Tail-sitter vertical take-off and landing unmanned aerial vehicle as well as control system and control method thereof

A technology of vertical take-off and landing and control system, applied in the field of unmanned aerial vehicle, can solve the problems of non-working, reducing the payload, unable to fly, etc., to achieve the effect of small site, increased airborne time, and extended range

Inactive Publication Date: 2019-04-12
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The vertical take-off and landing drone provided by CN106143878A has 4 wings to work when it takes off, but some wings do not work when it is in level flight, which reduces the payload
[0007] In addition, most of the sensors used in the flight control system of drones on the market are configured in a single set. When any sensor fails, reliable and stable flight cannot be carried out.

Method used

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  • Tail-sitter vertical take-off and landing unmanned aerial vehicle as well as control system and control method thereof
  • Tail-sitter vertical take-off and landing unmanned aerial vehicle as well as control system and control method thereof
  • Tail-sitter vertical take-off and landing unmanned aerial vehicle as well as control system and control method thereof

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0058] see figure 1 , Embodiment 1 of the present invention provides a tail-sitting vertical take-off and landing unmanned aerial vehicle, and the unmanned aerial vehicle comprises: fuselage 1, wing 2, empennage 3, and motor 4 and propeller 5, and described wing 2 and the empennage 3 is arranged on the outer surface of the fuselage 1, the wing 2 is arranged upside down, and the empennage 3 is set upside down;

[0059] The wing 2 includes a first wing 20 and a second wing 21, and the first wing 20 and the second wing 21 are symmetrically installed on both sides of the middle part of the fuselage 1;

[0060] Empennage 3 comprises first empennage 30 and second empennage 31, and first empennage 30 and second empennage 31 are symmetrically installed on the tail both sides of fuselage 1;

[0061] Motor 4 comprises wing motor and empennage motor, and wing motor comprises first wing motor 40 and second wing motor 41, and empennage motor comprises first empennage motor 42 and second e...

Embodiment 2

[0082] Embodiment 2 of the present invention provides a control system for a tail-sit vertical take-off and landing UAV. The control system includes: a navigation module, a flight control module, a wireless communication module, a power system, an RC receiver, and a power supply module;

[0083] The navigation module, whose built-in sensor measures the force and moment it receives during the flight, uses the data fusion algorithm to calculate the flight attitude information and position information of the drone from the measured force and moment information, and sends it through the serial port to the flight control module;

[0084] The flight control module is used to comprehensively select the current flight mode according to the remote control signal, the ground station system command and the power system feedback; according to the target value of the position and attitude, use the PID control algorithm to generate control commands for the motor and steering gear; use PWM (...

Embodiment 3

[0099] Embodiment 3 of the present invention provides a control method for a tail-sitting vertical take-off and landing unmanned aerial vehicle, comprising the following steps:

[0100] (1) The sensor in the navigation module measures the force and moment it receives during the flight, and uses the processor in the module to calculate the angular acceleration, linear acceleration, and angular velocity of the drone from the measured force and moment information , line speed, angle, displacement and other flight attitude information and position information, and send them to the flight control module through the serial port;

[0101] (2) The flight control module receives the attitude and position information output by the navigation module through the serial port, and receives the target state command information sent by the remote controller or the ground station through the wireless communication module to select the flight mode.

[0102] (3) Utilize the PID controller to pro...

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Abstract

The invention provides a tail-sitter vertical take-off and landing unmanned aerial vehicle. The unmanned aerial vehicle comprises a fuselage (1), wings (2), tail wings (3), motors (4) and propellers (5), wherein the wings (2) and the tail wings (3) are disposed on the outer surface of the fuselage (1); the wings (2) are disposed in a lower dihedral manner, and the tail wings (3) are disposed in anupper dihedral manner; flight modes of the unmanned aerial vehicle comprise a vertical flight mode, a vertical-to-level transition mode, a level flight mode and a level-to-vertical transition mode, and the unmanned aerial vehicle combines both flight characteristics of a rotary-wing unmanned aerial vehicle and a fixed-wing unmanned aerial vehicle, so that an area for takeoff and landing is reduced. The speed in the level flight mode is high. The unmanned aerial vehicle has the characteristics of vertical take-off and landing, can be deployed in various restricted environments such as mountainous and hilly lands and narrow urban streets, and has a horizontal high-speed cruising function, so that the hang time is increased and the navigation is expanded. The invention also provides a control system and a control method of the tail-sitter vertical take-off and landing unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a tail-sitting vertical take-off and landing unmanned aerial vehicle and its control system and control method. Background technique [0002] Unmanned aircraft is referred to as "UAV" for short, and the English abbreviation is "UAV". It is an unmanned aircraft controlled by radio remote control equipment and its own program control device. aircraft. UAV has the characteristics of small size, light weight, low cost, flexible operation and high safety, and can be widely used in aerial photography, detection, search and rescue, resource exploration and other fields. With its own advantages and characteristics, it has been widely used in many fields. In military terms, the main uses of UAVs include ground battlefield reconnaissance, obtaining enemy intelligence, close-range control patrols, surveillance, electronic warfare, and ground communications; in civilian terms, UAVs ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64C29/00
CPCB64C29/00
Inventor 罗世彬廖宇新李晓栋
Owner CENT SOUTH UNIV
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