Device and method for realizing vertical take-off and landing of aircraft based on control of rotation of universal joint

Abstract

The invention discloses a device and method for achieving vertical take-off and landing of an aircraft based on control over rotation of a universal joint. The device and method are suitable for switching of the aircraft among a vertical take-off mode, a horizontal flight mode and a vertical landing mode. The device comprises an aircraft body, at least four groups of power devices and universal joint mechanisms matched with the power devices, and the air injection directions of the power devices are adjusted by controlling the universal joint mechanisms to rotate, so that the thrust requirements of different flight modes are met. The control method comprises the steps that real-time state parameters are obtained through flight mode detection, and a vertical take-off mode is initially set; when the aircraft reaches a preset height, gradually adjusting the air injection direction to be horizontal, and entering a level flight mode; and when the landing instruction or the height is lower than a preset value, entering a vertical landing mode, and adjusting the air injection direction to be downward so as to realize stable landing. The operation flexibility and stability of the aircraft are improved, the aircraft is suitable for taking off and landing in a narrow or complex environment, and the energy utilization efficiency is remarkably optimized.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerospace vehicles, and relates to the configuration and control of a power system for a vertical take-off and landing aircraft. Specifically, the present invention relates to a device and method for controlling the thrust direction of a turbine engine or an electric propeller based on a universal joint rotating mechanism to achieve vertical take-off and landing and level flight mode conversion of the aircraft. Background Art

[0002] Vertical take-off and landing technology is an important development direction in the field of modern aviation. This technology allows aircraft to take off or land without taxiing, thus bringing new possibilities for aircraft application scenarios and operational flexibility. At present, aircraft that can achieve vertical take-off and landing functions mainly include helicopters, tilt-rotor aircraft, and jet vertical take-off and landing aircraft.

[0003] For a long time, vertical take-off and landing aircraft have been dominated by traditional helicopters, while other aircraft generally require runways to assist take-off and landing. Helicopters generate lift and thrust through the rotor system, and have good hovering performance and maneuverability. However, the rotor system of helicopters has a complex structure and requires regular maintenance and replacement of key components, resulting in high operating costs; at the same time, due to the limitations of the rotor aerodynamic characteristics, its maximum flight speed generally does not exceed 300 kilometers per hour, and its fuel efficiency is relatively low, and its range is limited.

[0004] The tilt-rotor aircraft combines the advantages of helicopters and fixed-wing aircraft in its design, and achieves the switch between vertical take-off and landing and horizontal flight through the deflection mechanism of the rotor. However, the design of the tilt-rotor wing is relatively complex, and problems such as resonance and changes in rotational inertia are prone to occur during the deflection of the rotor, affecting flight stability. In addition, the deflection mechanism and rotor power system of the tilt-rotor aircraft have high requirements for precision control and are easily affected by airflow disturbances, which places extremely high demands on the accuracy of its operation and control system.

[0005] Jet vertical take-off and landing aircraft usually design the jet engine nozzle as a rotatable structure to achieve the conversion between vertical and horizontal thrust. This design can solve the shortcomings of flight speed and range to a certain extent, but its stability during vertical take-off and landing depends on the control accuracy of the jet thrust, and the aircraft attitude is easily disturbed by airflow at low altitudes near the ground. In addition, the jet engine consumes a lot of energy in the vertical take-off and landing mode, resulting in low fuel efficiency, which limits its range and scope of use.

[0006] Combining the technical characteristics of rotorcraft, tilt-rotor aircraft, and jet vertical take-off and landing aircraft, it can be seen that vertical take-off and landing aircraft face comprehensive technical challenges in the following aspects: (1) Current vertical take-off and landing aircraft technology cannot take into account both high efficiency and economy. Rotorcraft performs poorly in terms of economy. Although tilt-rotor aircraft and jet vertical take-off and landing aircraft have improved in speed and range, their complex deflection structure and high energy consumption characteristics make it difficult to reduce their maintenance and operating costs. (2) Tilt-rotor aircraft and jet vertical take-off and landing aircraft usually need to use multiple deflection mechanisms to achieve switching between vertical and horizontal flight. The complex mechanical structure not only increases the possibility of failure, but also puts higher requirements on the operational reliability of the aircraft. The precision adjustment of the multi-deflection control system is difficult, especially during high-speed flight and low-altitude and near-ground vertical take-off and landing conversion, the attitude stability of the aircraft is difficult to ensure. (3) The design of vertical take-off and landing aircraft needs to achieve smooth switching between the three flight modes of vertical take-off and landing, hovering, and level flight to meet the needs of various scenarios. However, existing vertical take-off and landing aircraft have difficulty achieving optimal performance in all flight modes.

[0007] To sum up, it is difficult for existing vertical take-off and landing technologies to achieve a balance between economy and high efficiency. The structural complexity affects operational reliability, and it is impossible to maintain comprehensive performance optimization in multiple flight modes. Therefore, how to ensure that the aircraft has the ability to take off and land vertically while achieving a technical solution with simple structure, low maintenance cost and excellent flight performance, and provide an aircraft system that can meet the needs of vertical take-off and landing and achieve high-speed cruising, is a technical problem that needs to be urgently solved in the current aviation field. Summary of the invention

[0008] 1. Purpose of the invention In view of the defects and shortcomings of existing vertical take-off and landing aircraft in terms of flight speed, range, structural complexity and high maintenance cost, in order to solve at least one of the above and other technical problems in the prior art, the present invention aims to provide a device and method for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint. By arranging adjustable turbine engines or electric propeller power systems around the aircraft and using a universal joint mechanism to realize directional adjustment of the power device, each power unit is in a vertical state when the aircraft takes off, and the turbine engine provides vertical thrust to realize stable vertical ascent of the aircraft. When the aircraft reaches a certain height, the thrust direction of the turbojet engine can be changed by controlling the universal joint to control the jet angle of the turbine engine, so that the thrust direction of the turbine engine is gradually turned to the horizontal direction, which is consistent with the forward direction of the aircraft, and switched to the horizontal thrust mode, realizing the lift provision of the aircraft in the vertical take-off and landing stage and the propulsion conversion in the cruise stage, so that the aircraft has both vertical take-off and landing capabilities and high-speed cruise performance, while simplifying the structural design, reducing the system complexity and maintenance cost, and improving the practicality and economy of the aircraft.

[0009] (II) Technical solution In order to achieve the purpose of the invention and solve the technical problems, the present invention adopts the following technical solutions: The first invention object of the present invention is to provide a device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint, which is used to realize the conversion of the aircraft between vertical take-off, level flight and vertical landing, and at least comprises an aircraft body, multiple power devices and multiple universal joint mechanisms matched therewith, wherein: The power devices include at least four groups, which are distributed at the left front, right front, left rear and right rear positions of the aircraft body. Each group of power devices is connected to the aircraft body in a manner in which the mounting angle is adjustable, and the thrust direction thereof is adjusted by adjusting the mounting angle thereof, so as to provide the required thrust direction conversion between the vertical take-off, level flight and vertical landing modes of the aircraft body; The universal joint mechanism includes at least four groups, and is matched with each power device one by one, and the fixed end of each universal joint mechanism is connected to the aircraft body, and the movable end is connected to the power device matched with it, and is used to control the jet direction of the matched power device, so that the matched power device can achieve a continuous angle conversion of 0-90° between the vertical direction and the horizontal direction, so as to adjust the thrust direction of the matched power device, thereby adapting to the thrust requirements of the aircraft in different flight modes; And among them, In the vertical take-off mode of the aircraft body, each universal joint mechanism adjusts the jet direction of the power unit to be vertically upward, so that each power unit provides an upward thrust to achieve vertical ascent of the aircraft; In the level flight mode of the aircraft body, each universal joint mechanism gradually adjusts the jet direction of the power unit to the horizontal direction, so that its thrust direction is consistent with the forward direction of the aircraft, thus achieving horizontal flight of the aircraft; In the vertical landing mode of the aircraft body, each universal joint mechanism readjusts the jet direction of the power unit to vertically downward, so that it provides downward thrust to ensure that the aircraft descends smoothly to the ground.

[0010] The second invention object of the present invention is to provide a method for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint. The device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint of the present invention at least includes the following control steps during implementation: SS1. Flight mode detection: obtain the real-time status parameters of the aircraft, including at least the aircraft attitude angle, flight altitude, speed, load and ambient wind speed, determine the flight mode based on the real-time status parameters, and set the vertical take-off mode as the initial mode; SS2. Thrust adjustment in vertical takeoff mode: In vertical takeoff mode, the angles of the universal joints are controlled to make the jet direction of the power unit vertically upward, and higher power is preferentially allocated to the rear and lateral power units to compensate for the center of gravity deviation and ensure a smooth vertical takeoff of the aircraft. SS3. Level flight mode conversion: When the aircraft reaches the preset altitude, control instructions are sent to each universal joint mechanism to gradually adjust the jet direction of each power unit from vertical upward to horizontal. During this process, the power of each power unit is adjusted in real time to maintain the balance of the aircraft. When the jet direction is adjusted to horizontal, the aircraft enters the level flight mode. SS4. Power distribution in level flight mode: In level flight mode, according to the aircraft's flight speed and environmental conditions, power is evenly distributed to all power units to improve thrust efficiency and reduce energy consumption. At the same time, the aircraft's attitude is monitored in real time, and thrust distribution is fine-tuned in a timely manner to ensure stable level flight. SS5. Landing mode detection: When the aircraft receives a landing command or the flight altitude is lower than the preset value, it is determined to enter the landing mode and the angle of each universal joint mechanism is activated to gradually readjust the jet direction of each power unit to a vertical downward position; SS6. Vertical landing thrust regulation: During landing, according to the aircraft's descent speed and attitude, more power is preferentially allocated to the front and side power units to control the descent rate, and the power output is further reduced when approaching the ground to achieve a smooth landing; SS7. Reset after landing: After the aircraft lands smoothly, a reset command is issued to restore all universal joint mechanisms to their initial positions in preparation for the next takeoff.

[0011] (III) Technical Effect Compared with the prior art, the device and control method for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint of the present invention have the following beneficial and significant technical effects: (1) The present invention realizes the smooth switching of the aircraft between the three flight modes of vertical take-off, level flight and vertical landing by adopting the combined design of the universal joint mechanism and the power unit. By controlling the angle adjustment of the jet direction of the power unit through the universal joint mechanism, the present invention can effectively adjust the thrust direction to meet the needs of different flight modes. Compared with the limitation that traditional aircraft need special take-off and landing runways, the present invention enables the aircraft to achieve vertical take-off and landing in a limited space, significantly improving the applicability of the aircraft, and is suitable for small and complex take-off and landing environments, providing greater flexibility for multi-scenario applications.

[0012] (2) The control method adopted by the present invention can accurately adjust the angle of the universal joint mechanism, and combined with the thrust distribution strategy of the power unit, smoothly transition between vertical take-off, level flight and vertical landing modes. The control system monitors the working status of the universal joint and the power unit in real time through angle sensors, acceleration sensors and pressure sensors to ensure the accuracy and reliability of thrust direction adjustment. This real-time feedback and adjustment mechanism allows the aircraft to maintain balance when switching between different modes, reduces the risk of attitude instability, and improves the control performance and safety of the aircraft.

[0013] (3) The design of the present invention effectively improves the energy efficiency of the aircraft. In the level flight mode, the present invention reduces energy waste by evenly distributing the thrust output of each power unit, thereby improving flight efficiency and extending flight time. Compared with traditional vertical take-off and landing aircraft, the present invention optimizes energy consumption management, making the aircraft more suitable for long-distance flight scenarios and improving overall flight performance. In addition, the universal joint mechanism of the present invention adopts a double locking structure, combining mechanical locking and electronic locking, which can ensure the stability of the jet direction of the power unit in different flight modes. Mechanical locking provides basic safety protection, while electronic locking achieves high-precision angle fixation through the rapid response of the control system, effectively preventing accidental deflection caused by external interference, and improving the safety and anti-interference ability of the aircraft in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein: Figure 1 It is a schematic diagram of a device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the control flow of the device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint according to an embodiment of the present invention; Figure 3 The figure shows a control schematic diagram of a device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint in a vertical take-off and level flight stage according to an embodiment of the present invention; Figure 4 It is a control schematic diagram of the device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint in the level flight and vertical landing stages according to an embodiment of the present invention; Description of reference numerals: Power unit 1, universal joint 2, power unit 3, universal joint 4, power unit 5, universal joint 6, power unit 7, universal joint 8, aircraft body 9. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail below in conjunction with the drawings in the embodiment of the present invention. The described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present invention, and should not be understood as limiting the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0016] The present invention aims to provide a device and control method for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint. By arranging adjustable power devices or electric propeller power systems around the aircraft and using a universal joint mechanism to realize directional adjustment of the power devices, each power unit is in a vertical state when the aircraft takes off, and the power device provides vertical thrust to realize stable vertical ascent of the aircraft. When the aircraft reaches a certain height, the thrust direction of the turbojet engine can be changed by controlling the universal joint to control the jet angle deflection of the power device, so that the thrust direction of the power device is gradually turned to the horizontal, consistent with the forward direction of the aircraft, and switched to the horizontal thrust mode, realizing the lift provision of the aircraft in the vertical take-off and landing stage and the propulsion conversion in the cruise stage, so that the aircraft has both vertical take-off and landing capabilities and high-speed cruise performance, while simplifying the structural design.

[0017] Example 1

[0018] As a specific example, Figure 1 As shown, the device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint provided by the present invention is used to realize the conversion of an aircraft between vertical take-off, level flight and vertical landing modes, and is mainly composed of an aircraft body 9, a power device 1, a universal joint mechanism 2, a power device 3, a universal joint mechanism 4, a power device 5, a universal joint mechanism 6, a power device 7 and a universal joint mechanism 8. Among them: the power device 1 and the universal joint mechanism 2 are located on the left front side of the aircraft body 9, the power device 3 and the universal joint mechanism 4 are located on the right front side of the aircraft body 9; the power device 5 and the universal joint mechanism 6 are located on the left rear side of the aircraft body 9, and the power device 7 and the universal joint mechanism 8 are located on the right rear side of the aircraft body 9 (such as Figure 1 The aircraft body 9 is connected to the power devices 1, 3, 5, 7 through universal joint mechanisms 2, 4, 6, 8, and the deflection angle of the power devices 1, 3, 5, 7 is achieved through the universal joint mechanisms 2, 4, 6, 8 of pneumatic or hydraulic pressure.

[0019] Specifically, in the device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint provided by the present invention, the power devices 1, 3, 5, and 7 include four groups, which are distributed at the left front, right front, left rear, and right rear positions of the aircraft body 9. Each group of power devices 1, 3, 5, and 7 is connected to the aircraft body 9 in a manner in which the installation angle can be adjusted, and the thrust direction thereof can be adjusted by adjusting its installation angle, so as to provide the required thrust direction conversion for the aircraft body 9 between vertical take-off, level flight, and vertical landing modes. The universal joint mechanisms 2, 4, 6, 8 include at least four groups, and are matched with each power unit 1, 3, 5, 7 one by one, and the fixed end 9 of each universal joint mechanism 2, 4, 6, 8 is connected to the aircraft body, and the movable end is connected to the matched power unit 1, 3, 5, 7, which is used to control the jet direction of the matched power unit 1, 3, 5, 7, so that the matched power unit 1, 3, 5, 7 can achieve a continuous angle conversion of 0-90° between the vertical direction and the horizontal direction, so as to adjust the thrust direction of the matched power unit 1, 3, 5, 7, thereby adapting to the thrust requirements of the aircraft in different flight modes.

[0020] And wherein, in the vertical take-off mode of the aircraft body, each universal joint mechanism 2, 4, 6, 8 adjusts the jet direction of the power unit to vertically upward, so that each power unit 1, 3, 5, 7 provides an upward thrust to achieve the vertical ascent of the aircraft; in the level flight mode of the aircraft body, each universal joint mechanism 2, 4, 6, 8 gradually adjusts the jet direction of the power unit 1, 3, 5, 7 to horizontal, so that the thrust direction is consistent with the forward direction of the aircraft, thereby achieving horizontal flight of the aircraft; in the vertical landing mode of the aircraft body, each universal joint mechanism 2, 4, 6, 8 readjusts the jet direction of the power unit 1, 3, 5, 7 to vertically downward, so that it provides a downward thrust to ensure that the aircraft descends smoothly to the ground.

[0021] Preferably, in the device for achieving vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint of the present invention, the power devices 1, 3, 5, and 7 are preferably turbojet engines or electric propellers, wherein the turbojet engine adopts a double-duct structure design, has a main gas channel and a secondary cold air channel, and the thrust size is controlled by adjusting the airflow ratio of the two channels; when an electric propeller is selected, a brushless DC motor is used to drive the propeller, and a variable pitch adjustment mechanism is provided to achieve blade angle adjustment, so that the blade angle can be adjusted according to environmental conditions and flight requirements when the aircraft switches between different modes, and a smooth thrust output can be achieved during vertical take-off, level flight and vertical landing.

[0022] Preferably, the gimbal mechanism 2, 4, 6, 8 can be driven pneumatically or hydraulically, and the driving system includes a pressure regulating valve, a driving piston and a feedback sensor, wherein the pressure regulating valve is used to control the driving pressure to adapt to the requirements of different flight modes for the speed and strength of thrust direction adjustment, the driving piston is connected to the rotating shaft of the gimbal and the rotation angle of the gimbal is achieved by adjusting the driving piston, and the feedback sensor is used to monitor the angular position of the gimbal in real time to ensure that the gimbal mechanism can quickly respond to the switching requirements of the aircraft between vertical take-off, level flight and landing modes. In addition, the gimbal mechanism 2, 4, 6, 8 can also be driven by an electric-hydraulic hybrid drive, including a main electric drive unit and an auxiliary hydraulic drive unit, wherein the main electric drive unit is driven by a servo motor through a reducer to achieve conventional angle adjustment of the gimbal; the auxiliary hydraulic drive unit is used to provide rapid response and overload protection to ensure that the jet direction of the power unit can be quickly adjusted in an emergency.

[0023] Preferably, in the device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of the universal joint of the present invention, the universal joint mechanism 2, 4, 6, 8 can adopt a double locking structure, including two modes of mechanical locking and electronic locking, to ensure that the thrust direction of the aircraft remains stable in different flight modes. The mechanical locking is achieved by a self-locking device arranged on the universal joint shaft, which automatically engages when the aircraft enters a specific flight mode to prevent accidental angle deviation caused by external disturbances. The electronic locking sends a signal to the locking actuator through the control system, activating the electromagnetic or hydraulic device to lock the universal joint in real time, so as to quickly respond to the change in the attitude of the aircraft. At the same time, a damping device is preferably arranged between the fixed end and the movable end of the universal joint mechanism 2, 4, 6, 8, which is used to buffer the impact force caused by the rotational movement when the aircraft mode is switched, reduce the wear on the connection structure of the universal joint and the power device, and improve the reliability and durability of the aircraft during high-frequency mode conversion.

[0024] Preferably, the device for achieving vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint of the present invention is also provided with a control system, which includes at least a central processing unit, an acceleration sensor, a gyroscope, a barometer and multiple angle sensors, wherein the acceleration sensor and the gyroscope work together to monitor the three-axis attitude changes of the aircraft in real time, and provide the central processing unit with dynamic data of the inclination and rotation of the aircraft body, the barometer is used to measure the altitude change to calibrate the vertical ascent and descent speed of the aircraft, and multiple angle sensors are installed on each universal joint mechanism and used to provide real-time feedback on the rotation angle and position status of each universal joint. The central processing unit integrates and analyzes the data of each sensor, and adjusts the rotation angle of each universal joint mechanism according to a preset control algorithm and flight mode, so as to achieve a smooth transition of the aircraft in different flight stages. The control system dynamically adjusts the power output and thrust direction of each power unit according to the real-time attitude, flight mode, ambient wind speed and load conditions of the aircraft: in vertical take-off or landing mode, more power is preferentially allocated to the rear and lateral power units of the aircraft based on the center of gravity position and load distribution to ensure the attitude balance of the aircraft; in high-speed level flight mode, power is evenly distributed according to aerodynamic conditions and flight resistance to maximize propulsion efficiency and reduce energy consumption.

[0025] Through the above-mentioned structural design, the device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint of the present invention can not only realize the conversion between the vertical take-off and landing and horizontal flight modes of the aircraft, but also reduce the dependence on traditional take-off and landing runways, thereby improving the operational flexibility and economy of the aircraft.

[0026] Example 2

[0027] Based on the above embodiment 1, this embodiment 2 will introduce in detail a control method of a device for controlling the rotation of a universal joint to achieve vertical take-off and landing of an aircraft. The method is based on the device for controlling the rotation of a universal joint to achieve vertical take-off and landing of an aircraft described in the above embodiment 1, such as Figure 2 As shown, the method mainly includes the following control steps when implemented: SS1. Flight mode detection: obtain the real-time status parameters of the aircraft, including at least the aircraft attitude angle, flight altitude, speed, load and ambient wind speed, determine the flight mode based on the real-time status parameters, and set the vertical take-off mode as the initial mode; SS2. Thrust adjustment in vertical takeoff mode: In vertical takeoff mode, the angles of the universal joints are controlled to make the jet direction of the power unit vertically upward, and higher power is preferentially allocated to the rear and lateral power units to compensate for the center of gravity deviation and ensure a smooth vertical takeoff of the aircraft. SS3. Level flight mode conversion: When the aircraft reaches the preset altitude, control instructions are sent to each universal joint mechanism to gradually adjust the jet direction of each power unit from vertical upward to horizontal. During this process, the power of each power unit is adjusted in real time to maintain the balance of the aircraft. When the jet direction is adjusted to horizontal, the aircraft enters the level flight mode. SS4. Power distribution in level flight mode: In level flight mode, according to the aircraft's flight speed and environmental conditions, power is evenly distributed to all power units to improve thrust efficiency and reduce energy consumption. At the same time, the aircraft's attitude is monitored in real time, and thrust distribution is fine-tuned in a timely manner to ensure stable level flight. SS5. Landing mode detection: When the aircraft receives a landing command or the flight altitude is lower than the preset value, it is determined to enter the landing mode and the angle of each universal joint mechanism is activated to gradually readjust the jet direction of each power unit to a vertical downward position; SS6. Vertical landing thrust regulation: During landing, according to the aircraft's descent speed and attitude, more power is preferentially allocated to the front and side power units to control the descent rate, and the power output is further reduced when approaching the ground to achieve a smooth landing; SS7. Reset after landing: After the aircraft lands smoothly, a reset command is issued to restore all universal joint mechanisms to their initial positions in preparation for the next takeoff.

[0028] Preferably, during the conversion and execution of each flight mode, the working status of each universal joint mechanism and power unit is monitored in real time by means of angle sensors, acceleration sensors and pressure sensors to determine whether there is an abnormality or fault. When an abnormality or fault is detected, an alarm signal is issued and the thrust distribution strategy is quickly adjusted to compensate for possible attitude instability by changing the output power of each power unit, thereby ensuring that the aircraft can still operate safely and smoothly transition to the predetermined mode in the event of a fault.

[0029] The vertical take-off control process of the aircraft is as follows: Figure 3 As shown, before the aircraft takes off, the four turbine engines are controlled by controlling the four universal joints to rotate 90° so that the turbine engines and the aircraft are in a vertical direction. The four turbine engines are started at the same time, and the aircraft body achieves vertical takeoff under the thrust of the turbine engines. During the aircraft's level flight control process, when the aircraft takes off vertically and flies to a certain height, the four universal joints begin to rotate so that the thrust direction of the turbine engines gradually aligns with the forward direction of the aircraft. When the universal joints rotate 90°, the flight direction of the aircraft is consistent with the thrust direction generated by the turbine engines. The turbine engines begin to fly forward, achieving the aircraft's level flight function. When the aircraft reaches its destination, it is necessary to control the aircraft to land vertically as shown in the figure. Figure 4As shown, the turbine engines are rotated 90° by controlling four universal joint mechanisms from the level flight direction, so that the turbine engines and the aircraft are in a vertical direction, and the aircraft gradually descends when the angle reaches about 90°. When the aircraft reaches the ground, the engine is turned off and the aircraft stops.

[0030] Through the above control steps, the control method can realize the automatic switching of the aircraft between vertical take-off, level flight and vertical landing modes, optimize thrust distribution, enhance the stability and safety of the aircraft, and thus ensure the efficient operation of the aircraft in different flight modes.

[0031] Through the above embodiments, the purpose of the present invention is fully and effectively achieved. Those skilled in the art can understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Although the present invention has been described with respect to the most practical and preferred embodiments currently considered, it should be understood that the present invention is not limited to the disclosed embodiments, and any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint, used for realizing the conversion of an aircraft between vertical take-off, level flight and vertical landing modes, comprising at least an aircraft body, multiple power units and multiple universal joint mechanisms matched therewith, characterized in that: The power devices include at least four groups, which are distributed at the left front, right front, left rear and right rear positions of the aircraft body. Each group of power devices is connected to the aircraft body in a manner in which the mounting angle is adjustable, and the thrust direction thereof is adjusted by adjusting the mounting angle thereof, so as to provide the required thrust direction conversion between the vertical take-off, level flight and vertical landing modes of the aircraft body; The universal joint mechanism includes at least four groups, and is matched with each power device one by one, and the fixed end of each universal joint mechanism is connected to the aircraft body, and the movable end is connected to the power device matched with it, and is used to control the jet direction of the matched power device, so that the matched power device can achieve a continuous angle conversion of 0-90° between the vertical direction and the horizontal direction, so as to adjust the thrust direction of the matched power device, thereby adapting to the thrust requirements of the aircraft in different flight modes; And among them, In the vertical take-off mode of the aircraft body, each universal joint mechanism adjusts the jet direction of the power unit to be vertically upward, so that each power unit provides an upward thrust to achieve vertical ascent of the aircraft; In the level flight mode of the aircraft body, each universal joint mechanism gradually adjusts the jet direction of the power unit to the horizontal direction, so that its thrust direction is consistent with the forward direction of the aircraft, thus achieving horizontal flight of the aircraft; In the vertical landing mode of the aircraft body, each universal joint mechanism readjusts the jet direction of the power unit to vertically downward, so that it provides downward thrust to ensure that the aircraft descends smoothly to the ground.

2. The device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint according to claim 1, characterized in that: The power unit is a turbojet engine or an electric propeller, wherein the turbojet engine adopts a double-duct structure design, has a main gas channel and a secondary cold air channel, and the thrust is controlled by adjusting the airflow ratio of the two channels; when an electric propeller is selected, a brushless DC motor is used to drive the propeller, and a variable pitch adjustment mechanism is provided to achieve blade angle adjustment, so that the blade angle can be adjusted according to environmental conditions and flight requirements when the aircraft switches between different modes, and a smooth thrust output can be achieved during vertical takeoff, level flight and vertical landing.

3. The device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint according to claim 1, characterized in that: The universal joint mechanism adopts pneumatic or hydraulic driving mode, and the driving system includes a pressure regulating valve, a driving piston and a feedback sensor, wherein the pressure regulating valve is used to control the driving pressure to adapt to the requirements of different flight modes for thrust direction adjustment speed and strength, the driving piston is connected to the rotating shaft of the universal joint and the rotation angle of the universal joint is achieved by adjusting the driving piston, and the feedback sensor is used to monitor the angular position of the universal joint in real time to ensure that the universal joint mechanism can quickly respond to the switching requirements of the aircraft between vertical take-off, level flight and landing modes.

4. The device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint according to claim 1, characterized in that: The universal joint mechanism adopts an electric-hydraulic hybrid drive mode, including a main electric drive unit and an auxiliary hydraulic drive unit, wherein the main electric drive unit is driven by a servo motor through a reducer to achieve conventional angle adjustment of the universal joint; the auxiliary hydraulic drive unit is used to provide rapid response and overload protection to ensure that the jet direction of the power unit can be quickly adjusted in an emergency.

5. The device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint according to claim 1, characterized in that: The universal joint mechanism adopts a double locking structure, including two modes of mechanical locking and electronic locking, to ensure that the thrust direction of the aircraft remains stable in different flight modes. The mechanical locking is achieved by a self-locking device arranged on the universal joint shaft, which automatically engages when the aircraft enters a specific flight mode to prevent accidental angular deviation due to external disturbances. The electronic locking sends a signal to the locking actuator through the control system, activating the electromagnetic or hydraulic device to lock the universal joint in real time, so as to quickly respond to the change requirements of the aircraft's attitude.

6. The device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint according to claim 1, characterized in that: A damping device is provided between the fixed end and the movable end of the universal joint mechanism, which is used to buffer the impact force caused by the rotational movement when the aircraft mode is switched, reduce the wear on the connection structure between the universal joint and the power unit, and improve the reliability of the aircraft during high-frequency mode conversion.

7. The device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint according to claim 1, characterized in that: The device is also provided with a control system, which at least includes a central processing unit, an acceleration sensor, a gyroscope, a barometer and multiple angle sensors, wherein the acceleration sensor and the gyroscope work together to monitor the three-axis attitude changes of the aircraft in real time, and provide the central processing unit with the tilt and rotation dynamic data of the aircraft body, the barometer is used to measure the altitude change to calibrate the vertical ascent and descent speed of the aircraft, and the multiple angle sensors are installed on each universal joint mechanism and used to provide real-time feedback on the rotation angle and position status of each universal joint. The central processing unit integrates and analyzes the data of each sensor, and adjusts the rotation angle of each universal joint mechanism according to the preset control algorithm and flight mode to achieve a smooth transition of the aircraft in different flight stages.

8. The device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint according to claim 7, characterized in that: The control system dynamically adjusts the power output and thrust direction of each power unit according to the real-time attitude, flight mode, ambient wind speed and load conditions of the aircraft: in vertical take-off or landing mode, more power is preferentially allocated to the rear and lateral power units of the aircraft according to the center of gravity position and load distribution to ensure the attitude balance of the aircraft; in high-speed level flight mode, power is evenly distributed according to aerodynamic conditions and flight resistance to maximize propulsion efficiency and reduce energy consumption.

9. A method for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint, based on the device for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint as claimed in any one of claims 1 to 8, characterized in that: The method comprises at least the following control steps: SS1. Flight mode detection: obtain the real-time status parameters of the aircraft, including at least the aircraft attitude angle, flight altitude, speed, load and ambient wind speed, determine the flight mode based on the real-time status parameters, and set the vertical take-off mode as the initial mode; SS2. Thrust adjustment in vertical takeoff mode: In vertical takeoff mode, the angles of the universal joints are controlled to make the jet direction of the power unit vertically upward, and higher power is preferentially allocated to the rear and lateral power units to compensate for the center of gravity deviation and ensure a smooth vertical takeoff of the aircraft. SS3. Level flight mode conversion: When the aircraft reaches the preset altitude, control instructions are sent to each universal joint mechanism to gradually adjust the jet direction of each power unit from vertical upward to horizontal. During this process, the power of each power unit is adjusted in real time to maintain the balance of the aircraft. When the jet direction is adjusted to horizontal, the aircraft enters the level flight mode. SS4. Power distribution in level flight mode: In level flight mode, according to the aircraft's flight speed and environmental conditions, power is evenly distributed to all power units to improve thrust efficiency and reduce energy consumption. At the same time, the aircraft's attitude is monitored in real time, and thrust distribution is fine-tuned in a timely manner to ensure stable level flight. SS5. Landing mode detection: When the aircraft receives a landing command or the flight altitude is lower than the preset value, it is determined to enter the landing mode and the angle of each universal joint mechanism is activated to gradually readjust the jet direction of each power unit to a vertical downward position; SS6. Vertical landing thrust regulation: During landing, according to the aircraft's descent speed and attitude, more power is preferentially allocated to the front and side power units to control the descent rate, and the power output is further reduced when approaching the ground to achieve a smooth landing; SS7. Reset after landing: After the aircraft lands smoothly, a reset command is issued to restore all universal joint mechanisms to their initial positions in preparation for the next takeoff.

10. The method for realizing vertical take-off and landing of an aircraft based on controlling the rotation of a universal joint according to claim 9, characterized in that: During the conversion and execution of each flight mode, the working status of each universal joint mechanism and power unit is monitored in real time through angle sensors, acceleration sensors and pressure sensors to determine whether there is any abnormality or fault. When an abnormality or fault is detected, an alarm signal is issued and the thrust distribution strategy is quickly adjusted to compensate for possible attitude instability by changing the output power of each power unit, ensuring that the aircraft can still operate safely and smoothly transition to the predetermined mode in the event of a fault.

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