JP4590492B2 - Proximity tandem wing vehicle - Google Patents

Description

Detailed Description of the Invention

  The present invention relates to a vehicle, and more particularly to a vehicle comprising a close tandem wing arrangement. The present invention is suitable for a micro air vehicle flying unattended by remote radio control.

  Even in today's advanced technology, the biggest obstacle to the stable and safe flight of aircraft remains the stall. High lift generators such as flaps, which are difficult to stall at a large angle of attack, were developed to temporarily generate high lift when necessary for takeoff and landing, etc. Because it is necessary to control the boundary layer by jetting compressed air, it is effective even when small airplanes including model airplanes that can cause large fluctuations in the angle of attack instantaneously fly at low speeds in strong winds and gusts. There is no reason. This is also the case with large aircraft flying in stormy weather, and aircraft basically have performance constraints on the angle of attack and its significant changes.

  When considering the natural wind environment, a large aircraft that flies at a relatively high speed under normal weather conditions has a relatively small change in angle of attack and is difficult to stall. However, in the case of a small air vehicle such as a small UAV (Unmanned Air Vehicle) or a model airplane or an ultra-small air vehicle, the flight speed is orders of magnitude smaller than that of a large aircraft. Because the natural wind environment does not depend on the size of the aircraft, the small or very small aircraft can easily stall due to the relatively large change in angle of attack caused by the natural wind environment. Therefore, it is basically difficult for the small or very small aircraft to keep flying stably in a natural wind environment including strong winds and gusts. I can. Furthermore, in the case of a small or very small air vehicle, it is required to fly by remote control etc. under the wind environment that changes more drastically under the extremely low wind environment affected by the surface shape. Compared to other aircraft, small aircraft or ultra-small aircraft are required to have much higher stall recovery characteristics, stability and maneuverability.

As a prior art for solving such a problem, a micro air vehicle with a close tandem wing arrangement disclosed in Patent Document 1 is known. In Patent Document 1, by providing the front wing of an ultra-compact flying object with a proximity tandem wing arrangement so as to stall before the rear wing, a nose-down moment is generated when the front wing stalls, and the stall is passively stalled. Can be recovered autonomously (passive self-recovery at stall), and a backward angle is provided on the rear wing formed by the close tandem wing arrangement of the micro air vehicle, thereby providing an elevon provided at the trailing edge of the rear wing. In addition, the invention discloses that the stability and maneuverability can be improved because the vertical stabilizer and the moment arm of the ladder provided at the rear blade tip can be increased.
US Patent Application Publication US2007 / 0029440A1

  However, in a micro air vehicle with a close tandem wing arrangement, when the front wing stalls and the generated lift of the front wing decreases and a nose-down moment is generated, it is always close to the front wing at the same time. The generated lift of the rear wing also decreases, and the decrease in the generated lift of the rear wing acts to reduce the nose down moment as opposed to the case of the front wing. In order for a micro air vehicle with a tandem wing arrangement to obtain a nose-down moment sufficient to change the angle of attack, it is necessary for the micro air vehicle to reach a considerably deep stall state close to a complete stall state. Therefore, in order to recover from the stalled state, the micro air vehicle must enter a descent due to an unintended stall with a large altitude loss each time. Therefore, there is a problem in flight characteristics that can be said to have the possibility of causing damage to the ground due to the crash in the flight of the micro air vehicle that is generally used to fly in the very low sky. I can say that.

  In addition, in the natural wind environment including strong winds and gusts, not in the windless environment in the room, the same is true for large aircraft flying in stormy weather. In the case of a micro air vehicle, it can be said that a large rotational motion occurs in the rolling direction, the pitching direction and the yawing direction due to the influence of the disturbance caused by the wind environment. Considering the case where a vertical tail with a large moment arm is provided on the micro air vehicle for the purpose of improving the direction stability of the air vehicle, In the yawing direction (rotation in the yawing direction due to the influence of crosswind gusts) On the other hand, an adverse effect is produced, and the rotational angular velocity of the rotational motion in the yawing direction becomes large. Therefore, the rotation inertia is coupled in the rotational motion, and the rotation given in the yawing direction is caused. It can be said that the motion has the possibility of inducing a rolling roll by inducing a rotational motion in the rolling direction, for example.

  In addition, under natural wind environments including strong winds and gusts, the angle of attack on the stabilizer and control wing of the micro air vehicle greatly fluctuates due to the influence of the cross wind gusts, etc. Therefore, the stabilization plate and the control wing easily stall, and it becomes difficult to ensure the stability and controllability of the micro air vehicle using the stabilization plate and the control wing. It can be said that there is a problem.

  The present invention has been made in view of these problems, and has a stall recovery characteristic and stability of a flying object having a close tandem wing arrangement, particularly a small or very small flying object having a close tandem wing arrangement. The purpose is to improve maneuverability.

The present invention has the following configuration in order to solve the above problems. In other words, the flying body according to the present invention has a propeller rotating surface of the propeller propulsion device in which the same number of propeller propulsion devices that can be independently controlled for each of the left and right strings of the flying body are arranged in the proximity tandem wing arrangement. Arranged in front of the leading edge of the rear wing, and the moment of inertia of the flying object has a maximum value in rotation in the yawing direction, and is equal and minimum in rotation in the rolling direction and rotation in the pitching direction. A beam-shaped mass ballast that protrudes rearward from the rear wing provided to adjust to the rear wing, and performs lateral flight control only by changing the thrust generated by the propeller propulsion device. .

  In addition, the flying body according to the present invention is characterized in that the front wing is provided with an upper angle and the rear wing is provided with a lower angle and the pusher type propeller propulsion device is suspended on the front wing. .

  According to the present invention, in a flying body having a close tandem wing arrangement, the same number of propeller propulsion devices that can be independently controlled for each left and right side of the flying body are used as propeller rotation surfaces of the propeller propulsion device. Arranged immediately before the leading edge, the moment of inertia of the aircraft has a maximum value in the rotation in the yawing direction, and is substantially the same and minimum in the rotation in the rolling direction and the rotation in the pitching direction. By providing a beam-shaped mass ballast projecting rearward from the rear wing provided to adjust so that the flight control is performed only by the change control of the thrust generated by the propeller propulsion device, Deep stall in response to changes in the angle of attack in the pitching direction of the aircraft due to disturbances caused by natural wind environments including strong winds and gusts Actively and promptly by the lift force constantly generated and supplied by the propeller wake generated by the propeller propulsion device and the rear wing having the large wing area of the flying object constituted by the adjacent tandem wing arrangement without falling into a state It is possible to achieve an excellent stall recovery characteristic that can obtain a necessary nose down moment and recover an appropriate angle of attack without accompanying a large altitude loss due to descent.

  Further, according to the present invention, in a natural wind environment including strong winds and gusts, it is not necessary to use a stabilizing plate and control wings that cannot necessarily guarantee the required stability and controllability. The rear wing provided so that the inertial moment of the flying object has a maximum value in the rotation in the yawing direction, and is adjusted so as to be approximately the same value and the minimum value in the rotation in the rolling direction and the rotation in the pitching direction. By providing a beam-shaped mass ballast that protrudes more rearwardly, the moment of inertia around each rotational motion axis in the aircraft is efficiently increased, and the static stability of the aircraft is improved. Excellent dynamic stability without rotational instability due to the rotational motion around each rotational motion axis of the aircraft coupled with the rotational motion around the other rotational motion axis Only by performing differential output control of the thrust generated by the propeller propulsion device for each left and right side of the aircraft around the rotational motion axis in the yawing direction that has the maximum value of the moment of inertia of the aircraft. Even in natural wind environments including strong winds and gusts, high stability and maneuverability can be achieved in the flying object.

  According to the present invention, the front wing is provided with an upper angle, the rear wing is provided with a lower angle, and the propeller propulsion device of the pusher type is suspended on the front wing so that strong winds and gusts are generated. In the natural wind environment including, the rear wing is provided with rotational movement in the rolling direction of the flying body induced by the dihedral angle provided on the front wing of the flying body due to a cross wind or the like. In addition to being able to cancel and suppress by the downside angle, the propeller wake generated by the propeller propulsion device of the pusher type provided suspended on the front wing is efficiently blown onto the upper surface of the rear wing. Therefore, the stability and stall recovery characteristics of the flying object can be further improved.

  Hereinafter, embodiments of the present invention will be described in detail. FIG. 1 is an explanatory view of the micro air vehicle shown in the present embodiment as viewed from the lower front of the left wing, and FIG. 2 is an explanatory view of the micro air vehicle shown in the present embodiment from the upper rear of the left wing. 1 and 2 of the present embodiment has a total width (total span length) of 350 mm, a total length of 280 mm, a chord length of 35 mm, a mass of about 20 g (including a mounting capacity of 5 g), and a flight speed of about 6 m per second. Originally equipped with CFRP front wing 1 and rear wing 2 by tandem wing arrangement, shock absorbing material 3 made of EPP (Expanded Polypropylene), lithium ion battery covered with EPP sheet and wireless communication control device And a propeller propulsion device 9 including a wooden body 5, a wooden mass ballast 6, and an electromagnetic motor 7 and a propeller 8. Since both the front wing 1 and the rear wing 2 provided by the close tandem wing arrangement have a planar shape with a high aspect ratio, induction resistance can be reduced and a high lift-drag ratio can be realized. Note that a reverse camber is provided at the rear edge of the rear wing 2 to obtain a trim in the pitching direction in the aircraft of the present embodiment with the close tandem wing arrangement.

  In the micro air vehicle of the present embodiment shown in FIGS. 1 and 2, the front wing 1 provided with a 10 ° angle is attached to a position higher than the rear wing 2. Propeller wake generated by a propeller propulsion device 9 composed of an electromagnetic motor 7 suspended on the front wing 1 and a propeller 8 directly connected to the electromagnetic motor 7 because of a 2 ° lower angle. Can always be efficiently sprayed onto the upper surface of the rear wing 2. For this reason, the lift generated actively by the propeller wake generated by the propeller propulsion device 9 and the rear wing 2 having a large wing area formed by the adjacent tandem wing arrangement is a natural wind environment including strong winds and gusts. Regardless of fluctuations in the angle of attack of the front wing 1 and the rear wing 2 that greatly fluctuate below, it is possible to always ensure a constant lift, so in a natural wind environment including strong winds and gusts, When the angle of attack of the front wing 1 fluctuates and the generated lift decreases due to the stall in the front wing 1, the rear wing 2 does not reach a deep stall state, and the propeller propulsion device 9 and the rear wing 2 Actively and quickly obtains the nose down moment by the lift generated by the aircraft, and lowers the nose without descent or altitude loss for stall recovery. Excellent stall recovery characteristics can be recovered from kicking stall state can be realized.

  FIG. 3 is an explanatory view showing the difference in flight trajectory between the micro air vehicle of the present invention and the conventional micro air vehicle when receiving wind from below. In FIG. 3, when the conventional micro air vehicle receives wind from below as shown in the flight trajectory 12 of the conventional air vehicle, both the front wing and the rear wing are stalled due to a large change in the angle of attack, and the lift is lost. Because the drag increases, the aircraft loses its speed and is blown by the wind from the lower side and rises once, but because it has already lost its speed, all the stabilizers and control blades do not function, and aerodynamics While it is impossible to recover from the stalled state until it loses its stability and greatly descends with its nose lowered and recovers its speed again, the micro air vehicle according to this embodiment In FIG. 1, before the front wing 1 shown in FIGS. 1 and 2 reaches a deep stall state, the large wing area formed by the propeller wake and the adjacent tandem wing arrangement generated by the propeller propulsion device 9 shown in FIGS. Rear wing with 2 By generating lift by actively, the nose down moment is quickly obtained and the nose is lowered without a large altitude loss, and the cruise as shown in the flight trajectory 11 of the aircraft according to the present invention shown in FIG. The flight can be continued.

  FIG. 4 is an explanatory view showing the difference in flight trajectory between the micro air vehicle of the present invention and the conventional micro air vehicle when taking off by hand throwing against the head wind. In FIG. 4, the conventional micro air vehicle starts to rise using surplus energy given by hand-throwing at takeoff, but the rate of increase decreases as the altitude is acquired, the speed is lost, and the relative component of the head wind direction component is reduced. In the state where all stabilizers and control blades do not function because the wind becomes dominant and the angle of attack of the front and rear wings suddenly increases and stalls. The direction is unstable and it becomes impossible to maneuver, and as shown in the flight trajectory 14 of the conventional aircraft, the nose is lowered and suddenly lowered, and the maneuvering function is restored by recovering the speed in exchange for a large altitude loss. In exchange for a 180 degree change in the direction of flight, as shown in the flight trajectory 15 of a conventional aircraft, While the flight speed was slowly recovered and the flight course was not intended at all, it was fortunate that it was possible to shift to cruise flight without significant altitude loss, In the micro air vehicle according to the present embodiment, the lift of the front wing 1 shown in FIG. 1 and FIG. 2 is reduced due to the decrease in the aircraft speed due to the rise and the increase in the attack angle due to the influence of the relative wind of the head wind direction component. Accordingly, before the front wing 1 reaches a deep stall state, it is activated by the rear wing generated by the propeller propulsion device 9 shown in FIGS. 1 and 2 and the rear wing 2 having a large wing area formed by the adjacent tandem blade arrangement. The flight of the flying vehicle according to the present invention shown in FIG. 4 is automatically performed without requiring a separate control operation by obtaining a nose down moment from time to time by using the lift force generated automatically. Performs an optimal level off maneuver without large highly loss as shown in the road 13, it is possible to shift to cruise flight.

  The micro air vehicle of the present embodiment shown in FIGS. 1 and 2 does not include any stabilizing plate and control wing, but instead of ensuring stability and controllability by the stabilizing plate and control wing. 1 and 2, the moment of inertia of the micro air vehicle of the present embodiment has a maximum value in the rotation in the yawing direction, and is substantially the same and minimum in the rotation in the rolling direction and the rotation in the pitching direction. And a beam-shaped mass ballast 6 protruding rearward from the rear wing 2 provided so as to be adjusted, and independently controlled for each right and left kite of the micro air vehicle of this embodiment. Each of the possible left and right anchors is provided with a pair of propeller propulsion devices 9 in total, one pair each, and the thrust generated by the two propeller propulsion devices 9 is on the port side of the micro air vehicle of this embodiment. And right It is possible to ensure the necessary stability and maneuverability by only performing the differential output control of the thrust of the method of controlling individually change the side. Of course, the propeller propulsion device 9 is equipped with two or more propeller propulsion devices 9 in each of the left and right sides, for a total of four pairs of propeller propulsion devices 9, realizing a powerful maneuvering performance with even greater thrust that can function even in stormy weather You can also

  In the micro air vehicle of the present embodiment shown in FIGS. 1 and 2, by providing the mass ballast 6, the yawing direction, the rolling direction, and the pitching direction in the micro air vehicle of the present embodiment can be reduced with a minimum increase in mass. Since the value of each moment of inertia can be increased efficiently at the same time, the static stability of the micro air vehicle of this embodiment is improved, and the resistance to disturbances in natural wind environments including strong winds and gusts is improved. In addition, the mass ballast 6 allows the inertial moment values in the yawing direction, the rolling direction, and the pitching direction in the micro air vehicle of the present embodiment to be converted into other rotational motions depending on the characteristics of the rotational inertial motion. Inertial moments in the other two rotational directions that are likely to cause rotational instability due to coupling with rotational movement around the axis. Inertia moment in the rolling direction (mainly the moment of inertia of the wing) without setting the inertia moment setting value that corresponds to the “intermediate moment of inertia”, which is equivalent to the intermediate value )) And the moment of inertia in the pitching direction (which can be mainly regarded as the moment of inertia of the mass ballast 6 provided in the present embodiment). It is provided for each of the minimum inertia moment values of the micro air vehicle, and on the other hand, the inertia moment in the yawing direction (mainly the inertia moment that is the sum of the inertia moments of the wing and the mass ballast 6 may be considered. Can be set to the value of the maximum moment of inertia in the micro air vehicle of this embodiment. Therefore, excellent dynamic stability without causing rotational instability due to the rotational motion around each rotational motion axis of the micro air vehicle of this embodiment coupled with the rotational motion around other rotational motion axes. Can be realized.

  It should be noted that the mass ballast 6 in the micro air vehicle of the present embodiment shown in FIGS. 1 and 2 is for realizing the setting without providing the “intermediate moment of inertia” in the micro air vehicle of the present embodiment. In addition, the beam is designed in a beam shape having a T-shaped cross section shown in FIGS. 1 and 2 based on a design calculation value using a three-dimensional CAD system. The micro air vehicle shown in this embodiment is provided with the mass ballast 6 shown in FIGS. 1 and 2, thereby efficiently increasing the moment of inertia in the micro air vehicle of this embodiment and improving the static stability. By realizing excellent dynamic stability that does not cause coupling of rotational inertia accompanying rotational motion in the yawing direction, rolling direction, and pitching direction of the micro air vehicle of the present embodiment, Also, the stability in the rolling direction due to the effect of the upside-down angle provided on the front wing 1 shown in FIGS. 1 and 2 and the front wing 1 and the rear wing 2 shown in FIGS. By obtaining stability in the pitching direction based on the balance of generated lift, it is possible to achieve the necessary safety without using any stabilizers even in natural wind environments including strong winds and gusts. It can fly to ensure sex.

  In addition, in the micro air vehicle of the present embodiment, the control force that the control wing can generally provide around the rotational motion axis in the yawing direction having the maximum value of the moment of inertia in the micro air vehicle of the present embodiment. 1 and FIG. 2 that can provide a much larger maneuvering force than the differential differential of the thrust using the large thrust generated by the propeller propulsion device 9 provided for each left and right kite in the micro air vehicle of the present embodiment shown in FIG. 1 and FIG. By performing output control, the micro air vehicle of the present embodiment can be freely operated in the yawing direction even in stormy weather or during low speed flight. Of course, when raising the micro air vehicle of the present embodiment, the thrust generated by the left and right propeller propulsion devices 9 in the micro air vehicle of the present embodiment shown in FIGS. 1 and 2 is equally increased. It is only necessary to control, and it is only necessary to control the thrust to decrease equally when lowering, and when turning right, only the thrust generated by the propeller propulsion device 9 on the port side is increased. Control may be performed, or conversely, control may be performed so as to reduce only the thrust generated by the starboard propeller propulsion device 9, and only the thrust generated by the starboard propeller propulsion device 9 is increased when turning to the left. It is only necessary to control to reduce the thrust generated by the propeller propulsion device 9 on the port side.

  Since the micro air vehicle shown in the present embodiment does not have any drive unit such as a control wing, it can be manufactured at a lower cost than a helicopter or various V / STOL aircraft, In addition to being able to safely and economically implement observations, takeoff and landing under strong winds in confined areas, etc., outdoor flight in natural wind environments including strong winds and gusts, which are difficult for conventional ultra-small aircraft Therefore, it is possible to perform highly convenient information collection or information providing activities that have not been realized in the past.

  Although specific embodiments according to the present invention have been described in detail above, the technical scope of the present invention is not limited by the specific embodiments disclosed as the examples. The present invention can also be suitably applied to a case where a larger unmanned aircraft, a manned high lift generation type small low speed aircraft, or the like is an application target.

  The invention of the present application can realize a flying object excellent in operability capable of performing low-speed low-flying flight even in stormy weather such as storms, etc. It can be operated outdoors in the field, and thus has unexplored industrial applicability that could not exist within the range of conventional aircraft operating conditions. In addition, the present invention makes it possible to manufacture and operate an ultra-compact aircraft that does not require any complicated steering drive mechanism at a low cost, and conventionally, it is difficult to use an aircraft in light of the operation cost. It has undeveloped industrial applicability in the areas that have been developed. Specific examples include detailed surveys of weather and air environment, search and observation of narrow danger zones by unmanned aircraft, scientific research and support for various activities, hobby applications, and so on. In addition, the flying object according to the present invention is considered to be an optimal candidate as a planetary probe that is resistant to disturbances in the Martian environment where the Reynolds number of the atmosphere is an order of magnitude lower than on the Earth.

It is explanatory drawing which shows the micro air vehicle by this invention seeing from the lower left front. It is explanatory drawing which shows the micro air vehicle by this invention seeing from upper left back. It is explanatory drawing which compares and shows the difference of the flight trajectory of the aircraft by this invention, and the conventional aircraft. It is explanatory drawing which compares and shows the difference of the flight trajectory of the aircraft by this invention, and the conventional aircraft.

Explanation of symbols

1: Front wing 2: Rear wing 3: Shock absorber 4: Control unit 5: Body 6: Mass ballast 7: Electromagnetic motor 8: Propeller 9: Propeller propulsion device 11: Flight trajectory 12 of the aircraft according to the present invention: Conventional The flight trajectory 13 of the aircraft: The flight trajectory 14 of the aircraft according to the present invention: The flight trajectory 15 of the conventional aircraft 15: The flight trajectory of the conventional aircraft

Claims (2)

In a flying object having a close tandem wing arrangement, the same number of propeller propulsion devices that can be controlled independently for each of the left and right chords of the flying object are arranged in front of the trailing edge of the rear wing of the propeller propulsion device. The rear body is provided so that the inertial moment of the flying object has a maximum value in the rotation in the yawing direction and is adjusted to be equal and minimum in the rotation in the rolling direction and the rotation in the pitching direction. A flying object comprising a beam-shaped mass ballast projecting rearward from a wing, and performing lateral flight control only by changing the thrust generated by the propeller propulsion device.   The flying body according to claim 1, wherein an upper angle is provided on a front wing, a lower angle is provided on the rear wing, and the pusher type propeller propulsion device is suspended on the front wing. .

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