Foldable fixed-wing four-rotor composite unmanned aerial vehicle and control method thereof

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a foldable fixed-wing four-rotor composite unmanned aerial vehicle and a control method thereof. A double-layer arm comprises an upper-layer X-shaped frame body and a lower-layer X-shaped frame body, a flight control protection plate is fixed on an upper-layer middle connecting plate, duct through holes are formed in the inner side of an upper-layer supporting plate, a motor is arranged on the outer side of the upper-layer supporting plate, and propellers are driven by the motor to rotate; wings are arranged between the upper-layer supporting plate and the lower-layer supporting plate; each wing comprises a fixed wing and a duct, and the fixed wing is connected between the upper-layer supporting plate and the lower-layer supporting plate; and the duct is matched on the upper-layer X-shaped frame body, in the motor fixing plate and in the lower-layer X-shaped frame body, and is connected to the fixed wing; by folding the fixed wing, conversion of a four-rotor and fixed-wing four-rotor composite mode in a hovering state can be achieved, the Euler angle of the aircraft can be adjusted by changing the rotating speed of the rotors, meanwhile, the driving duct can rotate around an aircraft arm shafts, and the aircraft can be braked on the premise that the flight stability of the aircraft is not affected.

Description

technical field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a foldable fixed-wing quadrotor composite unmanned aerial vehicle and a control method thereof. Background technique

[0002] The quadrotor UAV, which is common in the aviation field, generates thrust through the rotation of four propellers, which can solve the problem of vertical take-off and landing in a small space. At the same time, the different speeds of the four rotors can change the Euler angle of the aircraft and adjust the attitude of the aircraft. It has the advantage of sensitive attitude adjustment, but the flight speed is slow.

[0003] Fixed-wing aircraft, which are common in the aviation field, use the pressure difference generated by the Bernoulli principle on the upper and lower surfaces of the wing to provide lift for take-off. Use the amplitude of each wing to change the attitude of the aircraft. Its flight speed is fast, and its...

Examples

Embodiment 1

[0059] A foldable fixed-wing four-rotor composite unmanned aerial vehicle, comprising a double-layer machine arm 1, a wing 2, a fixed wing 4, a flight control protection plate 7, a propeller 9, and a motor 10, wherein the double-layer machine arm 1 includes And the upper floor X-shaped frame body 11 and the lower floor X-shaped frame body 12 that are aligned, the upper floor X-shaped frame body 11 includes the upper floor middle connecting plate and the upper floor support plate arranged at the four corners of the upper layer middle connecting plate, and the lower floor X-shaped frame body 12 includes The lower middle connection plate and the lower support plate arranged at the four corners of the lower middle connection plate, the flight control protection board 7 is fixed on the upper middle connection plate, the inner side of the upper support plate is provided with a duct through hole, and the outer side is fixed with a motor 10 and a propeller 9 Connected to the drive shaf...

Embodiment 2

[0102] Such as Figure 1-6 As shown, a foldable fixed-wing quadrotor compound unmanned aerial vehicle includes a double-layer machine arm 1, a wing 2, and a folding mechanism connecting the double-layer machine arm 1 and the wing 2 and is fixed on the double-layer machine arm 1 The flight control protection board 7 of the upper layer, the four corners of the flight control protection board 7 are equipped with shock-absorbing balls 71, and the motor 10 installed on the four corner edges of the upper layer of the double-layer machine arm 1, the motor 10 is equipped with a propeller 9, and is connected to the wing 2 The duct 5; the lower center of the double-layer machine arm 1 is the power module storage area; the propeller 9 and the duct 5 rotate during the quadrotor flight mode, the steering of the adjacent motors 10 is opposite, and the steering of the diagonal motors 10 is the same.

[0103] Such as Figure 6 As shown, in the quadrotor flight mode, the duct 5 fits with the ...

technical field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a foldable fixed-wing quadrotor composite unmanned aerial vehicle and a control method thereof. Background technique

[0002] The quadrotor UAV, which is common in the aviation field, generates thrust through the rotation of four propellers, which can solve the problem of vertical take-off and landing in a small space. At the same time, the different speeds of the four rotors can change the Euler angle of the aircraft and adjust the attitude of the aircraft. It has the advantage of sensitive attitude adjustment, but the flight speed is slow.

[0003] Fixed-wing aircraft, which are common in the aviation field, use the pressure difference generated by the Bernoulli principle on the upper and lower surfaces of the wing to provide lift for take-off. Use the amplitude of each wing to change the attitude of the aircraft. Its flight speed is fast, and its...

Examples

Embodiment 1

[0059] A foldable fixed-wing four-rotor composite unmanned aerial vehicle, comprising a double-layer machine arm 1, a wing 2, a fixed wing 4, a flight control protection plate 7, a propeller 9, and a motor 10, wherein the double-layer machine arm 1 includes And the upper floor X-shaped frame body 11 and the lower floor X-shaped frame body 12 that are aligned, the upper floor X-shaped frame body 11 includes the upper floor middle connecting plate and the upper floor support plate arranged at the four corners of the upper layer middle connecting plate, and the lower floor X-shaped frame body 12 includes The lower middle connection plate and the lower support plate arranged at the four corners of the lower middle connection plate, the flight control protection board 7 is fixed on the upper middle connection plate, the inner side of the upper support plate is provided with a duct through hole, and the outer side is fixed with a motor 10 and a propeller 9 Connected to the drive shaf...

Embodiment 2

[0102] Such as Figure 1-6 As shown, a foldable fixed-wing quadrotor compound unmanned aerial vehicle includes a double-layer machine arm 1, a wing 2, and a folding mechanism connecting the double-layer machine arm 1 and the wing 2 and is fixed on the double-layer machine arm 1 The flight control protection board 7 of the upper layer, the four corners of the flight control protection board 7 are equipped with shock-absorbing balls 71, and the motor 10 installed on the four corner edges of the upper layer of the double-layer machine arm 1, the motor 10 is equipped with a propeller 9, and is connected to the wing 2 The duct 5; the lower center of the double-layer machine arm 1 is the power module storage area; the propeller 9 and the duct 5 rotate during the quadrotor flight mode, the steering of the adjacent motors 10 is opposite, and the steering of the diagonal motors 10 is the same.

[0103] Such as Figure 6 As shown, in the quadrotor flight mode, the duct 5 fits with the ...

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