CN104176247A - Four-rotor unmanned aerial vehicle with engine for directly driving rotor - Google Patents
Four-rotor unmanned aerial vehicle with engine for directly driving rotor Download PDFInfo
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- CN104176247A CN104176247A CN201410339243.8A CN201410339243A CN104176247A CN 104176247 A CN104176247 A CN 104176247A CN 201410339243 A CN201410339243 A CN 201410339243A CN 104176247 A CN104176247 A CN 104176247A
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Abstract
The invention discloses a four-rotor unmanned aerial vehicle with one engine for directly driving one rotor. The unmanned aerial vehicle comprises a machine body, four power lifting units and four lifting force adjusting units, wherein the four power lifting units are symmetrically arranged on the machine body; the power lifting units are two propellers of fixed pitches and are used for providing primary lifting forces; the lifting force adjusting units are two propellers of variable pitches and used for providing attitude control; four power units are four aero-engines; each engine directly drives one rotor; and the central flying control computer system is connected with the lifting force units and the power lifting units and are used for controlling the two system units to adjust the attitude and speed of the rotor machine. The four-rotor unmanned aerial vehicle adopts aero-engines, has the characteristic of high energy-efficiency ratio, strong thrust, good cruising ability and is able of long-time flying; by adopting the arrangement mode of four engines, even if one engine fails and stops, the vehicle can still safely and stably land by improving the lifting forces of two engines on the symmetrical axes which are not stopped; and thus the reliability and stability of the aerial vehicle are improved.
Description
Technical field: the present invention relates to a kind of rotor wing unmanned aerial vehicle, especially a kind of four rotor wing unmanned aerial vehicles that adopt an engine direct to drive a rotor.
Background technology: at present, aircraft that can vertical takeoff and landing, modal, be exactly heligyro (being called for short " helicopter ").Helicopter is mainly made up of body and lift system (containing main rotor and tail-rotor), power system, driving system three large systems and airborne flight equipment etc.The main rotor of helicopter is generally driven by the machine driven system being made up of transmission shaft, retarder etc. by turboaxle motor or piston engine, also can be driven by the antagonistic force of the jet generation of blade tip.Helicopter engine drives main rotor that lift is provided, and helicopter is lifted aloft.Also outputting power is to the tail-rotor of aircraft afterbody simultaneously for sustainer, main engine, and the airbone gyro instrument can be detected the deviation of helicopter yaw attitude and feed back to tail-rotor control system, so that it adjusts the pitch of tail-rotor, offsets the moment that main rotor produces.
Structure, helicopter can be divided into single-rotor helicopter and twin-rotor helicopter.Single-rotor helicopter band tail-rotor, is responsible for providing lift by a horizontal main rotor, and a small-sized vertical rotor of afterbody (tail-rotor) is responsible for offsetting the counter torque that main rotor produces.For example, the EC-135 helicopter that Eurocopter manufactures.Twin-rotor helicopter is divided into again lap siding, cross-arranging type and close coupled type.The structure of lap siding is longitudinal arrangement before and after two rotors, and hand of rotation is contrary, for example, and CH-47 " Zhi Nugan " transport helicopter that Boeing Co. manufactures; The structure of cross-arranging type is that two rotor left and right are transversely arranged, and rotor shaft interval is far away, and hand of rotation is contrary, for example, and the Mi-12 helicopter of meter Li design bureau of former Soviet Union development; The structure of close coupled type is that two rotors are arranged above and below, contrarotation on same axis, for example, card one 50 armed helicopters of Ka Mofu design bureau of former Soviet Union development.
Before and after four axle individual layer quadrotors connect by hold-down arm and totally four rotors of two groups of left and right, two rotor wing rotation directions in every group are identical, and the hand of rotation of two groups of rotors is contrary, offset rotor moment with this, keep organism balance, it changes lift by the rotating speed that changes each rotor, and then changes attitude and the position of quadrotor.
Structure and the four axle individual layer quadrotors of the double-deck eight-rotary wing aircraft of four axles are similar, and but, it adopts all around totally four groups of rotors, and every group comprises again upper and lower two-layer rotor.The hand of rotation of two rotors in every group is contrary, with the moment that single rotor wing rotation was produced of cancelling out each other, regulates the rotating speed of respectively organizing rotor all around, just can regulate flight attitude and the speed of aircraft.
Above-mentioned quadrotor uses dynamotor, all exists while boat short, the shortcoming that Energy Efficiency Ratio is low, and driving engine entire machine that breaks down will face paralysis, flight process also will stop.
Summary of the invention: for above-mentioned the deficiencies in the prior art, the invention provides a kind of four rotor wing unmanned aerial vehicles that adopt an engine direct to drive a rotor.
For achieving the above object, the technical solution used in the present invention is: adopt an engine direct to drive four rotor wing unmanned aerial vehicles of a rotor, include fuselage and be connected to the frame on fuselage, frame is connected with power unit, it is characterized in that, described frame is by four identical rotor shaft cross frame forming that connects between two, and control system and battery are all in fuselage.Described power unit includes the motor cabinet that is fixed on rotor shaft end, be arranged on the rotor group on motor cabinet and be fixed on motor cabinet lower end the aero-engine that drives rotor group, the mouth of the power input electrical connection control system that rotor component is two-layer up and down, described aero-engine.Four described rotor groups are symmetrically distributed on the circumference centered by fuselage rotation centerline, and the cw of two driving engines on axis of symmetry turns, and a conter clockwise turns.Cw turns installs positive oar, and conter clockwise turns installs anti-oar.
Preferably, fuselage is arranged with electronic system protective cover outward.
Preferably, the lower end of rotor shaft is provided with take-off and landing device.
Preferably, in fuselage, be provided with augmentation control device, utilizing rotation, special sensor---gyroscope carrys out the balanced degree of perception ship body and signal is sent to microcontroller, control again the rotating speed of four rotors on cyclogyro by the computing generation control signal of microcontroller internal processes, to maintain the balance of whole cyclogyro.
Preferably, described rotor shaft is hollow structure, is built-in with wire.
Preferably, control system includes flight control unit, for driving the driver element of power unit, stored energy power battery and charging control unit, wherein, the signal output part of described flight control unit connects the signal input part of driver element, the output drive signal of described driver element connects respectively four groups of aero-engine in power unit, the input end of described charging control unit connects the mouth of generator unit, the output of charging control unit connects stored energy power battery, for stored energy power battery is charged, described stored energy power battery connects driver element and powers.Described flight control unit, driver element, stored energy power battery, generator unit battery pack and charging control unit are all arranged in electronic system protective cover, and its input and output signal all connects by the wire that runs through electronic system protective cover.
Being arranged on same rotor shaft afterbody has one group of rotor, and every group of rotor comprises again upper and lower two-layer rotor, and every layer is two leaf oars.Two rotor wing rotation directions in every group are contrary, with the moment that single rotor wing rotation was produced of cancelling out each other.Fixedpiston screw propeller is installed in afterbody upper end, for main lift is provided, is close to two leaf variablepiston screw propellers of its lower installation.Be used for providing attitude control.
Four rotor cyclogyros have symmetric configuration's pattern, described rotor assemblies is with respect to the longitudinal symmetrical distribution of fuselage and be placed on the augmentation control of equipment compartment augmentation control device, carry out the various state of flights of dynamical equilibrium four rotor cyclogyros by the collaborative rotating speed of adjusting four rotors and direction, improved the stability of cyclogyro.
Scheme of the present invention is symmetrically distributed in described rotor on the circumference centered by described fuselage rotation centerline, simultaneously, between the drive motor as steering wheel and its corresponding radial arm, be provided with and drive the rocking-turn mechanism of this rotor around radial arm rocking-turn, therefore, in the time that arbitrary rotor and drive motor thereof break down, can be by regulating two driving engine lift on the axis of symmetry not stopping, utilize its additional moment of rotation of rotating around fuselage rotation centerline producing to carry out the moment of rotating around fuselage rotation centerline that other normal rotor of balance produces, aircraft still can also return safely by normal flight, land.
These four rotor cyclogyros adopt aero-engine, have Energy Efficiency Ratio high, and thrust is large, the feature that flying power by force can flying for long time.Add that the fault-tolerant ability of cyclogyro own is strong, greatly improved stability and the reliability of cyclogyro, make this equipment can better gather the image under the various environment such as high-altitude, pipeline.Heavy or large-scale unmanned transport systems when the present invention is generally applied to long boat, or high economic value application target, electric power, oil line line walking etc. during such as long boat.
Brief description of the drawings:
Fig. 1 is structural representation of the present invention.
Fig. 2 is flight theory figure of the present invention.
Detailed description of the invention:
As shown in Figure 1, adopt an engine direct to drive four rotor wing unmanned aerial vehicles of a rotor, include fuselage 1 and be connected to the frame 2 on fuselage 1, frame 2 is connected with power unit 22, it is characterized in that, described frame 2 is by four identical rotor shaft 23 cross frame forming that connects between two, and control system 13 and battery are all in fuselage 1.Described power unit 22 includes the motor cabinet 221 that is fixed on rotor shaft 23 ends, be arranged on the rotor group 223 on motor cabinet 221 and be fixed on motor cabinet 221 lower ends the aero-engine 222 that drives rotor group 223, rotor group 223 is divided into two-layer up and down, described aviation and starts the mouth of 222 power input electrical connection control system.Four described rotor groups 223 are symmetrically distributed on the circumference centered by fuselage rotation centerline, and between rotor shaft, angle is 90 °.Totally four groups of rotors are overlapped in before and after cyclogyro connects by radial arm and left and right two, and the driving engine in every cover is on axis of symmetry, and the cw of two driving engines on axis of symmetry turns, and a conter clockwise turns, and cw turns installs positive oar, and conter clockwise turns installs anti-oar.A driving engine directly drives a rotor, and driving engine and coupling screw propeller are operated in optimum Working, driving engine 0.4-0.7 horsepower output, and screw propeller oar efficiency is in optimum regime.Stability when ensureing that unmanned vehicle road is provided with the take-off and landing device 3 with buffer action in described rotor shaft 23.
Control system 13 includes flight control unit, for driving the driver element of power unit, stored energy power battery and charging control unit, wherein, the signal output part of described flight control unit connects the signal input part of driver element, the output drive signal of described driver element connects respectively four groups of aero-engine in power unit, the input end of described charging control unit connects the mouth of generator unit, the output of charging control unit connects stored energy power battery, for stored energy power battery is charged, described stored energy power battery connects driver element and powers.Described flight control unit, driver element, stored energy power battery, generator unit battery pack and charging control unit are all arranged in electronic system protective cover, and its input and output signal all connects by the wire that runs through electronic system protective cover 4.
Described flight control unit includes treater, and treater is arm processor, connects respectively inertia measuring module and the data transmit-receive module of treater, and the output signal of described treater connects driver element.
Control system 13 is controlled the aero-engine 222 of four lift power units 22, the horsepower output of each driving engine is equated, control pitch control mechanism and drive each rotor group 223 for positive pitch, and each pitch is equated, thereby produce equal lift, realize the normal flight of aircraft.
Because described rotor assemblies is with respect to the longitudinal symmetrical distribution of ship body and be placed on the augmentation control of the augmentation control device of systematic protection cover 4 the insides, carry out the various state of flights of dynamical equilibrium four rotor cyclogyros by the collaborative rotating speed of adjusting four rotors and direction, improved the stability of cyclogyro.The motion of cyclogyro is as follows:
(1) perpendicular movement: perpendicular movement is comparatively speaking than being easier to.In Fig. 2, because there being two pairs of motor steerings contrary, can balance its reactive torque to fuselage, synchronous aero-engine 222 horsepower outputs that increase by four powered lift unit 22 of control system, the 223 rotating speed increases of rotor group increase total pulling force, in the time that total pulling force is enough to overcome the weight of complete machine, quadrotor is liftoff vertical uplift just; Otherwise, reducing the horsepower output of four motors 222 simultaneously, quadrotor vertically declines, until balance is landed, has realized along the perpendicular movement of z axle.In the time that external disturbance amount is zero, when the lift producing in rotor group 223 equals the deadweight of aircraft, aircraft just keeps floating state.Ensure that four rotors, 223 synchronization increase or reduce is the key of perpendicular movement.
(2) luffing: in Fig. 2, make the rise of rotational speed of rotor 18 by the displacement system of control system 13, the rotating speed of rotor 20 declines, and the rotating speed of rotor 19, rotor 21 remains unchanged.For not because the change of gyroplane rotate speed causes quadrotor entirety moment and total pulling force to be changed, rotor 18 should equate with the size of rotor 20 these variablees of rotating speed.Because the lift of rotor 18 rises, the lift of rotor 20 declines, the unbalanced moment producing makes fuselage 1 around y axle rotation (direction as shown in Figure 2), in like manner, when the rotating speed of rotor 18 declines, the rise of rotational speed of rotor 20, fuselage just, around axially another direction rotation of y, is realized the luffing of aircraft.
(3) rolling movement: according to Fig. 2, change the rotating speed of rotor 19 and rotor 21, keep the rotating speed of rotor 18 and rotor 20 constant, can make fuselage 1 around the rotation of x axle (forward and reverse), realize the rolling movement of aircraft.
(4) yawing rotation: the counter torque that quadrotor yawing rotation can produce by rotor realizes.In rotor rotation process, due to the counter torque of air resistance effect meeting formation and direction of rotation, in order to overcome counter torque impact, can make two forwards in four rotor groups 223, two reversions, and each rotor rotation direction on diagonal line is identical.The size of counter torque is relevant with gyroplane rotate speed, when four aero-engine, 222 rotating speeds are when identical, and four mutual balances of counter torque that rotor group 223 produces, quadrotor does not rotate; When aero-engine 222 rotating speeds are when incomplete same, unbalanced counter torque can cause that quadrotor rotates.When the rise of rotational speed of rotor 18 and rotor 20, when the rotating speed of rotor 19 and rotor 21 declines, rotor 18 and rotor 20 are greater than rotor 19 and the counter torque of rotor 21 to fuselage to the counter torque of fuselage, fuselage just rotates around z axle under the effect of counter torque more than needed, realize the yawing rotation of aircraft, turn to the switched in opposite with rotor 18, rotor 20.
(5) seesaw: want to realize the motion of aircraft all around in horizontal surface, must in horizontal surface, apply certain power to aircraft.Increase rotor 20 rotating speeds, pulling force is increased, corresponding rotor 18 rotating speeds that reduce, reduce pulling force, keep other two motor speeds constant simultaneously, and counter torque still will keep balance.First there is inclination to a certain degree in aircraft, thus make rotor thrust produce horizontal component, therefore can realize aircraft before fly motion.Flight is with flight is just in time contrary forward backward.Aircraft also can produce along the horizontal motion of x, y axle in producing pitching, tumbling motion.
(6) tendency motion: due to symmetrical configuration, so be inclined to the principle of work of flight and seesaw just the same.
(7) in the time that a rotor 16 in Fig. 2 breaks down, if before fault, rotor 14 is left-hand revolutions, and rotor 15, rotor 17 is clickwises, so after fault, described flight control system is just adjusted normal rotor 14, the rotating speed of rotor 20, simultaneously, and adjust rotor 15 on two axiss of symmetry, rotor 17 rotating speeds, make its additional moment of rotation around fuselage rotation centerline clickwise producing and rotor 14, the moment of rotation equal and opposite in direction around fuselage rotation centerline that rotor 20 produces, opposite direction, and the lift that rotor produces equals the deadweight of whole aircraft, described aircraft still can keep original flight attitude normal flight.
Claims (7)
1. adopt an engine direct to drive four rotor wing unmanned aerial vehicles of a rotor, include fuselage and be connected to the frame on fuselage, frame is connected with power unit, it is characterized in that, described frame is by four identical rotor shaft cross frame forming that connects between two, control system and battery are all in fuselage, described power unit includes the motor cabinet that is fixed on rotor shaft end, be arranged on the rotor group on motor cabinet and be fixed on motor cabinet lower end the aero-engine that drives rotor group, rotor component is for two-layer up and down, the mouth of the power input electrical connection control system of described aero-engine.Four described rotor groups are symmetrically distributed on the circumference centered by fuselage rotation centerline, and the cw of two driving engines on axis of symmetry turns, and a conter clockwise turns, and cw turns installs positive oar, and conter clockwise turns installs anti-oar.
2. engine direct of employing as claimed in claim 1 drives four rotor wing unmanned aerial vehicles of a rotor, it is characterized in that: fuselage is arranged with electronic system protective cover outward.
3. engine direct of employing as claimed in claim 1 drives four rotor wing unmanned aerial vehicles of a rotor, it is characterized in that: the lower end of rotor shaft is provided with take-off and landing device.
4. engine direct of employing as claimed in claim 1 drives four rotor wing unmanned aerial vehicles of a rotor, it is characterized in that: in fuselage, be provided with augmentation control device.
5. engine direct of employing as claimed in claim 4 drives four rotor wing unmanned aerial vehicles of a rotor, it is characterized in that: described augmentation control device is gyroscope.
6. engine direct of employing as claimed in claim 1 drives four rotor wing unmanned aerial vehicles of a rotor, it is characterized in that: described rotor shaft is hollow structure, is built-in with wire.
7. engine direct of employing as claimed in claim 1 drives four rotor wing unmanned aerial vehicles of a rotor, it is characterized in that: control system includes flight control unit, for driving the driver element of power unit, stored energy power battery and charging control unit, wherein, the signal output part of described flight control unit connects the signal input part of driver element, the output drive signal of described driver element connects respectively four groups of aero-engine in power unit, the input end of described charging control unit connects the mouth of generator unit, the output of charging control unit connects stored energy power battery, described stored energy power battery connects driver element and powers, described flight control unit, driver element, stored energy power battery, generator unit battery pack and charging control unit are all arranged in electronic system protective cover, and its input and output signal all connects by the wire that runs through electronic system protective cover.
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