A rudder-controlled vertical take-off and landing unmanned aerial vehicle and a take-off and landing control method thereof

Abstract

The present invention provides a rudder-controlled vertical take-off and landing UAV and a take-off and landing control method thereof. The rudder-controlled vertical take-off and landing UAV has a slender tail body and is arranged with a symmetrical horizontal tail, an upper vertical tail, a lower vertical tail and a landing strut. A pair of fixed main power propellers, a pair of auxiliary power propellers and their corresponding independent motors are respectively installed at the root of the trailing edge and the wingtip of the main wing. The present invention adopts the rudder-controlled fixed-wing vertical take-off and landing technology. The UAV can take off vertically and cruise horizontally with fixed wings. The landing device has a simple structure and a convenient flight mode conversion method. The complex tilting mechanism or the power device that is not fully utilized in other existing vertical take-off and landing aircraft is eliminated. The operation is flexible and the flight mode conversion cost is low. By using the wake of the main propulsion ducted propeller and the full-moving horizontal tail, the aircraft is vertically lifted to a certain height and then the horizontal tail is deflected to make the aircraft smoothly transition to the horizontal cruising state.

Description

Technical Field

[0001] The invention belongs to the field of aircraft, and in particular relates to a rudder-controlled vertical take-off and landing unmanned aerial vehicle and a take-off and landing control method thereof. Background Art

[0002] Compared with horizontal take-off and landing drones, vertical take-off and landing drones have the characteristics of flexible take-off and landing, and are less affected by the environment and site. Although pure rotary-wing drones can take off and land vertically, their cruising efficiency is lower than that of fixed-wing aircraft. Therefore, fixed-wing drones with vertical take-off and landing capabilities have inherent advantages in cruising efficiency and site adaptability. In recent years, they have been widely used in short-distance cargo delivery, vaccine delivery and other fields.

[0003] The existing fixed-wing UAVs with vertical take-off and landing capabilities include tilt-rotor UAVs, tilt-ducted propellers, thrust vectoring UAVs, and compound wing UAVs. These UAVs have the characteristics of vertical take-off and landing, hovering, and fixed-wing cruising, but the conversion mechanism or power device used to achieve vertical take-off and landing increases the total weight of the aircraft. The power components used by some UAVs to generate hovering traction are not used in the cruising state, which increases the useless dead weight of the aircraft in the cruising state and reduces its overall cost-effectiveness.

[0004] The drones that use rudder control for vertical takeoff and landing include Google's Project Wing. Project Wing is a small drone that uses a rudder control method in the form of a flying wing layout to achieve vertical takeoff and landing. Its steering rudder is the flaperon at the end of the main wing. The dual-purpose rudder makes the control strategy of this model more complicated, and the jitter is obvious during the takeoff and landing stage. Tilt-rotor drones have appeared both domestically and internationally in recent years. The weight cost of the tilt mechanism for vertical takeoff and landing is relatively large, and its control strategy is also relatively complex, which is prone to accidents during the takeoff and landing stage. The low cruising efficiency and short range of multi-rotor drones are also significant drawbacks. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art and provide a rudder-controlled vertical take-off and landing UAV and a take-off and landing control method thereof, which effectively realizes a lightweight structure, a simplified mode conversion method, a higher cruise efficiency, a more convenient operation method and a smoother transition state while having both vertical take-off and landing functions and the high cruise efficiency characteristics of fixed wings. The rudder-controlled vertical take-off and landing UAV and a take-off and landing control method thereof of the present invention are used as a flight platform, which can carry relevant loads for geophysical exploration, line inspection, anti-terrorism and emergency response, aerial photography and drug delivery in remote areas.

[0006] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0007] A rudder-controlled vertical take-off and landing UAV, comprising a fuselage, a main wing, a main battery, an upper vertical tail, and a lower vertical tail, characterized in that it also comprises a horizontal tail, a landing bracket, a main power propeller, an auxiliary power propeller, a flight control unit and an auxiliary power propeller motor;

[0008] The horizontal tail is connected to the tail of the fuselage, and the horizontal tail includes an outer movable part;

[0009] The main propeller is arranged at the root of the trailing edge of the main wing, and the main propeller is a retractable ducted propeller;

[0010] The auxiliary power propeller and the auxiliary power propeller motor are both arranged at the wing tip of the main wing;

[0011] The flight control unit is located inside the fuselage and controls the flight process of the drone through established control logic or direct instructions sent from the ground.

[0012] The landing bracket is located below the fuselage;

[0013] The horizontal tail, main power propeller and auxiliary power propeller work together to realize the vertical take-off and landing and horizontal cruising of the UAV.

[0014] Furthermore, the main power propeller includes a contraction duct, a shaft support rod, a propeller, a main power propeller motor, a hub and spoiler blades for fixing the contraction duct; the propeller is located in the straight section of the contraction duct; spoiler blades are provided at the end of the contraction duct; the hub is the rotating shaft of the propeller, one end of which is connected to the contraction duct through the spoiler blades, and the other end is an integrated structure with the shaft support rod, which is fixed by the internal wing beam of the main wing to play the role of fixing the main power propeller as a whole; the center line of the shaft support rod coincides with the center line of the main power propeller, and the aerodynamic chord is averaged through the horizontal tail; the main power propeller motor is connected to the shaft support rod and is provided at the trailing edge of the main wing.

[0015] Furthermore, the spoiler blades are 3 or more straight winglets with symmetrical airfoils as cross-sections, and the angular spacings between them are equal, so as to straighten the wake generated by the main propeller.

[0016] Furthermore, the four support rods of the landing gear are respectively located at the ends of the upper vertical tail, the lower vertical tail and the movable parts of a pair of horizontal tail fins, and are interlaced and fixed through the internal beam structure of the lower vertical tail and the movable parts.

[0017] Furthermore, the four struts of the landing gear are on the ground, the ends of the struts are in the same plane, and the vertical line of the center of gravity of the entire aircraft passes through the ends of the four struts to form the center of the polygon.

[0018] Furthermore, there are two main propellers and two auxiliary propellers, each of which is driven by its own independent propeller motor.

[0019] Furthermore, the UAV also includes a pair of ailerons, which are located inside the trailing edge of the main wing and are used to control the rolling motion in the horizontal cruising state.

[0020] Furthermore, it also includes a rudder, which is located at the rear of the upper vertical tail.

[0021] A take-off and landing control method for a rudder-controlled vertical take-off and landing UAV includes vertical take-off, hovering state, first flight mode conversion, level flight, horizontal cruising, second flight mode conversion, and vertical landing process in sequence. The control method of each process is as follows:

[0022] S1 vertical take-off: The main propeller motor and the auxiliary propeller motor drive the main propeller and the auxiliary propeller respectively, generating pulling force to make the drone take off vertically;

[0023] S2 Hovering state: The flight control unit includes a flight control computer, an attitude sensor and a limit sensor. The attitude controller of the flight control unit feeds back to the flight control computer whether the attitude of the drone in the hovering state is stable. The flight control computer fine-tunes the active parts of the auxiliary propeller and the horizontal tail according to the feedback, and the cycle continues until the attitude of the drone is stable.

[0024] S3: First flight mode conversion: Deflect the active part of the horizontal tail wing by 5° to 20° counterclockwise to generate a nose-down moment for the UAV, and the UAV enters the flight mode conversion stage. The counterclockwise direction is observed from the outside of the horizontal tail wing to the fuselage.

[0025] S4 level flight: The main propeller and the auxiliary propeller pull are deflected in the horizontal direction, the UAV moves forward and upward in a curve at the same time, the movable part of the horizontal tail gradually returns, and the UAV enters the level flight state;

[0026] S5 horizontal cruise: the rudder controls the yaw movement, the aileron controls the roll movement, the movable part of the horizontal tail controls the pitch movement, and the rudder cooperates with the aileron to control the turning movement;

[0027] S6 Second flight mode conversion: The flight control unit sends a command to increase the speed of the auxiliary power propeller and deflect the horizontal tail active part to make the drone enter a climbing state. As the horizontal tail active part gradually deflects, the auxiliary power propeller and the main power propeller gradually move vertically upward, and then according to the control process of S2, the hovering state is achieved;

[0028] S7 vertical landing: When the fuselage is fully upward, the deflection angle of the movable part of the horizontal tail is zero. At this time, the speed of the auxiliary power propeller is reduced, and the drone slowly lands until the end of the landing gear strut touches the ground.

[0029] Furthermore, in the S2 hovering state, the standard for the stability of the drone's attitude is that the drone's pitch angle oscillation amplitude is less than 4°, and the roll angle and yaw angle oscillation amplitudes are less than 2°.

[0030] Furthermore, in the S5 horizontal cruise state, the yaw motion is a rotation around a vertical axis passing through the center of gravity of the UAV, and the direction is from the belly to the back of the aircraft; in the S5 horizontal cruise state, the roll motion is a rotation around the longitudinal axis of the UAV, and the longitudinal axis is the longitudinal axis passing through the center of gravity from the nose to the tail in the symmetry plane of the UAV; in the S5 horizontal cruise state, the pitch motion is a rotation around the lateral axis of the UAV, and the lateral axis is the axis passing through the center of gravity from the right wingtip to the left wingtip.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] (1) The horizontal tail has a movable part equivalent to the full-moving control surface. The movable part is placed in the wake of the main propeller at the root of the trailing edge of the main wing, which plays a role in controlling the pitch attitude of the UAV in the hovering state. At the same time, the movable part can also be used as an elevator in the cruising state.

[0033] The main propeller and the auxiliary propeller are used to provide power, and the auxiliary propeller also plays a role in controlling the rolling attitude and heading attitude of the drone in the hovering state.

[0034] Therefore, the present invention realizes zero useless parts in each motion mode of the UAV through the independently driven main power propeller and auxiliary power propeller, in conjunction with the horizontal tail, and realizes a highly efficient method for mode conversion of a light and small vertical take-off and landing UAV;

[0035] (2) The present invention designs a main propeller, i.e., an internal structure of a ducted propeller, which can improve the efficiency by more than 8% compared with an open propeller, thereby improving the cruising energy conversion efficiency;

[0036] (3) The four support rods of the landing gear are respectively located at the ends of the upper vertical tail, the lower fin and the movable part of a pair of horizontal tail fins, and are interlaced and fixed through the internal beam structure of the lower fin and the movable part, which is conducive to saving structural weight.

[0037] (4) The rudder-controlled flight mode conversion method is adopted, and the tail-seat take-off and landing method is added. It can take off and land vertically and cruise at high speed and high efficiency at the fixed-wing speed. The rudder-controlled flight mode conversion technology eliminates the complex mechanism compared to the tilt-rotor and other conversion methods, and the weight cost of flight mode conversion is lower.

[0038] (5) The horizontal tail rudder-controlled flight mode conversion method is adopted, and the control method is simpler and more effective; the full-moving horizontal tail can provide a larger pitch moment, so that the UAV can easily complete the mode conversion and the pitch movement of the cruise state without a certain vertical speed, and the flight control is smoother and more flexible;

[0039] (6) The auxiliary propeller is located at the wingtip and is affected by the reverse interference of the wingtip vortex, which has a higher control efficiency. When the wingtip vortex is interfered by the auxiliary propeller, the downwash of the aircraft is weakened, the lift-induced drag is reduced, and the cruise lift-to-drag ratio is improved. Therefore, the auxiliary propeller improves the cruise efficiency of the entire aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a three-dimensional isometric schematic diagram of a rudder-controlled vertical take-off and landing UAV of the present invention;

[0041] Figure 2 This is a rear view schematic diagram of a rudder-controlled vertical take-off and landing UAV of the present invention;

[0042] Figure 3 The invention discloses a logic flow chart of take-off and landing control of a rudder-controlled vertical take-off and landing UAV. DETAILED DESCRIPTION

[0043] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0044] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0045] The present invention provides a rudder-controlled vertical take-off and landing unmanned aerial vehicle, such as Figure 1 and Figure 2 , where 1 is the fuselage, 2 is the shaft support, 3 is the propeller, 4 is the main propeller, 5 is the auxiliary propeller motor, 6 is the movable part of the horizontal tail, 7 is the rudder, 8 is the landing bracket, 9 is the horizontal tail, 10 is the upper vertical tail, 11 is the main battery, 12 is the hub, 14 is the aileron, 15 is the auxiliary propeller, 16 is the lower vertical tail, 17 is the spoiler blade, 18 is the main wing, 19 is the flight control unit, 20 is the retractable duct, and 21 is the main propeller motor.

[0046] The rudder-controlled vertical take-off and landing UAV of the present invention comprises a body 1, a main wing 18, a main battery 11, an upper vertical tail 10, a lower vertical tail 16, a horizontal tail 9, a landing bracket 8, a main power propeller 4, an auxiliary power propeller 15, a flight control unit 19 and an auxiliary power propeller motor 5;

[0047] The horizontal tail 9 is connected to the tail of the fuselage 1 and includes an outer movable portion 6. The movable portion 6 is equivalent to a fully movable control surface and serves as a fully movable horizontal tail to control the pitch movement of the fuselage.

[0048] The main propeller 4 is arranged at the trailing edge root of the main wing 18, and the main propeller 4 is a retractable ducted propeller;

[0049] The auxiliary-power propeller 15 and the auxiliary-power propeller motor 5 are both arranged at the wingtip of the main wing 18; the left and right auxiliary-power propellers 15 have a speed differential to generate different torques and thrusts on the left and right sides, controlling the rolling movement along the longitudinal axis of the fuselage (the nose points to the tail direction) and the heading yaw movement (the lower abdomen of the fuselage points to the vertical direction of the back) of the drone in the hovering state, and playing a role in adjusting the attitude of the drone to make it stable in the hovering state of the drone; in addition, the auxiliary-power propeller 15 is also a supplementary power for the drone's take-off, landing, cruising and other flight stages.

[0050] The flight control unit 19 is located inside the body 1 and controls the flight process of the UAV through established control logic or direct instructions sent from the ground.

[0051] The landing support 8 is located below the body 1;

[0052] The horizontal tail 9, the main propeller 4 and the auxiliary propeller 15 cooperate to realize the vertical take-off and landing and horizontal cruising of the UAV;

[0053] There is a power module compartment in the body 1, in which a main battery 11 is placed to provide energy source for the main power propeller 4 and the auxiliary power propeller 15;

[0054] Furthermore, the main propeller 4 includes a contraction duct 20, a shaft support rod 2, a propeller 3, a main propeller motor 21, a hub 12, and a spoiler blade 17 for fixing the contraction duct;

[0055] The propeller 3 is located in the straight section of the contraction duct 20; a spoiler blade 17 is provided at the end of the contraction duct 20; the hub 12 is the rotating shaft of the propeller 3, one end of which is connected to the contraction duct 20 through the spoiler blade 17, and the other end is an integrated structure with the shaft support rod 2, which is fixed by the internal wing beam of the main wing 18, and plays the role of fixing the main power propeller 4 as a whole; the center line of the shaft support rod 2 coincides with the center line of the main power propeller 4, and the aerodynamic chord is averaged through the horizontal tail 9; the main power propeller motor 21 is connected to the shaft support rod 2 and is arranged at the trailing edge of the main wing 18. The wake generated by the rotation of the propeller 3 passes through the contraction duct 20. The contraction duct 20 and the spoiler blades 17 fixed inside it play a role in accelerating and rectifying the propeller wake. After passing through the contraction duct 20, the airflow is accelerated and passes through the horizontal tail 9 tail. The movable part 6 of the full-moving horizontal tail 9 is symmetrical and moves in coordination. With the help of the wake generated by the rotation of the propeller 3, when the UAV is stationary relative to the ground (hovering state), it plays a role in controlling the pitch motion of the aircraft (the rotation motion of the UAV along the main wing span, that is, from the left to the right direction); at the same time, the movable part 6 of the horizontal tail 9 acts as an elevator to control the pitch motion of the UAV in the cruising state;

[0056] Furthermore, the four support rods of the landing support 8 are respectively located at the ends of the upper vertical tail 10, the lower vertical tail 16 and the movable part 6 of a pair of horizontal tail planes 9, and the landing support 8 is fixed by interlacing the internal beam structure of the lower vertical tail 16 and the movable part 6 of the horizontal tail plane 9.

[0057] Furthermore, the four poles of the landing bracket 8 are on the ground, the pole ends are in the same plane, and the vertical line of the center of gravity of the whole machine is connected to form the center of the polygon through the four pole ends. The landing bracket 8 has a total of four cylindrical poles for supporting the drone when the drone is standing still (landing).

[0058] Furthermore, there are two main propellers 4 and two auxiliary propellers 15, which are driven by independent propeller motors respectively.

[0059] Furthermore, it also includes a pair of ailerons 14, which are located on the inner side of the trailing edge of the main wing 18 and are used to control the rolling motion in the horizontal cruising state. The rolling motion is a rotational motion around the longitudinal axis of the fuselage, from the nose to the tail.

[0060] Furthermore, it also includes a rudder 7, which is located at the rear of the upper vertical tail 10.

[0061] Furthermore, the spoiler blades 17 are 3 or more straight winglets with symmetrical airfoils (including but not limited to NACA family symmetrical airfoils) as cross-sections, and the angular spacing between them is equal, so as to straighten the wake generated by the main power propeller 4.

[0062] Furthermore, the main wing 18 adopts a BE12305B airfoil, and the upper vertical tail 10, the lower vertical tail 16 and the horizontal tail 9 adopt a NACA0013 airfoil.

[0063] Figure 3 The take-off and landing control method of a rudder-controlled vertical take-off and landing UAV shown in the figure includes vertical take-off, hovering state, flight mode conversion, level flight, horizontal cruising, and vertical landing processes in sequence. The control methods of each process are as follows:

[0064] S1 vertical take-off: During take-off, the four struts of the rudder-controlled vertical take-off and landing UAV landing bracket 8 touch the ground, and the vertical line of the center of gravity of the whole machine passes through the four points at the ends of the struts to form the center of the polygon. The four motors powered by the main battery 11: the two auxiliary power propeller motors 5 and 2 and the main power propeller motor 21 drive the main power propeller 4 and the auxiliary power propeller 15 to generate pulling force to make the UAV take off vertically;

[0065] S2 Hovering state: The flight control unit 19 includes a flight control computer and a servo controller, and the servo controller includes an attitude sensor and a limit sensor. When the UAV rises to a safe height of more than 50 meters (non-hovering), the flight control unit 19 sends instructions to the servo controller and then to the corresponding motor; when the UAV is in a hovering state, the attitude controller in the flight control unit feeds back to the flight control computer whether the attitude of the UAV in the hovering state is stable. The flight control unit sends instructions to the corresponding actuation terminal based on the feedback result, and stabilizes the attitude of the UAV by fine-tuning the propeller 15 and the horizontal tail active section 6, and then feedback is given by the attitude sensor, and the cycle is iterated until the attitude of the UAV is stable (the oscillation amplitude of the pitch angle is less than 4°, and the oscillation amplitude of the roll angle and yaw angle is less than 2°).

[0066] S3 flight mode conversion: after the attitude of the UAV is stabilized, the movable part of the horizontal tail 9 is deflected counterclockwise by 65° to 20° to generate a nose-down moment for the UAV, and the UAV enters the flight mode conversion stage, wherein the counterclockwise direction is observed from the outside of the horizontal tail 9 to the fuselage 1;

[0067] S4 level flight: the main propeller 4 and the auxiliary propeller 15 pull in the horizontal direction, the UAV makes a forward and upward curved motion at the same time, the movable part 6 of the horizontal tail 9 gradually returns, and the UAV enters a level flight state;

[0068] S5 horizontal cruise: the rudder 7 controls the yaw movement, the aileron 14 controls the roll movement, the movable part 6 of the horizontal tail 9 controls the pitch movement, and the rudder 7 cooperates with the aileron 14 to control the turning action;

[0069] S6 Second flight mode conversion: The flight control unit 19 sends a command to increase the speed of the auxiliary power propeller 15 and deflect the active part 6 of the horizontal tail 9 to make the UAV enter a climbing state. As the active part 6 of the horizontal tail 9 gradually deflects, the auxiliary power propeller 15 and the main power propeller 4 gradually move vertically upward, and then according to the control process of S2, the hovering state is achieved. ;

[0070] S7 vertical landing: When the fuselage 1 is fully facing upward, the deflection angle of the movable part 6 of the horizontal tail 9 is zero, at this time the rotation speed of the auxiliary power propeller 15 is reduced, and the UAV slowly lands until the end of the landing strut 8 touches the ground.

[0071] Furthermore, in the S2 hovering state, the standard for the stability of the drone's attitude is that the drone's pitch angle oscillation amplitude is less than 4°, and the roll angle and yaw angle oscillation amplitudes are less than 2°.

[0072] Furthermore, in the S5 horizontal cruise state, the yaw motion is a rotation around a vertical axis passing through the center of gravity of the UAV, and the direction is from the belly to the back of the aircraft; in the S5 horizontal cruise state, the roll motion is a rotation around the longitudinal axis of the UAV, and the longitudinal axis is the longitudinal axis passing through the center of gravity from the nose to the tail in the symmetry plane of the UAV; in the S5 horizontal cruise state, the pitch motion is a rotation around the lateral axis of the UAV, and the lateral axis is the axis passing through the center of gravity from the right wingtip to the left wingtip.

[0073] The present invention has been described in detail above in conjunction with specific implementations and exemplary examples, but these descriptions cannot be understood as limiting the present invention. Those skilled in the art understand that, without departing from the spirit and scope of the present invention, a variety of equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its implementation methods, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be subject to the attached claims.

[0074] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A rudder-controlled vertical take-off and landing UAV, comprising a body (1), a main wing (18), a main battery (11), an upper vertical tail (10), and a lower vertical tail (16), characterized in that: It also includes a horizontal tail (9), a landing gear (8), a main power propeller (4), an auxiliary power propeller (15), a flight control unit (19) and an auxiliary power propeller motor (5); The horizontal tail (9) is connected to the tail of the fuselage (1), and the horizontal tail (9) includes an outer movable part (6); The main propeller (4) is arranged at the root of the trailing edge of the main wing (18), and the main propeller (4) is a retractable ducted propeller; The auxiliary power propeller (15) and the auxiliary power propeller motor (5) are both arranged at the wing tip of the main wing (18); The flight control unit (19) is located inside the body (1) and controls the flight process of the drone through a predetermined control logic or direct instructions sent from the ground; The landing bracket (8) is located below the machine body (1); The horizontal tail (9), the main propeller (4) and the auxiliary propeller (15) cooperate to realize the vertical take-off and landing and horizontal cruising of the UAV; The main propeller (4) comprises a contraction duct (20), a shaft support rod (2), a propeller (3), a main propeller motor (21), a propeller hub (12), and a spoiler blade (17) for fixing the contraction duct; The propeller (3) is located in the straight section of the contraction duct (20); a spoiler blade (17) is provided at the end of the contraction duct (20); the propeller hub (12) is the rotating shaft of the propeller (3), one end of which is connected to the contraction duct (20) through the spoiler blade (17), and the other end is an integrated structure with the shaft support rod (2), which is fixed by the internal wing beam of the main wing (18) to play the role of fixing the main power propeller (4) as a whole; the center line of the shaft support rod (2) coincides with the center line of the main power propeller (4); the main power propeller motor (21) is connected to the shaft support rod (2) and is provided at the trailing edge of the main wing (18); The main propellers (4) and the auxiliary propellers (15) are two each, and are driven by independent propeller motors respectively; The rudder-controlled vertical take-off and landing UAV further comprises a pair of ailerons (14), wherein the ailerons (14) are located inside the trailing edge of the main wing (18) and are used to control the rolling motion in a horizontal cruising state; The rudder-controlled vertical take-off and landing UAV further comprises a rudder (7), wherein the rudder (7) is located at the rear of the upper vertical tail (10); The spoiler blades (17) are three or more straight winglets with symmetrical airfoils as cross-sections, and the angular spacing between them is equal, so as to straighten the wake generated by the main propeller (4).

2. The rudder-controlled vertical take-off and landing UAV according to claim 1, characterized in that: The four support rods of the landing bracket (8) are respectively located at the ends of the upper vertical tail (10), the lower vertical tail (16) and the movable part (6) of a pair of horizontal tail wings (9), and are interlaced and fixed through the internal beam structure of the lower vertical tail (16) and the movable part (6).

3. The rudder-controlled vertical take-off and landing UAV according to claim 2, characterized in that: The four support rods of the landing bracket (8) are on the ground, the ends of the support rods are in the same plane, and the vertical line of the center of gravity of the whole machine passes through the ends of the four support rods to form the center of a polygon.

4. The take-off and landing control method of a rudder-controlled vertical take-off and landing UAV according to claim 3, characterized in that It includes vertical take-off, hovering state, first flight mode conversion, level flight, horizontal cruising, second flight mode conversion, and vertical landing process. The control methods of each process are as follows: S1 vertical take-off: the main power propeller motor (21) and the auxiliary power propeller motor (5) drive the main power propeller (4) and the auxiliary power propeller (15) respectively, generating a pulling force to enable the UAV to take off vertically; S2 Hovering state: the flight control unit (19) includes a flight control computer, an attitude sensor and a limit sensor. The attitude sensor of the flight control unit (19) feeds back to the flight control computer whether the attitude of the drone in the hovering state is stable. The flight control computer fine-tunes the auxiliary power propeller (15) and the movable part (6) of the horizontal tail (9) according to the feedback, and the cycle continues until the attitude of the drone is stable. S3: First flight mode conversion: the active part (6) of the horizontal tail (9) is deflected counterclockwise by 5° to 20° to generate a nose-down moment for the UAV, and the UAV enters the flight mode conversion stage, wherein the counterclockwise direction is observed from the outside of the horizontal tail (9) toward the fuselage (1); S4 level flight: the pulling force of the main propeller (4) and the auxiliary propeller (15) is deflected in the horizontal direction, the UAV performs a curved motion forward and upward at the same time, the movable part (6) of the horizontal tail (9) is gradually adjusted back, and the UAV enters a level flight state; S5 horizontal cruise: the rudder (7) controls the yaw movement, the aileron (14) controls the roll movement, the movable part (6) of the horizontal tail (9) controls the pitch movement, and the rudder (7) cooperates with the aileron (14) to control the turning movement; S6 Second flight mode conversion: The flight control unit (19) sends a command to increase the rotation speed of the auxiliary power propeller (15) and deflect the movable part (6) of the horizontal tail (9) to make the UAV enter a climbing state. As the movable part (6) of the horizontal tail (9) gradually deflects, the pulling force of the auxiliary power propeller (15) and the main power propeller (4) gradually moves vertically upward, and then according to the control process of S2, the hovering state is achieved; S7 vertical landing: When the fuselage (1) is fully facing upward, the deflection angle of the movable part (6) of the horizontal tail (9) is zero. At this time, the rotation speed of the auxiliary propeller (15) is reduced, and the UAV slowly lands until the end of the landing gear (8) strut touches the ground.

5. The take-off and landing control method of a rudder-controlled vertical take-off and landing UAV according to claim 4, characterized in that: In the S2 hovering state, the standard for the stability of the drone's attitude is that the drone's pitch angle oscillation amplitude is less than 4°, and the roll angle and yaw angle oscillation amplitudes are less than 2°.

6. The take-off and landing control method of a rudder-controlled vertical take-off and landing UAV according to claim 4, characterized in that: In the S5 horizontal cruise state, the yaw motion is a rotation around the vertical axis passing through the center of gravity of the UAV, and the direction is from the belly to the back of the aircraft; in the S5 horizontal cruise state, the roll motion is a rotation around the longitudinal axis of the UAV, and the longitudinal axis is the longitudinal axis in the symmetry plane of the UAV passing through the center of gravity from the nose to the tail; in the S5 horizontal cruise state, the pitch motion is a rotation around the lateral axis of the UAV, and the lateral axis is the axis passing through the center of gravity from the right wingtip to the left wingtip.

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