CN205837176U - A kind of convertible unmanned plane of model of flight - Google Patents
A kind of convertible unmanned plane of model of flight Download PDFInfo
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Abstract
This utility model relates to unmanned plane aircraft manufacturing technical field, it is specifically related to a kind of convertible unmanned plane of model of flight, particularly relate to a kind of convertible unmanned plane of model of flight, system composition includes: flight-control computer, open and cut umbrella system, height sensor, cluster engine, engine control system, paraglider, left power engine, right power engine, flight-control computer, engine control system and Kai Qie umbrella system, described flight-control computer, open and cut umbrella system, height sensor, cluster engine is connected with engine control system signal, described paraglider, left power engine, right power engine, flight-control computer, engine control system is connected with Kai Qie umbrella system mechanics.
Description
Technical field
The present invention relates to unmanned plane aircraft manufacturing technical field, be specifically related to a kind of convertible unmanned plane of model of flight,
Particularly relate to a kind of convertible unmanned plane of model of flight.
Background technology
The classification common in technical field of unmanned vehicle has: fixed-wing unmanned plane, rotor unmanned aircraft etc..Fixing
Wing unmanned plane is compared other kinds of unmanned plane and is possessed Inherent advantage in the technical specification such as flight speed, flying height.Rotor
The advantage of unmanned vehicle is then that being able to carry out low speed monitors task and accuracy.
Fixed-wing unmanned plane is fitted by the most military and civilian unmanned plane market at different task environment and landing environment
Should be able to power have higher requirement.Under the conditions of some particular task, fixed-wing unmanned plane exposes two shortcomings, and one is it
Minimum flight speed limits some special duties needing stagnant sky just can complete, and two is that it is high to the requirement of landing environment, difficult
To realize accuracy.
Therefore the present invention considers to design a kind of convertible unmanned plane of mode, by operation unmanned plane in fixed-wing flight and
Switch model of flight between the flight of the umbrella wing, both retained fixed-wing unmanned plane in flight speed and the advantage of flying height, and again could
Utilize paraglider to rise the high feature of force rate in certain circumstances and realize low speed glide.
Summary of the invention
In order to solve the deficiency in existing technology, reach the limitation existed for tradition fixed-wing unmanned plane, it is provided that
A kind of conversion by model of flight realizes low speed glide, the fixed-wing unmanned plane of accuracy.
A kind of convertible unmanned plane of model of flight, system composition includes: flight-control computer, opens and cuts umbrella system, height
Degree sensor, cluster engine, engine control system, paraglider, left power engine, right power engine, flight control meter
Calculation machine, engine control system and Kai Qie umbrella system, described flight-control computer, drive umbrella system of cutting, height sensor, start
Unit is connected with engine control system signal, and described paraglider, left power engine, right power engine, flight control meter
Calculation machine, engine control system are connected with Kai Qie umbrella system mechanics.
Described flight-control computer is to provide according to height sensor and velocity sensor under fixed-wing model of flight
Unmanned plane height and velocity information control electromotor and rudder face and maintain the regular flight condition of unmanned plane, or according to receiving
Surface instruction, in conjunction with unmanned plane current flight height and flight speed, controls to open and cuts umbrella system and open paraglider；Fly at the umbrella wing
Control left and right engine speed by engine control system under mode make unmanned plane climb or turn to, or according to the ground received
Face instructs, and in conjunction with unmanned plane current flight height and flight speed, controls to open to cut umbrella system shutdown paraglider.
Described umbrella system is made up of paraglider cabin, paraglider, bindiny mechanism and Kai Qie umbrella device, can control meter according to flight
What calculation machine sent open cuts umbrella instruction unpack or cuts off paraglider.
Described height sensor uses GPS or radio height-finding system, gathers the current flight height of aircraft, to flight control
Computer processed provides the elevation information of aircraft.
Described velocity sensor uses GPS or pitot, gathers the current flight speed of aircraft, to flight-control computer
The velocity information of aircraft is provided.
Described TTC channel is received and dispatched unit by airborne antenna, airborne radio transceiver, ground antenna and terrestrial radio
Become, in addition to generally sending flight and assignment instructions to unmanned plane, the model of flight conversion instruction that also terrestrial operation person can be sent
The flight-control computer to unmanned plane is sent from ground；
The electromotor that described cluster engine is symmetrically distributed in the unmanned plane left and right sides by least one set forms, and electromotor can be adopted
With motor or gasoline engine.
Described engine control system controls left and right two respectively according to the power regulating signals that flight-control computer sends
The rotating speed of group electromotor, it is possible to about regulation, two groups of electromotors produce speed discrepancy, about unmanned plane under umbrella wing model of flight
Both sides form steering moment, control unmanned plane and turn to.
The present invention has the advantages that compared to prior art
(1) model of flight is changed in the air.Fixed-wing unmanned plane is owing to requiring possess minimum flight speed at present, limits it
Perform the ability of the tasks such as fixed point supervision, fixed service relaying.
Proposition paraglider of the present invention is equipped on fixed-wing unmanned plane.Glide from high-speed flight to low speed is completed after parachute-opening
Model of flight is changed, and by the conversion of model of flight, can eliminate the restriction of minimum flight speed, reduce unmanned plane simultaneously and glide
During fuel consumption, notable when extending flight boat.
As unmanned plane need to be made to return to high-speed flight state, then by cutting umbrella realization from the umbrella wing to fixed-wing model of flight
Conversion.
(2) glide under umbrella wing model of flight controls.Under umbrella wing model of flight, owing to flight speed is low and unmanned plane gas
The change of dynamic characteristic, rudder face, by losing the control ability to unmanned plane during flying attitude, needs a set of applicable umbrella wing model of flight
Glide control system.Traditional paraglider control mode is by pulling and discharging the control wire of canopy trailing edge to change the umbrella wing
Aerodynamic configuration, thus change the aerodynamic force that paraglider is born, adjust paraglider line of travel.Such control mode difficulty
High, uncertain strong, if being applied to the UAS requiring to automatically control, both increasing the complexity of system, having increased again
Control difficulty.
Glide control method under the umbrella wing model of flight that the present invention proposes, first passes through flight-control computer to starting
Machine controls device and assigns instruction, then is controlled to be positioned at the rotating speed of two groups of electromotors of aircraft both sides by engine control system, is formed
Left and right thrust is poor, is completed left steering or the right turn of unmanned plane power flide by control moment, complete by changing gliding speed
Become climb or land, thus realize glide control.
This glide control mode system structure is simple, and its package unit relied on is in addition to paraglider relevant apparatus
To use former intrinsic UAS, it is not necessary to be further added by such as umbrella rope and control the redundancy structures such as device, than traditional control mode
It is more suitable for unmanned plane.
(3) unmanned plane accuracy is handled.The unmanned aircraft parachute descent in past reclaims all takes the free without control of engine cut-off
Falling bodies mode, therefore unmanned plane meeting box haul Dutch roll during declining, concrete drop point is indefinite, so that an area is the biggest
Recovery place, simultaneously unmanned plane land moment, owing to unmanned plane is under the influence of crosswind, has a point-to-point speed, work as crosswind
When speed exceedes restriction, easily cause the damage of UAV Landing, become the inevitable hard defects of unmanned aircraft parachute descent way of recycling.
The convertible unmanned plane of a kind of model of flight that the present invention proposes, substitutes parachute with paraglider, passes through drive
The mode glided, decreases the wind-force impact on UAV Attitude during accuracy to a certain extent.And at the umbrella wing
In glide control strategy under model of flight, it is proposed that a kind of by flight-control computer to the position after unmanned plane parachute-opening and
The method that attitude is controlled and corrects, can reach accurately to guide the purpose of unmanned plane accuracy.Both improve and pinpointed
The precision in land, reduces again unmanned plane to landing environmental requirement, has widened range, thus to unmanned plane when reducing landing
Infringement, extend unmanned plane service life.
By comprehensive above (1), (2), (3) three points, a kind of convertible unmanned plane of model of flight can either retain tradition
Fixed-wing unmanned plane, in flight speed and the advantage of flying height, can aloft switch again model of flight and realize effective sliding
Xiang controls, and this technology can also be applied to accurately guide unmanned plane accuracy.
Reference
1. paraglider, the most left power engine, the rightest power engine, 4. flight-control computer, 5. electromotor control
Device, 6. open and cut umbrella system.
Accompanying drawing explanation
Fig. 1 is the structure chart of this technological invention.
Fig. 2 is the Major Systems crosslinking figure of this technological invention.
Specific embodiment:
Embodiment 1:
A kind of convertible unmanned plane of model of flight, its system composition includes: flight-control computer, open umbrella system of cutting,
Height sensor, cluster engine, engine control system, paraglider 1, left power engine 2, right power engine 3, flight control
Computer 4 processed, engine control system 5 and Kai Qie umbrella system 6, described flight-control computer, open and cut umbrella system, highly sensing
Device, cluster engine are connected with engine control system signal, described paraglider 1, left power engine 2, right power engine 3,
Flight-control computer 4, engine control system 5 and Kai Qie umbrella system 6 are mechanically coupled.
Described flight-control computer is to provide according to height sensor and velocity sensor under fixed-wing model of flight
Unmanned plane height and velocity information control electromotor and rudder face and maintain the regular flight condition of unmanned plane, or according to receiving
Surface instruction, in conjunction with unmanned plane current flight height and flight speed, controls to open and cuts umbrella system and open paraglider；Fly at the umbrella wing
Control left and right engine speed by engine control system under mode make unmanned plane climb or turn to, or according to the ground received
Face instructs, and in conjunction with unmanned plane current flight height and flight speed, controls to open to cut umbrella system shutdown paraglider.
Described umbrella system is made up of paraglider cabin, paraglider, bindiny mechanism and Kai Qie umbrella device, can control meter according to flight
What calculation machine sent open cuts umbrella instruction unpack or cuts off paraglider.
Described height sensor uses GPS or radio height-finding system, gathers the current flight height of aircraft, to flight control
Computer processed provides the elevation information of aircraft.
Described velocity sensor uses GPS or pitot, gathers the current flight speed of aircraft, to flight-control computer
The velocity information of aircraft is provided.
Described TTC channel is received and dispatched unit by airborne antenna, airborne radio transceiver, ground antenna and terrestrial radio
Become, in addition to generally sending flight and assignment instructions to unmanned plane, the model of flight conversion instruction that also terrestrial operation person can be sent
The flight-control computer to unmanned plane is sent from ground；
The electromotor that described cluster engine is symmetrically distributed in the unmanned plane left and right sides by least one set forms, and electromotor can be adopted
With motor or gasoline engine.
Described engine control system controls left and right two respectively according to the power regulating signals that flight-control computer sends
The rotating speed of group electromotor, it is possible to about regulation, two groups of electromotors produce speed discrepancy, about unmanned plane under umbrella wing model of flight
Both sides form steering moment, control unmanned plane and turn to.
Embodiment 2:
A kind of convertible unmanned plane of model of flight, its system composition includes: flight-control computer, open umbrella system of cutting,
Height sensor, cluster engine, engine control system, paraglider 1, left power engine 2, right power engine 3, flight control
Computer 4 processed, engine control system 5 and Kai Qie umbrella system 6, described flight-control computer, open and cut umbrella system, highly sensing
Device, cluster engine are connected with engine control system signal, described paraglider 1, left power engine 2, right power engine 3,
Flight-control computer 4, engine control system 5 and Kai Qie umbrella system 6 are mechanically coupled.
Unmanned plane is first in fixed-wing model of flight after taking off, as ground operator by TTC channel by model of flight
When the flight-control computer 4 on unmanned plane is delivered in conversion instruction, flight-control computer 4 first determines whether unmanned plane paraglider cabin
In have paraglider to remain, then judge current flying height and flight speed, if current flight height is high more than minimum safe
Degree and current flight speed under fixed-wing model of flight in the range of the 100%-150% of minimum safe flight speed, then control of flying
Computer 4 processed first regulates to the speed controling signal of engine control system 5, and regulation left and right moving force engine 2 and 3 rotating speed is idle
Speed work, backward open cut umbrella system 6 send parachute-opening instruction, control paraglider 1 open.Flight-control computer will control plan simultaneously
Slightly it is switched to umbrella wing model of flight by fixed-wing model of flight.If unmanned plane current flight height and flying during conversion model of flight
Line speed is unsatisfactory for above-mentioned parachute-opening requirement, then flight-control computer 4 first controls unmanned plane and rises to specify flying height, then adjusts
Whole flight speed to specifying scope, then repeat the above steps.
Embodiment 3:
A kind of convertible unmanned plane of model of flight, its system composition includes: flight-control computer, open umbrella system of cutting,
Height sensor, cluster engine, engine control system, paraglider 1, left power engine 2, right power engine 3, flight control
Computer 4 processed, engine control system 5 and Kai Qie umbrella system 6, described flight-control computer, open and cut umbrella system, highly sensing
Device, cluster engine are connected with engine control system signal, described paraglider 1, left power engine 2, right power engine 3,
Flight-control computer 4, engine control system 5 and Kai Qie umbrella system 6 are mechanically coupled.
When unmanned plane is in umbrella wing model of flight, unmanned plane keeps low velocity under the lift effect that paraglider 1 provides
Gliding, under this mode, the control strategy of flight-control computer 4 follows following operation principle:
A) climb, improve when flight control system 4 order engine control system 5 controls left and right moving force engine 2 and 3
Rotating speed, unmanned plane gliding speed increases, and drags paraglider, and the longitudinal lift making paraglider 1 provide strengthens, and produces acceleration upwards
Degree, makes unmanned plane upwards climb；
B) landing: reduce when flight control system 4 order engine control system 5 controls left and right moving force engine 2 and 3
After rotating speed, the lift that paraglider 1 provides reduces, and under gravity, the relatively low gliding speed that unmanned plane keeps is the most slowly
Landing.
C) turn to: accelerate, simultaneously when flight control system 4 order engine control system 5 controls left power engine 2
Right electromotor 3 slows down, and produces thrust by the change of left and right engine speed poor, makes unmanned plane obtain steering moment to the right, power
Square is conducted to paraglider by attachment means again, thus controls unmanned plane and turn to the right during advancing, otherwise can also control
Unmanned plane processed turns to the left.
Embodiment 4:
A kind of convertible unmanned plane of model of flight, its system composition includes: flight-control computer, open umbrella system of cutting,
Height sensor, cluster engine, engine control system, paraglider 1, left power engine 2, right power engine 3, flight control
Computer 4 processed, engine control system 5 and Kai Qie umbrella system 6, described flight-control computer, open and cut umbrella system, highly sensing
Device, cluster engine are connected with engine control system signal, described paraglider 1, left power engine 2, right power engine 3,
Flight-control computer 4, engine control system 5 and Kai Qie umbrella system 6 are mechanically coupled.
When unmanned plane is in umbrella wing model of flight, if model of flight is turned by terrestrial operation person again by TTC channel
Changing instruction and send the flight-control computer 4 to unmanned plane, flight-control computer 4 first determines whether the flight that unmanned plane is current
Height and flight speed, if flight current flight height is higher than minimum more than minimum underriding starting altitude and current flight speed
Underriding starting velocity, then order is opened and is cut umbrella device 6 and cut off the umbrella rope of paraglider 1, and now flight-control computer is by control strategy
Being switched back into fixed-wing model of flight by umbrella wing model of flight, simultaneously for obtaining enough flight speeds, flight-control computer 4 is same
Time order engine control system 5 control left and right moving force engine 2 and 3 promote rotating speed, unmanned plane enters by the thrust of electromotor
Row dives and accelerates, until the current flight speed of velocity sensor passback is more than after unmanned plane minimum safe flight speed, unmanned
Machine is just accomplished to the conversion of fixed-wing model of flight.If unmanned plane current flight height and flight speed during conversion model of flight
Be unsatisfactory for above-mentioned cutting umbrella requirement, then flight-control computer 4 first controls unmanned plane and rises to specify flying height, then adjusts flight
Speed to specifying scope, then repeat the above steps.
Embodiment 5:
A kind of convertible unmanned plane of model of flight, its system composition includes: flight-control computer, open umbrella system of cutting,
Height sensor, cluster engine, engine control system, paraglider 1, left power engine 2, right power engine 3, flight control
Computer 4 processed, engine control system 5 and Kai Qie umbrella system 6, described flight-control computer, open and cut umbrella system, highly sensing
Device, cluster engine are connected with engine control system signal, described paraglider 1, left power engine 2, right power engine 3,
Flight-control computer 4, engine control system 5 and Kai Qie umbrella system 6 are mechanically coupled.
When unmanned plane is in fixed-wing model of flight, if accuracy is instructed by terrestrial operation person by TTC channel
Sending the flight-control computer 4 to unmanned plane, flight-control computer 4 first controls unmanned plane according to the step in embodiment 1
Suddenly complete by the conversion of fixed-wing model of flight to umbrella wing model of flight, more persistently adjust unmanned plane according to the step in embodiment 2
Glide attitude, until unmanned plane drop to appointed place, side completes unmanned plane accuracy.
Operation principle:
Unmanned plane is first in fixed-wing model of flight after taking off, as ground operator by TTC channel by model of flight
When the flight-control computer 4 on unmanned plane is delivered in conversion instruction, flight-control computer 4 first determines whether unmanned plane paraglider cabin
In have paraglider to remain, then judge current flying height and flight speed, if current flight height is high more than minimum safe
Degree and current flight speed under fixed-wing model of flight in the range of the 100%-150% of minimum safe flight speed, then control of flying
Computer 4 processed first regulates to the speed controling signal of engine control system 5, and regulation left and right moving force engine 2 and 3 rotating speed is idle
Speed work, backward open cut umbrella system 6 send parachute-opening instruction, control paraglider 1 open.Flight-control computer will control plan simultaneously
Slightly it is switched to umbrella wing model of flight by fixed-wing model of flight.If unmanned plane current flight height and flying during conversion model of flight
Line speed is unsatisfactory for above-mentioned parachute-opening requirement, then flight-control computer 4 first controls unmanned plane and rises to specify flying height, then adjusts
Whole flight speed to specifying scope, then repeat the above steps.
When unmanned plane is in umbrella wing model of flight, unmanned plane keeps low velocity under the lift effect that paraglider 1 provides
Gliding, under this mode, the control strategy of flight-control computer 4 follows following operation principle:
Climb, turn when flight control system 4 order engine control system 5 controls left and right moving force engine 2 and 3 raising
Speed, unmanned plane gliding speed increases, and drags paraglider, and the longitudinal lift making paraglider 1 provide strengthens, and produces acceleration upwards
Degree, makes unmanned plane upwards climb；
Landing: reduce rotating speed when flight control system 4 order engine control system 5 controls left and right moving force engine 2 and 3
After, the lift that paraglider 1 provides reduces, under gravity, and the relatively low gliding speed that unmanned plane keeps the most slowly landing.
Turn to: accelerate when flight control system 4 order engine control system 5 controls left power engine 2, the rightest
Motivation 3 is slowed down, and produces thrust by the change of left and right engine speed poor, makes unmanned plane obtain steering moment to the right, and moment is again
Conducted to paraglider by attachment means, thus control unmanned plane and turn to the right during advancing, otherwise nothing can also be controlled
Man-machine turn to the left.
When being in umbrella wing model of flight, if terrestrial operation person again by TTC channel by model of flight conversion instruction
Delivering to the flight-control computer 4 on unmanned plane, flight-control computer 4 first determines whether the current flying height of unmanned plane and flies
Line speed, if flight current flight height initiates higher than minimum underriding more than minimum underriding starting altitude and current flight speed
Speed, then order is opened and is cut umbrella device 6 and cut off the umbrella rope of paraglider 1, and now control strategy is flown by flight-control computer by the umbrella wing
Row Mode-switch returns fixed-wing model of flight, and simultaneously for obtaining enough flight speeds, flight-control computer 4 is ordered simultaneously and sent out
Motivation controls device 5 and controls left and right moving force engine 2 and 3 and promote rotating speed, and unmanned plane carries out underriding by the thrust of electromotor and adds
Speed, until the current flight speed of velocity sensor passback is more than after unmanned plane minimum safe flight speed, unmanned plane just completes
Conversion to fixed-wing model of flight.If unmanned plane current flight height and flight speed are unsatisfactory for during conversion model of flight
State and cut umbrella requirement, then flight-control computer 4 first controls unmanned plane and rises to specify flying height, then adjusts flight speed and extremely refer to
Determine scope, then repeat the above steps.
Claims (8)
1. the convertible unmanned plane of model of flight, it is characterised in that including: flight-control computer, open and cut umbrella system, height
Spend sensor, cluster engine, engine control system, paraglider (1), left power engine (2), right power engine (3), fly
Row controls computer (4), engine control system (5) and open umbrella system (6) of cutting, and described flight-control computer, opens and cuts umbrella system
System, height sensor, cluster engine are connected with engine control system signal, described paraglider (1), left power engine (2),
Right power engine (3), flight-control computer (4), engine control system (5) and open and cut umbrella system (6) and be mechanically coupled.
A kind of convertible unmanned plane of model of flight, it is characterised in that: described flight controls to calculate
Machine is the unmanned plane height and velocity information control provided according to height sensor and velocity sensor under fixed-wing model of flight
Electromotor processed and rudder face maintain the regular flight condition of unmanned plane, or according to the surface instruction received, current in conjunction with unmanned plane
Flying height and flight speed, control to open to cut umbrella system and open paraglider；Dress is controlled by electromotor under umbrella wing model of flight
Put control left and right engine speed make unmanned plane climb or turn to, or according to the surface instruction received, current in conjunction with unmanned plane
Flying height and flight speed, control to open to cut umbrella system shutdown paraglider.
A kind of convertible unmanned plane of model of flight, it is characterised in that: described umbrella system is by gliding
Umbrella cabin, paraglider, bindiny mechanism and Kai Qie umbrella device composition, can cut umbrella instruction unpack according to opening of sending of flight-control computer
Or cut-out paraglider.
A kind of convertible unmanned plane of model of flight, it is characterised in that: described height sensor is adopted
With GPS or radio height-finding system, gather the current flight height of aircraft, the height letter of aircraft is provided to flight-control computer
Breath.
A kind of convertible unmanned plane of model of flight, it is characterised in that: described velocity sensor is adopted
With GPS or pitot, gather the current flight speed of aircraft, the velocity information of aircraft is provided to flight-control computer.
A kind of convertible unmanned plane of model of flight, it is characterised in that: also include TTC channel,
TTC channel is made up of airborne antenna, airborne radio transceiver, ground antenna and terrestrial radio transceiver, except generally giving nothing
Outside man-machine transmission flight and assignment instructions, the model of flight conversion instruction that also can terrestrial operation person be sent sends to nothing from ground
Flight-control computer on man-machine.
A kind of convertible unmanned plane of model of flight, it is characterised in that: described cluster engine is by extremely
Few one group of electromotor being symmetrically distributed in the unmanned plane left and right sides forms, and electromotor can use motor or gasoline engine.
A kind of convertible unmanned plane of model of flight, it is characterised in that: described electromotor controls dress
Put the power regulating signals sent according to flight-control computer and control the rotating speed of the two groups of electromotors in left and right respectively, it is possible at the umbrella wing
Under model of flight, about regulation, two groups of electromotors produce speed discrepancy, form steering moment in the unmanned plane left and right sides, control unmanned
Machine turns to.
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| CN201520959638.8U CN205837176U (en) | 2015-11-27 | 2015-11-27 | A kind of convertible unmanned plane of model of flight |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094816A (en) * | 2018-07-30 | 2018-12-28 | 成都飞机工业（集团）有限责任公司 | A method of test aircraft aerodynamic lift |
| CN112389640A (en) * | 2020-11-27 | 2021-02-23 | 东莞火萤科技有限公司 | Unmanned aerial vehicle control system that stalls |
-
2015
- 2015-11-27 CN CN201520959638.8U patent/CN205837176U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109094816A (en) * | 2018-07-30 | 2018-12-28 | 成都飞机工业（集团）有限责任公司 | A method of test aircraft aerodynamic lift |
| CN109094816B (en) * | 2018-07-30 | 2022-01-25 | 成都飞机工业（集团）有限责任公司 | Method for testing aerodynamic lift of airplane |
| CN112389640A (en) * | 2020-11-27 | 2021-02-23 | 东莞火萤科技有限公司 | Unmanned aerial vehicle control system that stalls |
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