the aircraft is controlled through the rotating direction of the double-layer rotor and the rotating direction of the paddle of the attitude control device, the structure is simple, and the cost is low.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Figure 1 shows a schematic view of a rotorcraft deployed state architecture provided in accordance with an embodiment of the present invention;

figure 2 illustrates a schematic structural view of a rotorcraft in a folded configuration provided in accordance with an embodiment of the present invention;

figure 3 illustrates a schematic structural view of a rotor disk of a rotorcraft provided in accordance with an embodiment of the present invention.

The figures contain the following reference numerals:

1-a navigation pod, 2-rotor shaft, 3-upper rotor, 4-lower rotor, 5-fuselage, 6-rotor folding slots, 7-attitude motor folding slots, 8-attitude propellers, 9-pitch motors, 10-upper rotor turntable, 11-power motor pod, 12-attitude motor folding arms, 13-roll motor, 14-connection fixed block, 15-lower rotor turntable drive motor and gear, 16-lower rotor turntable, 17-upper rotor turntable drive motor and gear, 18-balls.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

As shown in fig. 1, a rotary wing aircraft according to an embodiment of the present invention includes a rotary wing, an airframe, an attitude control device, a power cabin and a navigation cabin, wherein the navigation cabin is located at a foremost part of the aircraft, the power cabin is connected to the navigation cabin, rotary wing turntables are respectively located at upper and lower end surfaces of the power cabin and are fixedly connected to a rotating shaft of an engine in the power cabin, a set of rotary wings is fixed to each rotary wing turntable, and the power cabin drives the rotary wing to rotate through the rotary wing turntables; the aircraft body is connected with the power cabin, and two groups of attitude control devices are arranged at the tail part of the aircraft body and respectively control the pitching attitude and the rolling attitude of the aircraft.

In this embodiment, the aircraft is shaped like a cuboid in the folded state, which is more convenient for the folded rotor blades to be placed, and other shapes like a cylinder and a hexahedron can be adopted in other embodiments.

In this embodiment, the navigation device is placed in the navigation cabin, the navigation cabin is made of wave-transparent material, so that the navigation signal can be conveniently transmitted and received, the shape of the head of the navigation device is not limited, and the navigation device can be placed in the transmitting device as long as the size is proper.

In this embodiment, the rotor is divided into an upper layer and a lower layer, each layer of rotor has two wings, and the two wings are connected with the rotor turntable through the rotor rotating shaft, and the rotors are distributed on different two sides of the fuselage in a folded state; in this embodiment, in order to reduce the occupied space of the aircraft in the folded state, a groove for placing the rotor and the attitude control device is arranged on each side surface outside the fuselage according to the shape and position of the folded rotor and attitude control device, and the folded rotor and attitude control device follow the shape of the fuselage.

In the embodiment, the rotor wing of the aircraft is rectangular and is convenient to fold, the length of the rotor wing is lengthened as much as possible in the foldable space so as to obtain higher hovering driving efficiency, and the width of the rotor wing is the same as that of the aircraft body so as to obtain larger lift force.

When unmanned aerial vehicle expandes, the equal free rotation of upper and lower two-layer rotor reaches the purpose of adjustment aircraft speed and driftage gesture through the rotational speed of adjusting two-layer rotor. In this embodiment, when the rotation speed of the upper and lower rotor wings increases simultaneously, the lift force is greater than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to accelerate to rise; when the rotating speed of the upper rotor wing and the lower rotor wing is reduced simultaneously, the lifting force generated by the rotor wings is smaller than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to accelerate and descend; the upper rotor turns to for just, and lower floor's rotor turns to for the burden, and when upper rotor rotational speed improved, lower floor's rotor rotational speed reduced, unmanned aerial vehicle produced negative yawing moment, and when upper rotor rotational speed reduced, when lower floor's rotor rotational speed improved, unmanned aerial vehicle produced positive yawing moment.

In this embodiment, as shown in fig. 2, the installation diagram of the rotor turntable and the power cabin is shown, in which the connection fixing blocks connect and fix the components outside the upper and lower layers of rotor turntables, four connection fixing blocks are arranged on each layer of turntable to ensure the fixing strength, and a gear is installed on the inner side of the rotor turntable and engaged with a gear fixed on the rotating shaft of the engine in the power cabin; on the contact surface of the upper and lower faces of the rotor turntable, the navigation cabin, the power cabin and the engine body, annular grooves are dug in a matched mode, balls are placed in the annular grooves, a plane bearing is formed, and friction force when the rotor turntable rotates is reduced.

In this embodiment, the attitude control device includes a folding arm, an attitude control motor and a paddle, the folding arm is hinged with the body through a rotating shaft and is located at two ends of a diagonal line of the cross section of the body, the attitude control motor is located at the top end of the folding arm and is fixedly connected with the paddle through a rotating shaft of the motor to drive the paddle to rotate; the paddle is a two-way driving symmetrical paddle, and can rotate clockwise and anticlockwise according to the rotation of the motor, so that pulling force in two directions is generated. In the present embodiment, the attitude control motors include a pitch motor and a roll motor, which control the pitch attitude control and the roll attitude control of the aircraft, respectively.

In this embodiment, the attitude control device has two, is located the afterbody of aircraft, is located the both ends of the diagonal of aircraft cross section respectively, and folding in the fuselage outside when the aircraft is deposited, and when the aircraft during operation, folding arm bounces through the torsional spring, and the motor drives the paddle and rotates, provides two attitude control of every single move and roll to the aircraft.

In one embodiment, the length of the paddle driven by the attitude motor is smaller than that of the folding arm, so that the paddle can be folded better, stable hovering capacity can be obtained by relying on upper and lower rotors in an ideal state of the unmanned aerial vehicle, the distance between the position of the attitude motor of the unmanned aerial vehicle and the center of gravity is larger, and sufficient driving torque can be generated only by small force, so that the size of the paddle, the length of the folding arm and the selection of the motor are further calculated and selected according to the control flexibility, which is a known technology in the field and is not described herein again.

step one, the aircraft is separated from external restraint, the rotor wing is unfolded, the power motor works to drive the rotor wing to rotate, and the aircraft enters a hovering state;

and step two, simultaneously, the folding arm pops up, and the attitude motor drives the paddle to rotate, so as to adjust the attitude of the aircraft.

Further, the attitude adjustment method of the aircraft comprises the following steps:

when unmanned aerial vehicle is hovering state, the direction of rotation of upper and lower layer rotor is opposite, and the difference in rotation speed of upper and lower rotor provides the yawing moment.

When unmanned aerial vehicle hovers, when the gesture motor among unmanned aerial vehicle's the gesture control device is rotatory in the positive direction, drive paddle machine and produce reverse moment, unmanned aerial vehicle rolls over left, and when the gesture motor among unmanned aerial vehicle's the gesture control device is rotatory in the negative direction, drive paddle machine and produce positive moment, unmanned aerial vehicle rolls over right.

In summary, compared with the prior art, the invention has at least the following advantages: according to the invention, through the design of the double-layer rotor and the attitude control device, the attitude of the aircraft is controlled through the rotating direction of the double-layer rotor and the rotating direction of the paddle of the attitude control device, the structure is simple, and the cost is low.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. a rotorcraft, is characterized in that, comprises rotor, fuselage, attitude control device, power cabin and navigation cabin, described navigation cabin is positioned at the foremost part of aircraft, and described power cabin is connected with described navigation cabin , the rotor turntables are respectively located on the upper and lower end faces of the power cabin, and are respectively fixed with the two engine shafts in the power cabin. A group of rotors is fixed on each rotor turntable, and the rotors are driven by the rotor turntable. Rotation; the fuselage is connected with the power cabin, and two sets of the attitude control devices are arranged at the tail to control the rolling attitude of the aircraft.

2. a kind of rotary-wing aircraft according to claim 1, is characterized in that, each side of described fuselage outside is set according to the shape and position after rotor and attitude control device are folded to place the groove of rotor and attitude control device, The rotors and attitude controls are folded to conform to the shape of the fuselage.

3. a kind of rotorcraft according to claim 2 is characterized in that, on the basis that the rotor size of described aircraft meets the lift requirement of aircraft, the rotor size is designed according to the maximum size of the groove that fuselage can design .

4. a kind of rotorcraft according to claim 2 or 3, is characterized in that, the midpoint of the shaft connection line that the rotor of described aircraft is connected with the turntable is located at the 30% position of the leading edge of the rotor, and the size of the upper and lower rotors is exactly the same .

5 . The rotorcraft according to claim 1 , wherein the attitude control device comprises a folding arm, an attitude control motor and a paddle, the folding arm is hinged to the fuselage, and the attitude control The motor is located at the top of the folding arm, and is fixedly connected with the blade through the motor shaft to drive the rotation of the blade.

6. A kind of rotorcraft according to claim 5, it is characterized in that, described blade is the symmetrical propeller of bidirectional drive, can produce two kinds of rotation directions clockwise and counterclockwise according to the rotation of attitude control motor, thereby produce tension in both directions.

7. A kind of rotorcraft control method as claimed in claim 1-6, is characterized in that, described method comprises the following steps:

The aircraft is released from the external constraints, the rotors are deployed, the power motor works to drive the rotors to rotate, and the aircraft enters a hovering state. When the upper and lower rotors rotate at the same time, the lift is greater than the drone’s gravity, and the drone begins to accelerate upward; when the upper and lower rotors simultaneously decrease in speed , the lift generated by the rotor is less than the gravity of the drone, and the drone begins to accelerate and descend;

At the same time, the folding arm pops up, and the attitude control motor drives the blades to rotate, and cooperates with the rotation of the rotor to adjust the attitude of the aircraft.

8. A kind of rotorcraft control method according to claim 7 is characterized in that, the attitude adjustment method of described aircraft is: when the drone is in the hovering state, the rotation directions of the upper and lower rotors are opposite, and the upper and lower rotors rotate in opposite directions. The rotational speed difference provides the yaw moment.

The upper rotor turns positive and the lower rotor turns negative. When the upper rotor speed increases and the lower rotor speed decreases, the UAV generates a negative yaw moment. When the upper rotor speed decreases and the lower rotor speed increases, the UAV generates a negative yaw moment. Forward yaw moment.

When the drone is hovering, when the attitude control motor in the attitude control device of the drone rotates forward, it drives the blade motor to generate a reverse torque, the drone rolls to the left, and the attitude control of the drone When the attitude control motor in the device rotates in the negative direction, it drives the blade motor to generate a positive torque, and the drone rolls to the right.