Gravity-center-adjustable composite propulsion unmanned aerial vehicle and control method thereof

Abstract

The invention relates to a gravity-center-adjustable composite propulsion unmanned aerial vehicle and the control method thereof, two power machine arms of the unmanned aerial vehicle are hinged to a comprehensive bearing vehicle body in parallel through four cross beams, and rotary joints rotate to drive the machine arms to move forwards and backwards, so that gravity center adjustment of the unmanned aerial vehicle is achieved; the unmanned aerial vehicle adopts a lift rotor wing and a propulsion rotor wing for composite propulsion; the left propulsion rotor and the right propulsion rotor oppositely rotate to counteract the reverse torsion moment, differential rotation provides course control moment when the unmanned aerial vehicle cruises, the self-adaptive lift rotor flies at a positive attack angle, and the attack angle of the unmanned aerial vehicle is adjusted through gravity center adjustment and lift rotor attitude control, so that the flight attack angle of the lift rotor is adjusted. The unmanned aerial vehicle automatically adjusts the attack angle at different airspeeds.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle, in particular to a composite propulsion unmanned aerial vehicle with an adjustable center of gravity and a control method thereof. Background technique [0002] In the field of heavy-duty UAVs, there are currently three structural types: fixed-wing, multi-rotor and helicopter. Heavy-duty fixed-wing UAV with mature technology, fast flight speed and strong load capacity. At the same time, fixed-wing UAVs are complex to use and maintain, difficult to operate, and require fixed runways to take off and land. Large-load multi-rotor UAVs are currently electric, simple in structure, easy to operate, and can take off and land vertically and hover. Limited by the insufficient energy density of the battery, the flight time of the heavy-duty multi-rotor UAV is relatively short. The center of the traditional multi-rotor rotor is symmetrically distributed, the flight resistance is large, and the flight speed is...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the many problems of the existing three kinds of large-load UAVs, the present invention proposes a compound propulsion UAV structure with an adjustable center of gravity, which has the advantages of adjustable center of gravity, compound propulsion, multi-energy supply, simple structure, easy use and maintenance, and vertical Take-off and landing and long-term high-speed cruise and other advantages

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