Fixed-wing combined UAV with wingtip flexible connection and attitude control method thereof

Abstract

The present invention provides a wingtip flexible connection fixed-wing combination UAV and its attitude control method, wherein the wingtip flexible connection fixed-wing combination UAV includes a central single machine and multiple non-central single machines; the non-central single machines are symmetrically arranged on both sides of the central single machine, and the wing tips of two adjacent central single machines and / or non-central single machines are flexibly connected. The present invention can not only complete the attitude control of the flexible combination UAV, but also make the system have a certain anti-interference ability, with low hardware cost, flexible combination mode, simple control method and easy implementation.

Description

Technical Field

[0001] The present invention relates to the field of aircraft guidance, navigation and control, and in particular to a fixed-wing combined unmanned aerial vehicle with wingtip flexible connection and an attitude control method thereof. Background Art

[0002] When the wing of a fixed-wing aircraft generates lift, the pressure on the lower surface of the wing is greater than that on the upper surface, and the wingspan length is limited, so the high-pressure airflow on the lower wing will bypass the wingtips at both ends and try to flow to the low-pressure area on the upper wing. When the airflow bypasses the wingtip, a wingtip vortex is formed at the wingtip part, and then a downwash is formed, resulting in induced drag. Induced drag affects the aerodynamic performance of the aircraft and reduces the range and flight time. Using the principles of bionics and aerodynamic theory, an innovative idea to solve the problem of induced drag is to connect the wings of multiple aircraft through a wingtip link mechanism to form a combined drone. The combined drone eliminates the wingtip vortex and induced drag of a single aircraft, while increasing the aircraft aspect ratio. Therefore, the combined drone has a higher lift-to-drag ratio than a single aircraft, and can obtain a longer range and greater load gain. In terms of mission execution, the combined drone has a higher degree of freedom. A single aircraft is suitable for performing small-scale tasks; when combined, it can perform large-scale tasks by taking advantage of its long range and heavy load. Due to the update of aircraft structure, flight control is more complicated than that of a single aircraft, and attitude control technology will be one of the key technologies for combined UAVs. Currently, there are few flight control technologies for such combinations. This is because: 1. The flight control of the combination is coordinated by multiple single aircraft, and the flight attitudes of the whole and the single aircraft are highly coupled, so a new control logic needs to be designed; 2. According to the new control logic, a hardware connection method suitable for the combination needs to be selected.

[0003] Since multiple drones are connected through wingtips to form a whole, when a single drone controls its attitude by changing the rudder and motor speed, it will not only affect its own attitude, but also the overall attitude of the aircraft; when controlling the overall attitude, the central flight control machine sends instructions to control all servos and motors. At this time, the rudder and motor of the single drone are regarded as part of the overall drone, and the flight attitude of the single drone itself will be affected. Due to its own aerodynamic characteristics, it may in turn threaten the overall stability of the aircraft. Therefore, it is necessary to study reasonable flight control logic based on the characteristics of combined drone flight attitude control, so as to ensure the effectiveness and stability of the combined overall attitude control. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The present disclosure provides a fixed-wing combined UAV with wingtip flexible connection and a posture control method thereof, so as to at least partially solve the technical problems raised above.

[0006] (II) Technical solution

[0007] According to one aspect of the present disclosure, there is provided a fixed-wing combination UAV with wingtip flexible connection, comprising: a central single unit and a plurality of non-central single units; the non-central single units are symmetrically arranged on both sides of the central single unit, and the wingtips of two adjacent central single units and / or non-central single units are connected by flexible materials.

[0008] In some embodiments of the present disclosure, the central stand-alone machine includes:

[0009] A central flight control machine, used for analyzing and processing the information of the central single machine and the non-central single machine, and controlling the attitude of the central single machine;

[0010] A receiver, electrically connected to the central flight control machine; the receiver is used to receive ground station signals and send them to the central flight control machine;

[0011] The non-central stand-alone machine includes:

[0012] The non-central flight control machine is electrically connected to the central flight control machine. The non-central flight control machine is used to exchange signals with the central flight control machine. The central flight control machine sends instructions to the non-central flight control machine, and the non-central flight control machine sends status information back to the central flight control machine to control the attitude of the non-central single machine.

[0013] In some embodiments of the present disclosure, the flexible material is an elastic rubber material; and the connection method of the flexible material is a detachable variable flexible link.

[0014] In some embodiments of the present disclosure, the central unit and the non-central unit also include: elevators, servos, motors, electric speed controllers and energy storage batteries, which are respectively connected by cables; the elevators are used to provide aerodynamic torque; the servos are used to control the rotation of the control surfaces; the motors are used to provide torque for the propellers; the electric speed controllers are used to adjust the motor speed; and the energy storage batteries are used to power the flight control and the motors.

[0015] According to one aspect of the present disclosure, there is also provided a method for attitude control of a fixed-wing combined UAV with wingtip flexible connection, comprising:

[0016] Step A: The receiver on the central UAV receives the command from the ground station and transmits it to the central flight controller. The central flight controller publishes information based on the current system status and transmits it to each non-central flight controller, and at the same time issues instructions for its own control surfaces and motors; each non-central flight controller processes the information and transmits it to the servos and motors of each non-central stand-alone aircraft for execution;

[0017] Step B: The central flight control machine receives the judgment of the non-central flight control machine on the flight status of the non-central single aircraft as the judgment basis for the central flight control machine to assign attitude instructions;

[0018] Step C: The central flight control machine operates in a cyclic manner and determines the flight status of the entire aircraft based on the flight status of other single aircraft.

[0019] In some embodiments of the present disclosure, step A comprises

[0020] Sub-step A1: The receiver on the central UAV receives the command from the ground station and transmits it to the central flight control machine;

[0021] Sub-step A2: The central flight controller publishes information according to the current system status and transmits it to each non-central flight controller, and at the same time issues instructions for its own control surfaces and motors; each non-central flight controller processes the information and transmits it to the steering gears and motors of each non-central stand-alone aircraft for execution;

[0022] Sub-step A3: The central flight control machine receives the flight status of the central single aircraft and / or the non-central single aircraft.

[0023] In some embodiments of the present disclosure, step B includes

[0024] Sub-step B1: the central flight control machine determines whether the ratio of the number of single aircraft in the unstable flight state to the total number of single aircraft is within a preset range;

[0025] Sub-step B2: If it is within the preset range, enter the normal operation state;

[0026] Sub-step B3: If it is not within the preset range, enter the emergency mode.

[0027] In some embodiments of the present disclosure, the sub-step A2 includes:

[0028] Sub-step A21: the non-central flight control machine receives the information sent by the central flight control machine, and the non-central flight control machine processes the information into instructions;

[0029] Sub-step A22: the non-central flight control machine transmits the command to the servo and motor of the non-central single machine for execution;

[0030] Sub-step A23: The non-central flight control machine determines its own flight status and transmits it back to the central flight control machine.

[0031] In some embodiments of the present disclosure, when the entire machine enters the emergency mode in sub-step B3, the central flight controller sends an automatic control instruction to other non-central flight controllers, and sends an instruction to the central single machine to return its own servo to zero and keep the motor speed unchanged.

[0032] In some embodiments of the present disclosure, in sub-step B2, the normal operation state is entered, and the central flight control machine distributes attitude instructions according to the information transmitted by the receiver, including:

[0033] The rolling direction makes the ailerons of the center unit and the non-center unit move differentially;

[0034] The yaw direction makes the motor speed of the non-center unit differential; and

[0035] The pitch direction causes the elevators of the center aircraft and the non-center aircraft to deflect in the same direction.

[0036] (III) Beneficial effects

[0037] It can be seen from the above technical solutions that the wingtip flexible connection fixed-wing combined UAV and the attitude control method thereof disclosed in the present invention have at least one or part of the following beneficial effects:

[0038] (1) The present invention can not only complete the attitude control of the flexible assembly UAV, but also enable the system to have a certain degree of anti-interference. The hardware cost is low, the combination method is flexible, the control method is simple, and it is easy to implement.

[0039] (2) The present invention comprises multiple single machines connected by a flexible structure, and has the freedom in the rolling direction and the ability to restore deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of the structure of a fixed-wing combined UAV with wingtip flexible connection according to an embodiment of the present disclosure.

[0041] Figure 2 It is a schematic diagram of signal transmission of the present invention.

[0042] Figure 3 This is a flowchart of the attitude control method of the fixed-wing combined UAV with wingtip flexible connection in the embodiment of the present disclosure.

[0043] [Description of the main component symbols of the embodiment of the present disclosure in the accompanying drawings]

[0044] 100-center stand-alone;

[0045] 110-Central flight control machine;

[0046] 120-Receiver;

[0047] 200-non-central stand-alone;

[0048] 210-non-central flight control machine;

[0049] 300 - aileron;

[0050] 400 - elevator;

[0051] 500-servo;

[0052] 600-motor;

[0053] 700- ESC;

[0054] 800-Energy storage battery;

[0055] 900-cable;

[0056] 1000-Flexible material. DETAILED DESCRIPTION

[0057] The present disclosure provides a fixed-wing combination UAV with wingtip flexible connection and its attitude control method, wherein the fixed-wing combination UAV with wingtip flexible connection includes a central unit and multiple non-central units; the non-central units are symmetrically arranged on both sides of the central unit, and the wing tips of two adjacent central units and / or non-central units are flexibly connected. The central unit includes a central flight control unit, a receiver, an elevator, a servo, a motor, an electric regulator and an energy storage battery. The non-central unit includes a non-central flight control unit, an elevator, a servo, a motor, an electric regulator and an energy storage battery. The present disclosure can not only complete the attitude control of the flexible combination UAV, but also enable the system to have a certain degree of anti-interference, with low hardware cost, flexible combination method, simple control method and easy implementation.

[0058] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0059] Certain embodiments of the present disclosure will be described more fully below with reference to the accompanying drawings, some but not all of which are shown. In fact, the various embodiments of the present disclosure may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure satisfies applicable legal requirements.

[0060] The various components of the klystron of this embodiment are described in detail below.

[0061] The central flight control machine is used to analyze and process the information of the central single machine and the non-central single machine, and control the attitude of the central single machine at the same time.

[0062] The receiver is electrically connected to the central flight control machine; the receiver is used to receive signals from the ground station and send them to the central flight control machine.

[0063] The non-central flight control machine is electrically connected to the central flight control machine. The non-central flight control machine is used to exchange signals with the central flight control machine. The central flight control machine sends instructions to the non-central flight control machine, and the non-central flight control machine sends status information back to the central flight control machine to control the attitude of the non-central single machine.

[0064] Elevators provide aerodynamic torque.

[0065] Servo, controls the rotation of the rudder surface.

[0066] The motor provides torque to the propeller.

[0067] The electric regulator and energy storage battery adjust the motor speed and provide power to the flight controller and motor.

[0068] In a first exemplary embodiment of the present disclosure, a fixed-wing combined UAV with wingtip flexible connection is provided. Figure 1 This is a schematic diagram of the structure of a fixed-wing combined drone with wingtip flexible connection according to an embodiment of the present disclosure. Figure 1 As shown, the wingtip flexible connection fixed-wing combination drone disclosed in the present invention includes a center single machine 100 No. 0, a non-center single machine 200 No. 1, a non-center single machine 200 No. 2, a non-center single machine 200 No. 3, and a non-center single machine 200 No. 4. Figure 1 As shown, the center unit 100 No. 0 is located in the middle, the non-center unit 200 No. 1 and the non-center unit 200 No. 3 are arranged on the left, and the non-center unit 200 No. 2 and the non-center unit 200 No. 4 are arranged on the right. The wing tips of two adjacent center units 100 and / or non-center units 200 are connected by a flexible material 1000. The center unit 100 includes a center flight control machine 110, a receiver 120, an aileron 300, an elevator 400, a steering gear 500, a motor 600, an electric adjustment 700, an energy storage battery 800 and cables 900 connected therebetween. The non-center unit 200 includes a non-center flight control machine 210, an aileron 300, an elevator 400, a steering gear 500, a motor 600, an electric adjustment 700, an energy storage battery 800 and cables 900 connected therebetween. The whole-machine cable 900 starts from the central flight control machine 110 and connects all non-central flight control machines 210. It can enable the non-central UAV to feed back its own flight status to the central UAV as a basis for judging its control method; it can also transmit the instructions of the central UAV to the non-central UAV to complete the control of the fixed-wing combination UAV with wingtip flexible connection.

[0069] Regarding the flexible material 1000 being one or more elastic rubber materials, all elastic rubber materials known to those skilled in the art are within the scope of the present disclosure.

[0070] Regarding the connection mode of the flexible material 1000 being a detachable variable flexible link, all detachable variable flexible links known to those skilled in the art are within the scope of the present disclosure.

[0071] like Figure 2 As shown in the figure, the ground station sends out a command, which is received by the receiver on the central single machine and transmitted to the central flight control machine. After the central flight control machine solves the problem, it transmits the attitude command of the central single machine to the servo and motor. The attitude command of other non-central single machines is transmitted to all non-central flight control machines through the whole machine cable. The corresponding non-central flight control machine processes the information and transmits it to its own servo and motor for execution.

[0072] Among them, the non-central flight control judges the flight status of the aircraft based on the sensor data, and transmits the judgment result back to the central flight control machine through the whole aircraft cable as the basis for judging the attitude mode switching of the central flight control machine.

[0073] The present disclosure also provides a method for controlling the attitude of a fixed-wing combined UAV with wingtip flexible connection, such as Figure 3 As shown, including:

[0074] Step A: The receiver on the central UAV receives the command from the ground station and transmits it to the central flight controller. The central flight controller issues the command according to the current system status and transmits it to each non-central flight controller, and at the same time issues the command for its own control surface and motor; each non-central flight controller processes the information and transmits it to the steering gear and motor of each non-central stand-alone aircraft for execution. Step A includes:

[0075] Sub-step A1: The receiver on the central UAV receives the command sent by the ground station and transmits it to the central flight control machine.

[0076] Sub-step A2: The central flight control machine publishes information based on the current system status and transmits it to each non-central flight control machine, and at the same time issues instructions for its own control surfaces and motors; each non-central flight control machine processes the information and transmits it to the servos and motors of each non-central stand-alone machine for execution. Sub-step A2 includes:

[0077] Sub-step A21: the non-central flight control machine receives the information sent by the central flight control machine, and the non-central flight control machine processes the information into instructions;

[0078] Sub-step A22: the non-central flight control machine transmits the command to the servo and motor of the non-central single machine for execution;

[0079] Sub-step A23: The non-central flight control machine determines its own flight status and transmits it back to the central flight control machine.

[0080] Sub-step A3: The central flight control machine receives the flight status of the central single aircraft and / or the non-central single aircraft.

[0081] When the central flight control machine determines that the system is in normal operation, the central flight control machine assigns attitude instructions according to the information transmitted by the receiver. Specifically, when the central flight control machine assigns attitude instructions, the ailerons of the central single aircraft and the non-central single aircraft are differentially moved in the roll direction. When the central flight control machine assigns attitude instructions, the motor speed of the non-central single aircraft is differentially moved in the yaw direction. When the central flight control machine assigns attitude instructions, the elevators of the central single aircraft and the non-central single aircraft are deflected in the same direction in the pitch direction.

[0082] In a specific implementation, the whole machine attitude information of the wingtip flexible connection fixed-wing combination UAV is distributed under normal working conditions. Specifically,

[0083] In the rolling direction, with the center unit as the middle position, the ailerons on both sides of the non-center unit are differentially operated, that is, the aileron servo of the non-center unit on one side deflects the same amount of rudder to one side, and the aileron servo of the non-center unit on the other side deflects the same amount of rudder to the other side. All the control surfaces together provide the required rolling torque for the whole aircraft.

[0084] In the pitch direction, the elevators of all single aircraft (central single aircraft and non-central single aircraft) are deflected in the same direction by the same amount, jointly providing the required pitch moment for the entire fixed-wing combination UAV with wingtip flexible connection.

[0085] In the yaw direction, the motor of the non-center unit on one side increases (or decreases) the same speed, and the motor of the non-center unit on the other side decreases (or increases) the same speed. The motor speed of the center unit remains unchanged, so that the motors on both sides can achieve differential motion and jointly provide the required yaw torque for the whole machine.

[0086] The motor speed is only adjusted during takeoff and landing of the wingtip flexible fixed-wing combination drone and when yaw motion is required. The adjustment information is sent by the central flight control machine, and the non-central single machine does not send motor speed control information.

[0087] When a single aircraft (center single aircraft and non-center single aircraft) adjusts its own airspeed, it cannot change the motor speed and needs to use the energy method, that is, change the pitch angle to complete it.

[0088] When the whole machine enters the emergency mode, the central flight controller sends an automatic control command to other non-central flight controllers, and sends a command to the central single machine to return its own servo to zero and keep the motor speed unchanged.

[0089] Step B: The central flight control machine receives the judgment of the non-central flight control machine on the flight status of the non-central single aircraft as the judgment basis for the central flight control machine to assign attitude instructions. The step B includes

[0090] Sub-step B1: The central flight control machine determines whether the ratio of the number of single aircraft in the unstable flight state to the total number of single aircraft is within a preset range; if it is within the preset range, it enters the normal operation state. It should be noted that the preset range mentioned in this disclosure can be adjusted according to the environment and mission conditions, and is generally set to 20%.

[0091] Sub-step B2: If it is within the preset range, enter the normal operation state.

[0092] Sub-step B3: If it is not within the preset range, the emergency mode is entered, and the central flight controller sends an automatic control command to other non-central flight controllers, and sends a command to the central single machine to return its own servo to zero and keep the motor speed unchanged.

[0093] Step C: The central flight control machine operates in a cyclical manner, and determines the flight status of the entire machine according to the flight status of other single machines. When the system is in an emergency state, the central flight control machine sends a command to the central single machine to return its own servo to zero and keep the motor speed unchanged, and at the same time sends a self-control command to other non-central flight control machines. After the non-central single machine receives the command, the attitude of the non-central single machine is controlled by the non-central flight control machine, with the goal of returning to a stable flight state. The non-central flight control machine executes the current command until it receives a new command from the central flight control machine.

[0094] It should be specifically stated that the criterion for judging the stable flight state of a single aircraft is that its roll angle and pitch angle are within a certain range.

[0095] So far, the embodiments of the present disclosure have been described in detail in conjunction with the accompanying drawings. It should be noted that the implementation methods not shown or described in the drawings or the body of the specification are all forms known to ordinary technicians in the relevant technical field and are not described in detail. In addition, the above definitions of each element and method are not limited to the various specific structures, shapes or methods mentioned in the embodiments, and ordinary technicians in the field can simply change or replace them.

[0096] Based on the above description, those skilled in the art should have a clear understanding of the fixed-wing combination UAV with wingtip flexible connection and the attitude control method thereof disclosed in the present invention.

[0097] In summary, the present disclosure provides a fixed-wing combination UAV with wingtip flexible connection and an attitude control method thereof, which can realize the overall attitude adjustment of a combination composed of multiple UAVs.

[0098] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure.

[0099] Moreover, the shapes and sizes of the components in the figures do not reflect the real size and proportion, but only illustrate the contents of the embodiments of the present disclosure. In addition, in the claims, any reference symbols between brackets shall not be constructed as limiting the claims.

[0100] Unless otherwise indicated, the numerical parameters in this specification and the appended claims are approximate values ​​and can vary according to the desired properties obtained through the content of the present disclosure. Specifically, all numbers used in the specification and claims to express the content of the composition, reaction conditions, etc., should be understood to be modified by the term "about" in all cases. In general, the meaning of the expression is to include a variation of ±10% in some embodiments, ±5% in some embodiments, ±1% in some embodiments, and ±0.5% in some embodiments by a specific number.

[0101] Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

[0102] In addition, unless the steps are specifically described or must occur in sequence, the order of the above steps is not limited to the above list, and can be changed or rearranged according to the required design. And the above embodiments can be mixed and matched with each other or with other embodiments based on design and reliability considerations, that is, the technical features in different embodiments can be freely combined to form more embodiments.

[0103] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various disclosed aspects, in the above description of the exemplary embodiments of the present disclosure, the various features of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following intention: the claimed disclosure requires more features than the features explicitly recited in each claim. More specifically, as reflected in the claims below, the disclosed aspects are less than all the features of the single embodiment disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present disclosure.

[0104] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present disclosure. It should be understood that the above description is only a specific embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A method for attitude control of a fixed-wing combination UAV with wingtip flexible connection, wherein the fixed-wing combination UAV with wingtip flexible connection comprises a central unit and a plurality of non-central units; the non-central units are symmetrically arranged on both sides of the central unit, and the wing tip position of the central unit and the wing tip position of the adjacent non-central unit, as well as the wing tip positions of two adjacent non-central units, are all connected by flexible materials, and the attitude control method comprises: Step A: The receiver on the central stand-alone machine receives the command issued by the ground station and transmits it to the central flight control machine. The central flight control machine publishes information according to the current system status and transmits it to each non-central flight control machine, and at the same time issues instructions for its own control surfaces and motors; each non-central flight control machine processes the information and transmits it to the steering gears and motors of each non-central stand-alone machine for execution; Step B: The central flight control machine receives the judgment of the non-central flight control machine on the flight status of the non-central single aircraft as the judgment basis for the central flight control machine to assign attitude instructions; Step C: The central flight control machine operates in a periodic manner and determines the flight status of the entire aircraft based on the flight status of other single aircraft; Wherein, the step B comprises: Sub-step B1: the central flight control machine determines whether the ratio of the number of single aircraft in the unstable flight state to the total number of single aircraft is within a preset range; Sub-step B2: If it is within the preset range, enter the normal operation state; Sub-step B3: If it is not within the preset range, enter the emergency mode; Among them, when the whole machine enters the emergency mode in sub-step B3, the central flight control machine sends an automatic control command to other non-central flight control machines, and sends a command to the central single machine to return its own servo to zero and keep the motor speed unchanged.

2. The posture control method according to claim 1, wherein: The step A comprises Sub-step A1: The receiver on the central single machine receives the command sent by the ground station and transmits it to the central flight control machine; Sub-step A2: The central flight controller publishes information according to the current system status and transmits it to each non-central flight controller, and at the same time issues instructions for its own control surfaces and motors; each non-central flight controller processes the information and transmits it to the steering gears and motors of each non-central stand-alone aircraft for execution; Sub-step A3: The central flight control machine receives the flight status of the central single aircraft and / or the non-central single aircraft.

3. The posture control method according to claim 2, wherein: The sub-step A2 comprises: Sub-step A21: the non-central flight control machine receives the information sent by the central flight control machine, and the non-central flight control machine processes the information into instructions; Sub-step A22: the non-central flight control machine transmits the command to the servo and motor of the non-central single machine for execution; Sub-step A23: The non-central flight control machine determines its own flight status and transmits it back to the central flight control machine.

4. The posture control method according to claim 1, wherein: In sub-step B2, the normal operation state is entered, and the central flight control machine distributes attitude instructions according to the information transmitted by the receiver, including: The rolling direction makes the ailerons of the center unit and the non-center unit move differentially; The yaw direction makes the motor speed of the non-center unit differential; and The pitch direction causes the elevators of the center aircraft and the non-center aircraft to deflect in the same direction.

5. A wingtip flexible connection fixed-wing combination UAV, suitable for implementing the attitude control method of the wingtip flexible connection fixed-wing combination UAV as described in any one of claims 1 to 4, the wingtip flexible connection fixed-wing combination UAV comprising: A central unit and a plurality of non-central units; the non-central units are symmetrically arranged on both sides of the central unit, and the wing tip position of the central unit and the wing tip position of the adjacent non-central unit, as well as the wing tip positions of two adjacent non-central units, are all connected by flexible materials; The central stand-alone machine comprises: A central flight control machine, used for analyzing and processing the information of the central single machine and the non-central single machine, and controlling the attitude of the central single machine; A receiver, electrically connected to the central flight control machine; the receiver is used to receive ground station signals and send them to the central flight control machine; The non-central stand-alone machine includes: The non-central flight control machine is electrically connected to the central flight control machine. The non-central flight control machine is used to exchange signals with the central flight control machine. The central flight control machine sends instructions to the non-central flight control machine, and the non-central flight control machine sends status information back to the central flight control machine to control the attitude of the non-central single machine.

6. The fixed-wing combined UAV with wingtip flexible connection according to claim 5, wherein: The flexible material is an elastic rubber material.

7. The fixed-wing combined UAV with wingtip flexible connection according to claim 5 or 6, wherein: The central unit and the non-central unit also include: elevators, servos, motors, electric speed controllers and energy storage batteries, which are connected by cables respectively; the elevators are used to provide aerodynamic torque; the servos are used to control the rotation of the control surface; the motors are used to provide torque for the propellers; the electric speed controllers are used to adjust the motor speed; the energy storage batteries are used to power the flight control and the motors.

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