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Variable-centroid coaxial dual-rotor aircraft and control method thereof

A technology of coaxial dual rotors and changing center of mass, applied in aircraft, aircraft control, rotorcraft, etc., can solve the problems of complex structure and low reliability, and achieve the effects of convenient operation, wide application range and simple structure

Active Publication Date: 2022-05-13
XIAN TECHNOLOGICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a variable center of mass coaxial dual-rotor aircraft and its control method, which is used to solve the problem that the aircraft relies on a variable-pitch structure with a complex structure and low reliability to control its attitude

Method used

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  • Variable-centroid coaxial dual-rotor aircraft and control method thereof
  • Variable-centroid coaxial dual-rotor aircraft and control method thereof
  • Variable-centroid coaxial dual-rotor aircraft and control method thereof

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Embodiment 1

[0067] refer to figure 1 and figure 2 , the present invention provides a kind of coaxial double-rotor aircraft with variable center of mass, comprising housing 1, flight drive 2, support frame 3 and several center-of-mass adjustment devices, flight drive 2 includes power drive parts and rotors, support frame 3 includes support rod 31 and The fixed part 32 and the center of mass adjusting device include a variable center of mass drive assembly 4 and a slider 5 , and the variable center of mass drive assembly 4 includes a center of mass drive member 41 and a center of mass drive link 42 .

[0068] Specifically, the housing 1 is a cavity structure without upper and lower end surfaces. The housing 1 can be selected as a hollow cube structure or a cuboid structure, preferably a hollow cylinder structure. At this time, the housing 1 is a duct, which makes the air flow more Aggregation, faster flow rate and greater lift, the fixing part 32 is arranged along the axis of the shell 1,...

Embodiment 2

[0075] Different from Embodiment 1, this embodiment provides a coaxial dual-rotor aircraft with a variable center of mass, which also includes an external airbag 6. The external airbag 6 can be an inflatable airbag or can be filled with other lightweight materials. The external airbag 6 is set on the The outer side of the housing 1 ensures that the second rotor at the bottom of the fixing part 32 is located above the water surface when the aircraft lands on the water surface. In order to improve the reliability of the aircraft taking off and landing on the water surface, the centroid drive part 41 and the power drive part are selected as waterproof. device, and do waterproof treatment on the connection between the support rod 31 and the fixing member 32 and the connection between the support rod 31 and the housing 1 .

[0076] When in use, the external airbag 6 is used to make the aircraft float on the water surface. When taking off, the power drive part drives the rotor to rot...

Embodiment 3

[0078] This embodiment provides a control method for a coaxial dual-rotor aircraft with a variable center of mass, comprising the following steps:

[0079] S1. Establish the ground coordinate system Body coordinate system of coaxial dual-rotor aircraft with variable center of mass ;

[0080] Specifically, the origin of the ground coordinate system is any position, preferably the position of the control end, the X-axis and the Y-axis are located in the horizontal plane, and the z-axis is along the vertical direction; the origin of the body coordinate system is the centroid of the variable center of mass coaxial dual-rotor aircraft, The directions of the x, y and z axes correspond to the ground coordinate system.

[0081] S2. According to the starting position of the coaxial dual-rotor aircraft with variable center of mass in the ground coordinates and desired position Calculate the expected pitch angle and the desired roll angle , and then obtain the desired attitud...

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Abstract

The invention relates to the technical field of coaxial rotor unmanned aerial vehicles, in particular to a variable-centroid coaxial dual-rotor aircraft and a control method thereof.The variable-centroid coaxial dual-rotor aircraft comprises a shell, a flight driver, a supporting frame and a plurality of centroid adjusting devices, and each centroid adjusting device comprises a variable-centroid driving assembly and a sliding block; the supporting frame is arranged on the inner side of the shell, the flight drives are arranged at the upper end and the lower end of the supporting frame respectively, the variable-centroid driving assembly is arranged on the supporting frame and located between the flight drives at the upper end and the lower end of the supporting frame, and the sliding block is arranged on the supporting frame and movably connected with the variable-centroid driving assembly. The attitude of the aircraft is controlled by changing the position of the mass center without depending on periodic pitch change, the position of the mass center of the aircraft is changed by adjusting the position of the sliding block through the variable-mass-center driving assembly, and therefore the resultant moment borne by the aircraft is changed, the attitude of the aircraft is controlled, the structure is simple, operation is convenient, and stability and reliability are achieved.

Description

technical field [0001] The invention relates to the technical field of coaxial rotor unmanned aerial vehicles, in particular to a coaxial dual-rotor aircraft with variable center of mass and a control method thereof. Background technique [0002] Coaxial dual-rotor unmanned aerial vehicle refers to an aircraft with two rotors that rotate forward and backward around the same vertical axis. Compared with multi-rotor UAVs, it has the advantages of fast speed, heavy load, and long flight time. [0003] Traditional coaxial dual-rotor UAVs use large-size blades, relying on variable collective pitch and periodic variable pitch to control the flight direction and propulsion of the UAV. However, the mechanical structure of the variable pitch mechanism is extremely complex, which leads to its failure rate High maintenance costs, difficult to operate, and large-size blades cannot use more efficient airfoils due to the need for periodic pitch change; at the same time, most of the existi...

Claims

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Application Information

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IPC IPC(8): B64C27/10B64C19/00B64C25/56
CPCB64C27/10B64C19/00B64C25/56
Inventor 王司令吉思臣周洋高嵩陈超波马天力赵素平王倩
Owner XIAN TECHNOLOGICAL UNIV