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Coaxial twin-rotor aircraft with variable center of mass and control method thereof

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

Active Publication Date: 2022-08-02
XIAN TECH 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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  • Coaxial twin-rotor aircraft with variable center of mass and control method thereof
  • Coaxial twin-rotor aircraft with variable center of mass and control method thereof
  • Coaxial twin-rotor aircraft with variable center of mass and control method thereof

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Embodiment 1

[0067] refer to figure 1 and figure 2 , the present invention provides a coaxial dual-rotor aircraft with a variable center of mass, including a housing 1, a flight drive 2, a support frame 3 and several center of mass adjustment devices, the flight drive 2 includes a power drive member and a rotor, and the support frame 3 includes a support rod 31 and The fixed part 32 , the center of mass adjusting device includes a changeable center of mass drive assembly 4 and a slider 5 , and the changeable 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 shell 1 has a cavity structure without upper and lower end faces. The shell 1 can be selected as a hollow cube structure or a cuboid structure, preferably a hollow cylinder structure. At this time, the shell 1 is a duct, which makes the air flow more efficient. Condensation, faster flow rate and greater lift, the fixing member 32 is arranged along ...

Embodiment 2

[0075] Different from Embodiment 1, this embodiment provides a coaxial dual-rotor aircraft with a changeable center of mass, and further includes an external airbag 6, which can be an inflatable airbag, or can be filled with other light materials. The outer side of the housing 1 ensures that the second rotor at the bottom of the fixing member 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 center of mass driving member 41 and the power driving member are both selected to be waterproof The device is installed, and waterproof treatment is performed 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 rotate ...

Embodiment 3

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

[0079] S1. Establish a ground coordinate system The body coordinate system of the coaxial twin-rotor aircraft with the metacentric ;

[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 in the vertical direction; the origin of the body coordinate system is the center of mass of the coaxial twin-rotor aircraft, The directions of the x, y and z axes correspond to the ground coordinate system.

[0081] S2. The starting position of the coaxial dual-rotor aircraft in the ground coordinates according to the changeable center of mass and desired location Calculate the desired pitch angle and the desired roll angle , and then obtain the desired attitude angle vector of...

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Abstract

The invention relates to the technical field of coaxial rotor unmanned aerial vehicles, in particular to a coaxial dual rotor aircraft with a variable center of mass and a control method thereof. A drive assembly and a slider; the support frame is arranged on the inner side of the housing, the flight drive is respectively arranged at the upper and lower ends of the support frame, the changeable centroid drive assembly is arranged on the support frame, and the changeable centroid drive assembly is located at the upper and lower ends of the support frame. In between, the slider is set on the support frame, and the slider is movably connected with the changeable center of mass drive assembly; the attitude of the aircraft is controlled by changing the position of the center of mass, without relying on periodic distance change, and the position of the slider is adjusted by the changeable center of mass drive assembly. The position of the center of mass of the aircraft is changed, so that the resultant moment received by the aircraft is changed, thereby controlling the attitude of the aircraft, the structure is simple, the operation is convenient, and it is stable and reliable.

Description

technical field [0001] The invention relates to the technical field of coaxial rotor unmanned aerial vehicles, in particular to a coaxial dual rotor aerial vehicle with a variable center of mass and a control method thereof. Background technique [0002] Coaxial dual-rotor unmanned aerial vehicle refers to an aircraft with two upper and lower rotors rotating forward and reverse around the same vertical axis. Compared with multi-rotor unmanned aerial vehicles, it has the advantages of high speed, heavy load and long flight time. [0003] Traditional coaxial dual-rotor UAVs use large blades and rely on variable collective pitch and cyclic pitch to control the flight direction and propulsion of the UAV. However, the mechanical structure of the variable pitch mechanism is extremely complex, resulting in its failure rate. High cost, high maintenance cost, difficult to operate, and large-sized blades cannot use higher-efficiency airfoils due to the need for periodic pitch change; ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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 TECH UNIV