A rotary retractable variable torque quadrotor aircraft
A rotorcraft and variable torque technology, applied in the direction of aircraft, rotorcraft, propellers, etc., can solve the problems of unstable flight capability, weakened aircraft attitude control ability, small aircraft load, etc., to achieve convenient storage and transportation, and operational performance Improve, improve the effect of the payload
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Embodiment 1
[0019] control Figure 1-8 The implementation process of the present invention is described.
[0020] Rotary variable moment quadrotor aircraft ( figure 1 ), comprising: a fuselage, connected with the fuselage, 4 rotor arms symmetrically distributed, and rotors positioned on the rotor arms, among the 4 rotors, the rotation directions of two adjacent rotors are opposite; the blades of each rotor 21 through the variable torque mechanism ( figure 2 ), using a space link mechanism and a cam mechanism, so that the rotor can be controlled by the steering gear to shrink, adjust the movement and the distance from the body, and then change the torque to achieve the purpose of adjusting the lift, and realize the adjustment function of the attitude of the aircraft.
[0021] Described rotor is driven by motor 20, and the rotational speed of each motor keeps consistent. This mechanism comprises: 4 motors 20 controlled by the inertial navigator, the fourth connecting rod 19, the third c...
Embodiment 2
[0031] The hardware is as follows:
[0032] The stm32F103T8 control chip with a main frequency of 72MHz is used.
[0033] The MPU6050 with a three-axis gyroscope and a three-axis acceleration sensor is used.
[0034] The integrated Bluetooth communication system can realize the communication between the quadrotor and the computer / mobile phone.
[0035] The integrated lithium battery charging system can be directly charged using the micro-USB interface.
[0036] Reserve the installation position of the electromagnetic sensor HMC5883L chip, which is convenient for users to expand.
[0037] I2C interface is reserved for expanding modules such as electromagnetic sensor HMC5883L and altimeter BMP085.
[0038] Reserved SPI interface for expanding 2.4G NRF24L01+ wireless communication module
[0039] Flight control process:
[0040] The system structure is based on stm32F103T8 as the main flight controller to control the system. The microcontroller implements sampling, processi...
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