CN114030587B - A two-body omnidirectional aircraft with a ducted power unit and a dish-shaped body articulated - Google Patents

Abstract

A two-body omnidirectional aircraft with a ducted power unit and a dish-shaped body articulated, including a dish-shaped fuselage, a ducted power unit and a power hinge airway; the dish-shaped fuselage can generate aerodynamic lift during high-speed flight; the dish-shaped body There is a vertical air inlet hole in the center of the fuselage; the air inlet hole is connected to the ducted power unit through a power hinge airway; a disc-shaped functional load bin is set up above the air inlet hole, and a wind turbine is installed above the functional load bin. Standard; by adjusting the power hinge airway bending angle, the vector angle between the ducted power unit and the dish-shaped fuselage can be changed to generate a momentum conservation moment; the ducted power unit includes an outer cylinder, a jet engine and Aerodynamic rudder surface; the jet engine is located inside the outer cylinder, and the air inlet end of the outer cylinder body is connected with the air outlet end of the power hinge airway; the aerodynamic rudder surface is located inside the mouth of the outer cylinder body on the outlet side of the jet engine; by adjusting the aerodynamic rudder surface The deflection angle changes the thrust vector of the jet engine to generate aerodynamic torque.

Description

A two-body omnidirectional aircraft with a ducted power unit and a dish-shaped body articulated

Technical field

The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a two-body omnidirectional aircraft in which a ducted power device and a dish-shaped body are articulated.

Background technique

In recent years, UAV technology has developed rapidly. By carrying various functional loads on UAVs, UAVs have been applied in many fields and can replace manned aircraft to complete various specific tasks.

UAVs are mainly divided into fixed-wing UAVs and rotary-wing UAVs according to different structural types. For fixed-wing UAVs, although they have the advantages of fast speed, long range and strong maneuverability, they also have the disadvantage of being limited by the take-off and landing site. When taking off, they may need a runway or an ejection track. When landing, Either skiing or parachuting is used, resulting in poor take-off and landing safety and flexibility for fixed-wing drones. For rotary-wing UAVs, although they have the advantages of being able to take off and land vertically, hover in the air, and have low requirements for take-off and landing sites, they have the disadvantages of slow flight speed, short endurance time, and poor maneuverability.

Contents of the invention

In view of the problems existing in the prior art, the present invention provides a two-body omnidirectional aircraft with a ducted power unit and a dish-shaped body articulated, which not only has the advantages of fast speed, long range, and strong maneuverability, but also has the ability to take off and land vertically. It can hover in the air and has low requirements for take-off and landing sites. It not only meets the needs of low-altitude and low-speed flight, but also meets the needs of high-speed and high-mobility flight. It also has the ability to fly in all directions.

In order to achieve the above object, the present invention adopts the following technical solution: a two-body omnidirectional aircraft in which a ducted power unit and a dish-shaped body are articulated, including a dish-shaped fuselage, a ducted power unit and a power hinge airway; the dish The upper surface of the dish-shaped fuselage is a curved surface, and the lower surface of the dish-shaped fuselage is a curved surface or a flat surface. When the lower surface of the dish-shaped fuselage is a curved surface, the arc of the upper surface of the dish-shaped fuselage is larger than that of the dish-shaped fuselage. The curvature of the lower surface; a vertical air inlet through hole is provided in the center of the dish-shaped body; the power hinge air channel is located below the dish-shaped body, and the air inlet end of the power hinge air channel is connected to the air inlet The lower opening of the through hole is connected; the ducted power device is connected with the air outlet end of the power hinge airway.

A functional load bin is provided directly above the air inlet through hole. The functional load bin adopts a disk-shaped structure. The functional load bin is fixedly erected on the upper surface of the dish-shaped fuselage through support rods. Between the functional load bin and the dish-shaped fuselage There is an air intake gap between them.

A gyroscope, accelerometer, magnetometer and satellite navigation are installed in the functional load compartment.

A wind vane is provided directly above the functional load bin, and a pitot tube, an angle of attack sensor and a sideslip angle sensor are installed inside the wind vane.

The bending angle of the power hinge airway ranges from 90° to 180°.

By adjusting the bending angle of the power hinge airway, the vector angle between the ducted power unit and the dish-shaped body is changed to generate a momentum conservation moment.

The ducted power device includes an outer cylinder, a jet engine and an aerodynamic steering surface; the outer cylinder adopts a cylindrical structure, and the air inlet end of the outer cylinder is connected with the air outlet end of the power hinge airway; The jet engine is coaxially fixed inside the outer cylinder, and the air inlet of the jet engine is adjacent to the power hinge airway; the aerodynamic rudder surface is arranged inside the mouth of the outer cylinder on the air outlet side of the jet engine; in the jet engine An air filter is installed at the air intake of the engine.

The number of the aerodynamic rudder surfaces is three or four, and the plurality of aerodynamic rudder surfaces are evenly distributed circumferentially and radially inside the outer cylinder.

The deflection angle of the aerodynamic rudder surface ranges from -45° to 45°.

By adjusting the deflection angle of the aerodynamic rudder surface, the thrust vector of the jet engine is changed to generate aerodynamic torque.

Beneficial effects of the present invention:

The two-body omnidirectional aircraft in which the ducted power unit and the dish-shaped body are articulated have the advantages of fast speed, long range and strong maneuverability, and can take off and land vertically, hover in the air, and meet the requirements of the take-off and landing site. The advantage of low altitude is that it not only meets the needs of low-altitude and low-speed flight, but also meets the needs of high-speed and high-maneuvering flight. It also has the ability to fly in all directions.

Description of the drawings

Figure 1 is a front view of a two-body omnidirectional aircraft in which a ducted power unit and a dish-shaped body are articulated (the bending angle of the power hinge airway is 180°) according to the present invention;

Figure 2 is a top view of a two-body omnidirectional aircraft in which a ducted power unit and a dish-shaped body are articulated according to the present invention;

Figure 3 is a partial view of the ducted power device of the present invention;

Figure 4 is a front view of a two-body omnidirectional aircraft in which a ducted power unit and a dish-shaped body are articulated (the bending angle of the power hinge airway is 180°, and a Cartesian coordinate system is attached) according to the present invention;

Figure 5 shows the main structure of a two-body omnidirectional aircraft in which a ducted power unit and a dish-shaped body are articulated (the bending angle of the power hinge airway is 180°, and the force analysis in low-speed flight mode is also attached) of the present invention. view;

Figure 6 shows the main structure of a two-body omnidirectional aircraft in which a ducted power unit and a dish-shaped body are articulated (the bending angle of the power hinge airway is 80°, and a force analysis in high-speed flight mode is attached) of the present invention. view;

Figure 7 is a top view of a two-body omnidirectional aircraft in which a ducted power unit and a dish-shaped body are articulated according to the present invention (the bending angle of the power hinge airway is 80°, and a force analysis in high-speed flight mode is also attached) ;

In the figure, 1—dish-shaped fuselage, 2—ducted power unit, 3—power hinge air duct, 4—air inlet hole, 5—functional load compartment, 6—support rod, 7—wind vane, 8— Aerodynamic rudder surface, G _mass - center of mass of the aircraft, F _push - vector thrust, F _lift - aerodynamic lift, F _drag - air resistance, M _pitch - pitching moment, M _yaw - yaw moment, M _roll - rolling moment.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 to 7, a two-body omnidirectional aircraft with a ducted power unit and a dish-shaped body is articulated, including a dish-shaped body 1, a ducted power unit 2 and a power hinge airway 3; the dish-shaped body The upper surface of the fuselage 1 is a curved surface, and the lower surface of the dish-shaped body 1 is a curved surface or a flat surface, and when the lower surface of the dish-shaped body 1 is a curved surface, the curvature of the upper surface of the dish-shaped body 1 is larger than that of the dish-shaped body 1. The curvature of the lower surface of the dish-shaped body 1; a vertical air inlet through hole 4 is provided in the center of the dish-shaped body 1; the power hinge air channel 3 is located below the dish-shaped body 1, and the power hinge air passage 3 is located below the dish-shaped body 1. The air inlet end of the channel 3 is connected with the lower opening of the air inlet through hole 4; the ducted power device 2 is connected with the air outlet end of the power hinge air channel 3.

A functional load bin 5 is provided directly above the air inlet through hole 4. The functional load bin 5 adopts a disc-shaped structure. The functional load bin 5 is fixedly erected on the upper surface of the dish-shaped body 1 through support rods 6. In the functional load bin 5 There is an air intake gap between 5 and the dish-shaped body 1.

A gyroscope, accelerometer, magnetometer, satellite navigation, etc. are installed in the functional load compartment 5 .

A wind vane 7 is provided directly above the functional load bin 5, and a pitot tube, an angle of attack sensor and a sideslip angle sensor are installed inside the wind vane 7.

The bending angle range of the power hinge airway 3 is 90° to 180°.

By adjusting the bending angle of the power hinge airway 3, the vector angle between the ducted power unit 2 and the dish-shaped body 1 is changed to generate a momentum conservation moment.

The ducted power device 2 includes an outer cylinder, a jet engine and an aerodynamic steering surface 8; the outer cylinder adopts a cylindrical structure, and the air inlet end of the outer cylinder is connected to the air outlet end of the power hinge airway 3 Pass; the jet engine is coaxially fixed inside the outer cylinder, and the air inlet of the jet engine is adjacent to the power hinge airway 3; the aerodynamic rudder surface 8 is arranged inside the mouth of the outer cylinder on the air outlet side of the jet engine ; An air filter is installed at the air inlet of the jet engine.

The number of the aerodynamic rudder surfaces 8 is three or four, and the plurality of aerodynamic rudder surfaces 7 are evenly distributed circumferentially and radially inside the outer cylinder.

The deflection angle range of the aerodynamic rudder surface 8 is -45° to 45°.

By adjusting the deflection angle of the aerodynamic steering surface 8, the thrust vector of the jet engine is changed to generate aerodynamic torque.

Define a mark point A on the edge of the dish-shaped body 1, define the center of mass point of the dish-shaped body 1 as point O ₁ , position the line connecting point O ₁ to the mark point A as the X ₁ axis, and position the aircraft horizontally The velocity vector in the direction is positioned as X _{V .} The _angle between the X ₁ axis and the velocity vector , the direction is positive to the right, and the speed azimuth angle is defined as Ψ _V , then the speed azimuth angle Ψ _V = body azimuth angle Ψ + sideslip angle β, and the sideslip angle β ranges from -180° to 180°, so the aircraft Has the ability to fly in all directions.

When the aircraft is in the vertical take-off and landing stage, the speed is low and the aerodynamic influence is not significant. The force in the vertical direction of the aircraft is provided by the thrust of the jet engine in the ducted power unit 2, which can satisfy the controllable take-off and landing.

When the aircraft enters the low-speed flight mode, the thrust vector of the jet engine can be changed by adjusting the deflection angle of the aerodynamic steering surface 8, thereby generating aerodynamic torque; at the same time, the ducted type can be changed by adjusting the bending angle of the power hinge airway 3 The vector angle between the power unit 2 and the dish-shaped body 1 is used to generate a momentum conservation moment; when the aircraft enters the high-speed flight mode, the pitching moment of the aircraft can be changed through the cooperation of the aerodynamic moment and the momentum conservation torque. , roll moment and yaw moment, ultimately achieving attitude adjustment under high maneuverability of the aircraft.

The force on the aircraft is analyzed below with reference to the attached figure.

First, the Cartesian coordinate system of each part of the aircraft is established, which are in turn the inertial coordinate system, the dish-shaped body coordinate system, the speed coordinate system and the ducted power plant coordinate system.

In the inertial coordinate _{system ,} the O _g point is any point _on the ground plane _, and _the O _g

In the coordinate system of the dish-shaped fuselage, point O ₁ is _the center of mass point of the dish-shaped fuselage, the coordinate O ₁ X ₁ points to the mark point A, the _coordinate O ₁ Z ₁ is perpendicular to the coordinate O ₁ Y ₁ conforms to the right-hand rule.

In _{the speed} coordinate system _, the O _v point _is the center _of mass point _of the _aircraft , _{the O v} Y _v conforms to the right-hand rule.

In the coordinate system of the ducted power unit, the O ₂ point is the center of mass point of the ducted power unit, the O ₂ X ₂ coordinate points to the normal axis direction of the jet engine, and the O ₂ Z ₂ coordinate is in the X ₂ O ₂ Z ₂ plane Perpendicular to the O ₂ X ₂ coordinate, O ₂ Y ₂ follows the right-hand rule.

The relationship between the inertial coordinate system and the dish-shaped body coordinate system is as follows:

In the formula, Ψ is the azimuth angle of the body, θ is the pitch angle, and γ is the roll angle.

The relationship between the disc-shaped fuselage coordinate system and the ducted power plant coordinate system is as follows:

In the formula, λ ₁ is the joint angle rotating around the O ₁ Z ₁ coordinate axis, and λ ₂ is the joint angle rotating around the O ₁ X ₁ coordinate axis.

The relationship between the speed coordinate system and the dish body coordinate system is as follows:

In the formula, α is the angle of attack and β is the sideslip angle.

When the aircraft is in low-speed flight mode, since the flight speed is very small, the aerodynamic force is negligible. The aerodynamic torque is controlled through the aerodynamic rudder surface 8, the momentum conservation torque is controlled through the power hinge airway 3, and the momentum conservation torque is controlled through the aerodynamic torque and momentum torque. In conjunction with adjusting the attitude of the aircraft, during low-speed flight, the lift of the dish-shaped body 1 is provided by the vertical component of the vector thrust of the jet engine. Specifically, the force on the aircraft flying at low speed is: the force in the vertical direction is the vertical component of gravity and vector thrust, and the force in the horizontal direction is the horizontal component of air resistance and vector thrust. In addition, the yaw moment is generated through the differential movement of the aerodynamic rudder surface 8, and the aerodynamic moment is controlled by adjusting the deflection angle of the aerodynamic rudder surface 8. When the aerodynamic moment cooperates with the momentum conservation moment, pitching moment and roll moment can be generated.

When the aircraft is in high-speed flight mode, the aircraft is affected by gravity, aerodynamic force and vector thrust at the same time. The angle between the dish-shaped body 1 and the jet engine is controlled through the power hinge airway 3, and the vector thrust of the jet engine is used to provide flight for the aircraft. Thrust, and the lift of the aircraft is mainly provided by the aerodynamic lift generated by the dish-shaped body 1 when flying at high speed, and the vertical component of the vector thrust of the jet engine only provides a small amount of lift. When the vector thrust of the jet engine does not exceed the center of gravity of the aircraft, the aircraft can generate a head-up moment. In order to balance the influence of asymmetric external forces and external force moments on the aircraft, the aircraft can change the aerodynamic torque by controlling the aerodynamic rudder surface 8. When the aerodynamic torque and momentum When the moment conservation moment is combined, the flight attitude of the aircraft can be changed, thereby maintaining the stability of the aircraft during high-speed flight. Specifically, the forces on an aircraft flying at high speed are: the force in the vertical direction is the vertical component of gravity and lift, the force in the horizontal direction is the component of air resistance and vector thrust in the direction of motion, and the force in the normal direction of motion is lift, side. Horizontal component of air resistance and vector thrust. In addition, the rolling moment is generated through the differential movement of the aerodynamic rudder surface 8, and the aerodynamic moment is controlled by adjusting the deflection angle of the aerodynamic rudder surface 8. When the aerodynamic moment cooperates with the momentum conservation moment, yaw moment and pitching moment can be generated.

The solutions in the examples are not intended to limit the scope of patent protection of the present invention. Any equivalent implementation or modification that does not depart from the scope of the present invention is included in the patent scope of this case.

Claims (4)

1. A ducted power device and two-body omnidirectional aircraft hinged with a dish-shaped body is characterized in that: comprises a dish-shaped body, a ducted power device and a power hinge air passage; the upper surface of the dish-shaped body is an arc surface, the lower surface of the dish-shaped body is an arc surface or a plane, and when the lower surface of the dish-shaped body is an arc surface, the radian of the upper surface of the dish-shaped body is greater than that of the lower surface of the dish-shaped body; a vertical air inlet through hole is formed in the center of the dish-shaped body; the power hinge air passage is positioned below the saucer body, and the air inlet end of the power hinge air passage is communicated with the lower orifice of the air inlet through hole; the ducted power device is connected with the air outlet end of the power hinge air passage; the bending angle range of the power hinge air passage is 90-180 degrees, and the vector included angle between the bypass type power device and the disk-shaped body is changed by adjusting the bending angle of the power hinge air passage so as to generate a momentum moment conservation moment; the ducted power device comprises an outer cylinder body, a jet engine and a pneumatic control surface; the outer cylinder body adopts a cylindrical structure, and the air inlet end of the outer cylinder body is communicated with the air outlet end of the power hinge air passage; the jet engine is coaxially fixed in the outer cylinder body, and an air inlet of the jet engine is adjacent to the power hinge air passage; the pneumatic control surface is arranged in the outer cylinder barrel opening at the air outlet side of the jet engine; an air filter is arranged at an air inlet of the jet engine; the number of the pneumatic control surfaces is three or four, and the plurality of pneumatic control surfaces are uniformly distributed in the outer cylinder body along the circumferential direction and in a radial shape; the deflection angle of the pneumatic control surface ranges from-45 degrees to 45 degrees, and the thrust vector of the jet engine is changed by adjusting the deflection angle of the pneumatic control surface so as to generate aerodynamic moment.

2. The two-body omnidirectional aircraft with a ducted power device hinged to a dished body of claim 1, wherein: a functional load bin is arranged right above the air inlet through hole, the functional load bin is of a disc-shaped structure, the functional load bin is fixedly arranged on the upper surface of the disc-shaped body through a supporting rod, and an air inlet gap is reserved between the functional load bin and the disc-shaped body.

3. The two-body omnidirectional aircraft with a ducted power device hinged to a dished body of claim 2, wherein: and a gyroscope, an accelerometer, a magnetometer and a satellite navigator are arranged in the functional load bin.

4. The two-body omnidirectional aircraft with a ducted power device hinged to a dished body of claim 2, wherein: and an air vane is arranged right above the functional load bin, and an airspeed tube, an attack angle sensor and a sideslip angle sensor are arranged in the air vane.