Small-size aircraft system based on cradle head
A technology of aircraft and gimbal, which is applied in the field of small aircraft systems, can solve the problems of complex body structure and control algorithm, and achieve the effect of simple and convenient control
Inactive Publication Date: 2016-08-17
BEIJING UNIV OF TECH
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This makes the body structure and control algorithm more complicated
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[0019] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0020] The present invention adopts following technical scheme, with reference to figure 1 , including rack (1), sensor box (2), gimbal roll steering gear (3), gimbal pitch steering gear (4), gimbal outer frame (5), gimbal inner frame (6), upper Propeller (7), lower propeller (8), upper propeller drive motor (9), lower propeller drive motor (10), control unit (11), telescopic rod (12), pod (13); 6) As the support of the motor and fixing the upper propeller drive motor (9) and the lower propeller drive motor (10), the upper propeller drive motor (9) and the lower propeller drive motor (10) are centered on the propeller shaft and symmetrically distributed left and right; The rotating shaft of the lower propeller (8) is a hollow structure, so that the rotating shaft of the upper propeller (7) can pass through the rotating shaft of the lower prope...
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The invention discloses a small-size aircraft system based on a cradle head, comprising a rack, a sensor box, a cradle head rolling rudder, a cradle head pitching rudder, a cradle head outer framework, a cradle head inner framework, an upper airscrew, a lower airscrew, an upper airscrew drive motor, a lower airscrew drive motor, a control unit, a telescopic rod and a pod. The aircraft system can realize complete control on the pose of an aircraft by pose adjustment on the cradle head and control on the revolving speed of the airscrews; the yaw angle of an aircraft body is controlled by reaction torque which is generated by the differential rotation of the upper and lower airscrews; the pitching angle and the rolling angle of the airscrews are realized by the rudders driving the cradle head to rotate; control on a spatial position is realized by the airscrew drive motors and pose adjustment on the cradle head. The small-size aircraft system is simple and reliable in design, and clear and explicit in structure; while expanding the existing rotor-type flight structure and control schemes, the small-size aircraft system is also a superior space carrier vehicle, and has considerable practical value.
Description
technical field [0001] The invention proposes a small-scale aircraft system based on a platform, proposes a new physical structure of a rotor-type aircraft, and provides a corresponding control scheme, belonging to the field of rotor-type aircraft. Background technique [0002] With the continuous development of control theory, unmanned aerial vehicles have also attracted the attention of researchers from all over the world. Various aircrafts have been produced in the world, among which the rotor aircraft with simple mechanical structure and small footprint has attracted special attention. But most of them control the attitude of the fuselage to change the direction of propeller lift, so as to realize the control of the space position of the aircraft. However, this method and structure require more controllable devices for the attitude of the fuselage in order to complete the adjustment of the attitude of the system. This makes the body structure and control algorithm compl...
Claims
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IPC IPC(8): B64C27/10
CPCB64C27/10B64U2201/00B64U10/10
Inventor 阮晓钢伊朝阳朱晓庆蔡建羡黄静林佳陈志刚张晓平肖尧柴洁刘冰陈岩李诚李棒栾天
Owner BEIJING UNIV OF TECH