Folding-wing tail-seat UAV and its anti-wind disturbance control method

Abstract

The present invention provides a folding-wing tail-seat UAV and its anti-wind disturbance control method, wherein the UAV comprises an inner wing section, an outer wing section, a wing folding module, a belly folding module, a motor, a propeller, a wind field detection module, and an engine cockpit; through a variable wing design, the inner wing section and the outer wing section are connected by a wing folding module, and the inner wing section and the cabin cover are connected by a belly folding module. When there is wind interference, the outer wing section folds toward the inner wing section to reduce the force area of ​​the folding-wing tail-seat UAV; when the wind force reaches a certain value, the belly folding module is started, and the cabin cover flips upward along the body to reduce the windward area of ​​the inner wing section, thereby reducing the impact of wind disturbance on the UAV. The windward area is adjusted by monitoring the wind field and the attitude of the UAV, and the attitude control capability in a strong wind environment is enhanced by using vector control, thereby improving the attitude control accuracy of the tail-seat UAV during hovering and vertical take-off and landing.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a folding-wing tail-seat type unmanned aerial vehicle and an anti-wind disturbance control method thereof. Background Art

[0002] Vertical take-off and landing UAVs can take off and land vertically, do not require the support of airports and runways, and can take off and land at any location to perform tasks. They have wide application needs in many fields such as power inspection, environmental monitoring, logistics and transportation. However, the disadvantages of conventional helicopters are unsatisfactory flight time and range, especially the complex aerodynamic mechanism and control method, which lead to a high accident rate. Tilt-rotor aircraft have partially improved the inherent shortcomings of helicopters, but the lift and thrust of tilt-rotor aircraft are coupled during the vertical take-off to level flight stage, and often cannot meet the control needs, especially when there is external wind disturbance or performing tasks with relatively large disturbances, which often leads to accidents.

[0003] Tail-seat composite wing vertical take-off and landing fixed-wing UAV uses multiple suspended wings to provide lift and control torque during vertical take-off and landing, and switches to fixed-wing level flight mode under the push of fixed propellers. The operation method is simple, the problem of "dead weight" is eliminated, and the cruising efficiency is high. However, the windward area during the vertical take-off and landing and hovering stages is large, and the ability to resist wind disturbance is poor. Due to this shortcoming, it becomes very difficult to use tail-seat composite wing vertical take-off and landing fixed-wing UAV in an environment of level 5 wind or above. Summary of the invention

[0004] The purpose of the present invention is to improve the wind resistance performance of a tail-seat UAV. A variable wing design is proposed to reduce the windward area of ​​the outer and inner wing sections, thereby reducing the impact of wind disturbance on the UAV. By calculating the wind field intensity and interference force, an anti-wind disturbance control method is designed.

[0005] To achieve the above object, the present invention adopts the following specific technical solutions:

[0006] The folding-wing tail-seat UAV provided by the present invention comprises an inner wing section, an outer wing section, a wing folding module, a belly folding module, a motor, a propeller, a wind field detection module, and an engine cabin; both sides of the inner wing section are connected to the outer wing section through the wing folding modules respectively, and the wing folding module is used to drive the outer wing section to fold toward the inner wing section; the engine cabin is arranged at the leading edge of the wing tip of the outer wing section, the motor is installed on the engine cabin, and a propeller is installed at the output end of the motor, and the motor is used to drive the propeller to rotate The inner section of the wing is connected to the cabin cover through a belly folding module, and the belly folding module is used to drive the cabin cover to flip upward along the body of the folding-wing tail-seat UAV; the wind field detection module includes an X-axis anemometer, a Y-axis anemometer, and a Z-axis anemometer. The X-axis anemometer is installed on the upper wing surface of the inner section of the wing to monitor the wind speed of the X-axis of the body; the Y-axis anemometer is installed at the wingtip of the inner section of the wing to monitor the wind speed of the Y-axis of the body; the Z-axis anemometer is installed at the leading edge of the inner section of the wing to monitor the wind speed of the Z-axis of the body.

[0007] Preferably, the wing folding module includes a wing folding servo, a connecting rod mechanism, a servo base, an outer wing base and a connecting ear block; the servo base is installed at the left and right wing tips of the inner section of the wing, and the outer wing base is installed at the wing root of the outer section of the wing. The curved shape of the lower surface of the outer wing base is consistent with the outer shape of the wing skin, and the outer wing base is connected to the wing skin by riveting; the servo is fixed on the servo base, and the output end of the servo is rotatably connected to the connecting ear block through the connecting rod mechanism; the connecting ear block is fixed on the outer wing base; the wing folding servo drives the connecting rod mechanism to move, and the connecting rod mechanism drives the outer wing base to move, so that the outer section of the wing is folded toward the inner section of the wing, and the connecting rod mechanism includes a curved arm and a connecting rod.

[0008] Preferably, the belly folding module includes a belly folding servo, a flexible rack, a pull ring, a canopy shaft, and a cabin cover; the belly folding servo is fixedly connected to the inner section of the wing, and the flexible rack is tightly meshed with the gear on the belly folding servo; the flexible rack is connected to the pull ring; the pull ring is slidably connected to the cabin cover; the flexible rack is driven to move by the 360-degree rotation of the belly folding servo, and the pull ring converts the linear motion of the flexible rack into the rotational motion of the cabin cover along the canopy shaft, thereby opening the cabin cover of the inner section of the wing.

[0009] Preferably, inner ailerons for increasing the control torque are provided at the wingtip of the inner section of the wing, and outer ailerons are provided at the wingtip of the outer section of the wing. The inner ailerons are used as ailerons when the outer section of the wing is retracted; and the outer ailerons are used as flaps when the outer section of the wing is extended.

[0010] Preferably, the rotation axes of the propellers are parallel, and the rotation axes of the propellers are parallel to or form an equal angle with the chord line of the wing, and the angle is less than 30 degrees.

[0011] Preferably, the inner wing section includes a first inner wing section and a first outer wing section, the outer wing section includes a second inner wing section and a second outer wing section, the wing adopts a swept layout, and the two wings are arranged in parallel up and down; the sweep angles of the first inner wing section and the second inner wing section are equal and range between 5-70 degrees, the first inner wing section and the second inner wing section are independently set with an upward or downward dihedral angle, the upward or downward dihedral angle is less than 45 degrees, the first outer wing section and the second outer wing section are equal in chord length at the wingspan, and the distance between the first inner wing section and the second outer wing section is greater than 1 times the chord length to improve aerodynamic efficiency.

[0012] Preferably, the foldable tail-seat UAV also includes an inter-wing connection module, and the number of the inter-wing connection modules is two, wherein one end of one inter-wing connection module is connected to the left wing tip of the first wing inner section, and the other end is connected to the left wing tip of the second wing inner section, and one end of the other inter-wing connection module is connected to the right wing tip of the first wing inner section, and the other end is connected to the right wing tip of the second wing inner section.

[0013] Preferably, the motor is an integrated electric generator, an oil engine or an oil-electric hybrid motor. When an oil-electric hybrid motor is used, the oil engine of the oil-electric hybrid motor is selected to drive the propeller to generate level flight traction in level flight mode. The electric motor of the oil-electric hybrid motor is in a generating state. The propeller driven by the oil engine utilizes the relative flow to rotate in a headwind state to generate electricity and store it in a battery. The propeller rotation plane is perpendicular to the relative flow to ensure that the aerodynamic force of the propeller is uniform within a 360-degree rotation range.

[0014] The anti-wind disturbance control method of the folding-wing tail-seat UAV provided by the present invention comprises the following steps:

[0015] S1: Calculate wind field strength:

[0016] The X-axis anemometer, Y-axis anemometer and Z-axis anemometer are used to monitor the wind speed of the X-axis, Y-axis and Z-axis of the machine body and calculate the wind field intensity. The X-axis anemometer is used to detect the X-axis wind speed w x ,Y-axis anemometer is used to detect the Y-axis wind speed w y ,Z-axis anemometer is used to detect the Z-axis wind speed w z ;

[0017] According to the three-axis wind speed vector (w x ,0,0),(0,w y ,0),(0,0,w z ), the wind speed V is obtained by vector synthesis calculation wind :

[0018]

[0019] When V windWhen the wind speed reaches level 3, execute step S2; if the wind speed does not reach level 3, repeat step S1;

[0020] S2: Calculate the disturbance force based on the wind field strength:

[0021] Set the PWM value of the motor throttle when the motor is hovering to When the motor is disturbed by wind, the PWM value of the throttle is δ wind , the current roll angle, pitch angle, and yaw angle of the drone are (φ, θ, φ), respectively, then the force F caused by wind disturbance wing It is obtained by the following formula:

[0022]

[0023] S3: Determine whether to execute the wing folding module action or the belly folding module action according to the magnitude of the interference force; wherein,

[0024] When the folding-wing tail-seat UAV is disturbed by wind, the motor throttle is And θ>θ wind When , the wing folding module action is executed;

[0025] When the folding-wing tail-seat UAV is disturbed by wind, the motor throttle is And θ>1.2*θ wind When the belly folding module is executed;

[0026] K wind is the wind disturbance factor, θ wing is the wind disturbance threshold of the pitch angle.

[0027] Preferably, when the wing folding module is executed, the wing folding servo rotates, and then the curved arm pulls the connecting rod, and the connecting rod drives the outer wing base to move, so that the outer section of the wing folds toward the inner section of the wing. At this time, the windward area only has the area of ​​the inner section of the wing.

[0028] Preferably, when the belly folding module is executed, the belly folding servo rotates 360 degrees to drive the flexible rack to move, and the pull ring converts the linear motion of the flexible rack into the rotational motion of the cabin cover along the rotating shaft, thereby opening the cabin cover of the inner section of the wing and further reducing the windward area of ​​the inner section of the wing.

[0029] Compared with the prior art, the advantages and positive effects of the present invention are:

[0030] 1. In the present invention, when the foldable tail-seat UAV is disturbed by wind, the outer section of the wing can be folded toward the inner section to reduce the stress area of ​​the entire foldable tail-seat UAV; when the wind force increases further, the belly connection module of the inner section of the wing is opened to reduce the stress area of ​​the inner section of the wing, thereby reducing the degree of wind disturbance of the UAV again, and enhancing the resistance to wind disturbance based on the design of the above-mentioned variable wing.

[0031] 2. The anti-wind disturbance control method of the folding tail-seat UAV uses a wind field detection device to monitor the wind speed of the X-axis, Y-axis, and Z-axis of the fuselage, and calculates the wind field intensity to determine the size of the interference. The interference force is used to select whether to execute the wing folding module or the belly folding module, thereby improving the attitude control accuracy of the tail-seat UAV during hovering and vertical take-off and landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic structural diagram of a folding-wing tail-seat UAV provided according to an embodiment of the present invention.

[0033] Figure 2 The invention provides a schematic diagram of the flight of a folding-wing tail-seat UAV during vertical take-off and landing and hovering.

[0034] Figure 3 is a schematic structural diagram of a wing folding module provided according to an embodiment of the present invention.

[0035] Figure 4 It is a schematic diagram of the folded state of the wing folding module provided by an embodiment of the present invention.

[0036] Figure 5 It is a schematic structural diagram of a belly folding module provided according to an embodiment of the present invention.

[0037] Figure 6 It is a schematic diagram of the states when the wing folding module is folded and the belly folding module is opened according to an embodiment of the present invention.

[0038] Figure 7 Schematic diagram of the installation of a wind farm monitoring module provided according to an embodiment of the present invention.

[0039] Figure 8 The present invention provides a flowchart of an anti-wind disturbance control method for a folding-wing tail-seat UAV according to an embodiment of the present invention.

[0040] The reference numerals include: first wing inner section 1, first wing outer section 2, second wing inner section 3, second wing outer section 4, wing folding module 5, wing folding servo 501, curved arm 502, connecting rod 503, servo base 504, outer wing base 505, belly folding module 6, belly folding servo 601, flexible rack 602, pull ring 603, rotating shaft 604, cabin cover 605, motor 7, propeller 8, wind field detection module 9, X-axis anemometer 901, Y-axis anemometer 902, Z-axis anemometer 903, and inter-wing connection module 10. DETAILED DESCRIPTION

[0041] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same modules are represented by the same reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, the detailed description thereof will not be repeated.

[0042] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0043] Figure 1 The structure of a folding-wing tail-seat UAV provided according to an embodiment of the present invention is shown.

[0044] like Figure 1 As shown, it includes an inner section of the wing, an outer section of the wing, a wing folding module 5, a belly folding module 6, a motor 7, a propeller 8, a wind field detection module 9, an engine cabin, and an inter-wing connection module 10;

[0045] Both sides of the inner section of the wing are connected to the outer section of the wing through the wing folding module 5 respectively. The wing folding module 5 is used to drive the outer section of the wing to fold toward the inner section of the wing, so as to reduce the windward area of ​​the folding-wing tail-seat UAV;

[0046] The engine cabin is arranged at the leading edge of the wing tip of the outer section of the wing, the motor 7 is installed on the engine cabin, and the propeller 8 is installed at the output end of the motor 7, and the motor 7 is used to drive the propeller 8 to rotate;

[0047] The inner section of the wing is connected to the cabin cover through the belly folding module 6, and the belly folding module 6 is used to drive the cabin cover to flip upward along the folding wing tail-seat UAV body to reduce the windward area of ​​the inner section of the wing;

[0048] The wing tip of the inner section of the wing is provided with an inner section aileron for increasing the control torque, and the wing tip of the outer section of the wing is provided with an outer section aileron. The inner section aileron is used as aileron when the outer section of the wing is retracted; the outer section aileron is used as a flap when the outer section of the wing is extended.

[0049] The motor 7 is an electric generator, an oil engine or an oil-electric hybrid motor. When the oil-electric hybrid motor is used, the oil engine of the oil-electric hybrid motor is selected to drive the propeller 8 to generate level flight traction in the level flight mode. The electric motor of the oil-electric hybrid motor is in a power generation state. The propeller 8 driven by the oil engine uses the relative flow to rotate in the windward state to generate electricity and store it in the battery. The rotation plane of the propeller 8 is perpendicular to the relative flow to ensure that the aerodynamic force of the propeller 8 is uniform within the 360-degree rotation range.

[0050] The rotation axes of the propellers 8 are parallel to each other, and the rotation axes of the propellers 8 are parallel to or form an equal angle with the chord line of the wing, and the angle is less than 30 degrees.

[0051] It also includes an inter-wing connection module 10, and the number of the inter-wing connection modules 10 is two, wherein one end of one inter-wing connection module 10 is connected to the left wing tip of the first wing inner section 1, and the other end is connected to the left wing tip of the second wing inner section 3, and one end of the other inter-wing connection module 10 is connected to the right wing tip of the first wing inner section, and the other end is connected to the right wing tip of the second wing inner section 3.

[0052] The folding-wing tail-seat UAV may have a single-layer wing structure or a double-layer wing structure, and the present invention is described by taking a double-layer wing as an example.

[0053] Both sides of the first wing inner section 1 are connected to the first wing outer section 2 through the first wing folding module, and both sides of the second wing inner section 3 are connected to the second wing outer section 4 through the second wing folding module. The wings adopt a swept layout, and the two wings are arranged in parallel up and down; the sweep angles of the first wing inner section 1 and the second wing inner section 3 are equal and range between 5-70 degrees, the first wing inner section 1 and the second wing inner section 3 are independently set with an upward or downward dihedral angle, and the upward or downward dihedral angle is less than 45 degrees, the first wing outer section 2 and the second wing outer section 4 are equal in chord length at the wingspan, and the distance between the first wing inner section 1 and the second wing outer section 4 is greater than 1 times the chord length to improve aerodynamic efficiency.

[0054] Figure 2 A schematic diagram of the flight of a folding-wing tail-seat UAV during vertical take-off and landing and hovering provided by an embodiment of the present invention is shown.

[0055] like Figure 2 As shown in the figure, the folding-wing tail-seat UAV has a larger windward area, and the attitude control accuracy is greatly affected by wind disturbance.

[0056] Figure 3 The structure of a wing folding module provided according to an embodiment of the present invention is shown.

[0057] like Figure 3 As shown, the wing folding module 5 includes a wing folding servo 501, a connecting rod mechanism, a servo base 504, an outer wing base 505 and a connecting ear block; the servo base 504 is installed at the left wing tip and the right wing tip of the first wing inner section 1 and the second wing inner section 3, the outer wing base 505 is installed at the wing root of the wing outer section, the lower surface curved shape of the outer wing base 505 is consistent with the wing skin shape, and the outer wing base 505 is connected to the wing skin by riveting; the servo 501 is fixed on the servo base 504, and the output end of the servo 501 is rotatably connected to the connecting ear block through the connecting rod mechanism; the connecting ear block is fixed on the outer wing base 505; the wing folding servo 501 drives the connecting rod mechanism to move, and the connecting rod mechanism drives the outer wing base 505 to move, so that the wing outer section is folded toward the wing inner section, and the connecting rod mechanism includes a crank arm 502 and a connecting rod 503.

[0058] Figure 4 A schematic diagram showing the folded state of the wing folding module 5 provided according to an embodiment of the present invention is shown.

[0059] like Figure 4 As shown, when the wing folding module 5 is folded, the first wing outer section 2 is folded toward the first wing inner section 1, so that the first wing outer section 2 is at a 90-degree angle with the first wing inner section 1. The second wing outer section 4 is folded toward the second wing inner section 3, so that the second wing outer section 4 is at a 90-degree angle with the second wing inner section 3. The double-layer wing outer sections fold in opposite directions.

[0060] Figure 5 A schematic structural diagram of a belly folding module provided according to an embodiment of the present invention is shown.

[0061] like Figure 5 As shown, the belly folding module 6 includes a belly folding servo 601 , a flexible rack 602 , a pull ring 603 , a cover shaft 604 , and a cabin cover 605 .

[0062] The belly folding servo 601 is fixedly connected to the first wing inner section 1 and the second wing inner section 3, the flexible rack 602 is tightly meshed with the gear on the belly folding servo 601, and the flexible rack 602 is connected to the pull ring 603; the pull ring 603 is slidably connected to the cabin cover 605; the flexible rack 602 is driven to move by the belly folding servo 601 rotating 360 degrees, and the pull ring 603 converts the linear motion of the flexible rack 602 into the rotational motion of the cabin cover 605 along the cover drawer 604, thereby opening the cabin cover of the inner wing section.

[0063] Figure 6 A schematic diagram showing the states of a wing folding module when folded and a belly folding module when opening a cabin cover according to an embodiment of the present invention is shown.

[0064] like Figure 6 As shown, when the belly folding module is in operation, the cabin cover rotates 90 degrees along the Y-axis of the fuselage, thereby reducing the frontal area of ​​the first wing inner section 1 and the second wing inner section 3; the wing outer section folds 90 degrees toward the wing inner section, thereby eliminating the frontal area of ​​the wing outer section and leaving only the wing inner section.

[0065] Figure 7 A schematic diagram of installing a wind farm monitoring module provided according to an embodiment of the present invention is shown.

[0066] like Figure 7As shown, the wind field detection module 9 includes an X-axis anemometer 901, a Y-axis anemometer 902, and a Z-axis anemometer 903. The X-axis anemometer 901 is installed on the upper wing surfaces of the first wing and the second wing inner section 3, and is used to monitor the wind speed of the X-axis of the fuselage; the Y-axis anemometer 902 is installed at the wing tips of the first wing inner section 1 and the second wing inner section 3, and is used to monitor the wind speed of the Y-axis of the fuselage; the Z-axis anemometer 903 is installed at the leading edge of the first wing inner section 1 and the second wing, and is used to monitor the wind speed of the Z-axis of the fuselage.

[0067] The above content describes in detail the structure of the folding-wing tail-seat UAV provided by the present invention. Corresponding to the folding-wing tail-seat UAV, the present invention also provides an anti-wind disturbance control method for the folding-wing tail-seat UAV.

[0068] Figure 8 A schematic flow chart of a method for controlling wind disturbances of a folding-wing tail-seat UAV according to an embodiment of the present invention is shown.

[0069] like Figure 8 As shown, the anti-wind disturbance control method of the folding-wing tail-seat UAV provided in the embodiment of the present invention includes the following steps:

[0070] S1: Calculate wind field strength.

[0071] The X-axis anemometer 901, the Y-axis anemometer 902 and the Z-axis anemometer 903 are used to monitor the wind speed of the X-axis, Y-axis and Z-axis of the machine body and calculate the wind field intensity. The X-axis anemometer 901 is used to detect the X-axis wind speed w x , the Y-axis anemometer 902 is used to detect the Y-axis wind speed w y , Z-axis anemometer 903 is used to detect the Z-axis wind speed w z ;

[0072] According to the three-axis wind speed vector (w x ,0,0),(0,w y ,0),(0,0,w z ), the wind speed V is obtained by vector synthesis calculation wind :

[0073]

[0074] When V wind When the wind speed reaches level 3, execute S2. If the wind speed does not reach level 3, repeat S1.

[0075] S2: Calculate the disturbance force based on the wind field strength.

[0076] When the tail-seat UAV is disturbed by wind, serious interference occurs in the pitch channel and yaw channel. The yaw channel can generally be balanced by aileron differential.

[0077] Set the PWM value of the motor throttle when the motor is hovering to When the motor is disturbed by wind, the PWM value of the throttle is δ wind , the current roll angle, pitch angle, and yaw angle of the drone are (φ, θ, φ), respectively, then the force F caused by wind disturbance wind It is obtained by the following formula:

[0078]

[0079] The disturbance force caused by wind disturbance needs to be offset by the component of motor pulling force T.

[0080] F wind =Tsin(θ)

[0081] S3: Determine whether to execute the action of the wing folding module 5 or the action of the belly folding module 6 according to the magnitude of the interference force; wherein,

[0082] Therefore, when the motor is disturbed by wind, the throttle wind Greater than the throttle during hovering When the folding-wing tail-seat UAV is disturbed by wind, the motor throttle is And θ>θ wind When the wind disturbance is considered to have caused a significant adverse effect on the attitude of the UAV, the wing folding module 5 is executed, and the wings are folded and recovered.

[0083] When the folding-wing tail-seat UAV is disturbed by wind, the motor throttle is And θ>1.2*θ wind When the wind disturbance is considered to have caused extremely serious adverse effects on the posture of the UAV, the belly folding module 6 is executed, and the cabin covers of the first wing inner section 1 and the second wing inner section 3 are opened.

[0084] K wind is the wind disturbance factor, θ wing is the wind disturbance threshold of the pitch angle.

[0085] When the wing folding module 5 is executed, the wing folding servo 501 drives the connecting rod mechanism to move, and the connecting rod mechanism includes a crank arm 502 and a connecting rod 503. The connecting rod mechanism drives the outer wing base 505 to move. At this time, the windward area only has the area of ​​the first wing inner section 1, and the motor pitch lever arm is further increased, thereby enhancing the control ability of the pitch channel. The first wing outer section 2 is folded 90 degrees in the direction of the first wing inner section 1, and the second wing outer section 4 is folded 90 degrees in the direction of the second wing inner section 3. At this time, the windward area only has the area of ​​the first wing inner section 1 and the second wing inner section 3, which reduces the force area of ​​the drone and thus reduces wind resistance. The motor pitch lever arm is further increased, thereby enhancing the control ability of the pitch channel.

[0086] When executing belly folding module action 6, the belly folding servo 601 rotates 360 degrees to drive the flexible rack 602 to move, and the pull ring 603 converts the linear motion of the flexible rack 602 into the rotational motion of the cabin cover 605 along the rotating shaft 604, opening the upper wing surface cabin cover of the first wing inner section 1 and the upper wing surface cabin cover of the second wing inner section 3, thereby further reducing the frontal area of ​​the first wing inner section 1 and the second wing inner section 3.

[0087] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0088] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0089] The above specific implementations of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A folding-wing tail-seat UAV, characterized in that: It includes an inner section of the wing, an outer section of the wing, a wing folding module (5), a belly folding module (6), a motor (7), a propeller (8), a wind field detection module (9), and an engine cabin; Both sides of the inner wing section are connected to the outer wing section via the wing folding module (5), respectively, and the wing folding module (5) is used to drive the outer wing section to fold toward the inner wing section, so as to reduce the windward area of ​​the folding-wing tail-seat UAV; The engine cabin is arranged at the leading edge of the wing tip of the outer section of the wing, the motor (7) is mounted on the engine cabin, the propeller (8) is mounted at the output end of the motor (7), and the motor (7) is used to drive the propeller (8) to rotate; The inner section of the wing is connected to a cabin cover via the belly folding module (6), and the belly folding module (6) is used to drive the cabin cover to flip upward along the inner section of the wing, so as to reduce the windward area of ​​the inner section of the wing; The wind field detection module (9) comprises an X-axis anemometer, a Y-axis anemometer, and a Z-axis anemometer; the X-axis anemometer is installed at the upper wing surface of the inner wing section, and is used to monitor the wind speed of the X-axis of the fuselage; the Y-axis anemometer is installed at the wing tip of the inner wing section, and is used to monitor the wind speed of the Y-axis of the fuselage; the Z-axis anemometer is installed at the leading edge of the inner wing section, and is used to monitor the wind speed of the Z-axis of the fuselage.

2. The folding-wing tail-seat UAV according to claim 1, characterized in that: The wing folding module (5) comprises a wing folding steering gear (501), a connecting rod mechanism, a steering gear base (504), an outer wing base (505) and a connecting lug block; The servo base (504) is installed at the left and right wing tips of the inner section of the wing, and the outer wing base (505) is installed at the wing root of the outer section of the wing. The curved surface shape of the lower surface of the outer wing base (505) is consistent with the outer shape of the wing skin. The outer wing base (505) is connected to the wing skin by riveting. The wing folding servo (501) is fixed on the servo base (504). The output end of the wing folding servo (501) is rotatably connected to the connecting ear block through the connecting rod mechanism. The connecting ear block is fixed on the outer wing base (505). The wing folding servo (501) drives the connecting rod mechanism to move, and the connecting rod mechanism drives the outer wing base (505) to move, so that the outer section of the wing is folded toward the inner section of the wing. The connecting rod mechanism includes a crank arm (502) and a connecting rod (503).

3. The folding-wing tail-seat UAV according to claim 2, characterized in that: The belly folding module (6) comprises a belly folding steering gear (601), a flexible rack (602), a pull ring (603), a cover rotating shaft (604), and a cabin cover (606); The belly folding servo (601) is fixedly connected to the inner section of the wing; the flexible rack (602) is tightly meshed with the gear on the belly folding servo (601); the flexible rack (602) is connected to the pull ring (603); the pull ring (603) is slidably connected to the cabin cover (606); the flexible rack (602) is driven to move by the rotation of the belly folding servo (601), and the pull ring (603) converts the linear motion of the flexible rack (602) into the rotational motion of the cabin cover (606) along the cover rotation shaft (604), thereby opening the cabin cover of the inner section of the wing.

4. The folding-wing tail-seat UAV according to claim 2 or 3, characterized in that: An inner aileron for increasing the control torque is arranged at the wing tip of the inner section of the wing, and an outer aileron is arranged at the wing tip of the outer section of the wing. The inner aileron is used as an aileron when the outer section of the wing is retracted; and the outer aileron is used as a flap when the outer section of the wing is extended.

5. The folding-wing tail-seat UAV according to claim 2 or 3, characterized in that: The rotation axes of the propellers (8) are parallel to each other, and the rotation axes of the propellers (8) are parallel to or form an equal angle with the chord line of the wing, and the angle is less than 30 degrees.

6. The folding-wing tail-seat UAV according to claim 2 or 3, characterized in that: The inner wing section comprises a first inner wing section (1) and a second inner wing section (3), and the outer wing section comprises a first outer wing section (2) and a second outer wing section (4). Both sides of the first inner wing section (1) are connected to the first outer wing section (2) via a first wing folding module, and both sides of the second inner wing section (3) are connected to the second outer wing section (4) via a second wing folding module. The wings are arranged in a swept layout, and the two wings are arranged in parallel up and down. The swept angles of the first inner wing section (1) and the second inner wing section (3) are equal and range between 5 and 70 degrees. The first inner wing section (1) and the second inner wing section (3) are independently provided with an anhedral angle or a dihedral angle, and the anhedral angle or the dihedral angle is less than 45 degrees. The first outer wing section (2) and the second outer wing section (4) have equal chord lengths at equal wingspans, and the distance between the first inner wing section (1) and the second outer wing section (4) is greater than 1 times the chord length to improve aerodynamic efficiency.

7. The folding-wing tail-seat UAV according to claim 6, characterized in that: It also includes an inter-wing connection module (10), wherein the number of the inter-wing connection modules (10) is two, one end of one of the inter-wing connection modules (10) is connected to the left wing tip of the first wing inner section (1), and the other end is connected to the left wing tip of the second wing inner section (3), and the other end of the inter-wing connection module (10) is connected to the right wing tip of the first wing inner section, and the other end is connected to the right wing tip of the second wing inner section (3).

8. The folding-wing tail-seat UAV according to claim 2 or 3, characterized in that: The motor (7) is an electric generator, an oil engine or an oil-electric hybrid motor. When the oil-electric hybrid motor is used, in the level flight mode, the oil engine of the oil-electric hybrid motor is selected to drive the propeller (8) to generate level flight thrust. The electric motor of the oil-electric hybrid motor is in a power generation state. The propeller (8) driven by the oil engine rotates in a windward state using the relative incoming flow to generate electricity and stores it in a battery. The rotation plane of the propeller (8) is perpendicular to the relative incoming flow to ensure that the aerodynamic force of the propeller (8) is uniform within a 360-degree rotation range.

9. A wind disturbance control method for a folding-wing tail-seat UAV, used to control the folding-wing tail-seat UAV according to claim 3, characterized in that: The steps include: S1: Calculate wind field strength: The X-axis anemometer (901), the Y-axis anemometer (902) and the Z-axis anemometer (903) are used to monitor the wind speed of the X-axis, Y-axis and Z-axis of the machine body and calculate the wind field intensity. The X-axis anemometer (901) is used to detect the X-axis wind speed. The Y-axis anemometer (902) is used to detect the Y-axis wind speed The Z-axis anemometer (903) is used to detect the Z-axis wind speed ; According to the three-axis wind speed vector , the wind speed in the wind field is calculated by vector synthesis : ； when When the wind speed reaches level 3, execute S2. If the wind speed does not reach level 3, repeat S1. S2: Calculate the disturbance force based on the wind field strength: Set the PWM value of the motor throttle when the motor is hovering to , the PWM value of the motor throttle when affected by wind is , the current UAV's roll angle, pitch angle, and yaw angle are , then the force caused by wind disturbance is It is obtained by the following formula: ； S3: judging, according to the magnitude of the interference force, whether to execute the action of the wing folding module (5) or the action of the belly folding module (6); wherein: When the folding-wing tail-seat UAV is disturbed by wind, the motor throttle is and When the wing folding module (5) is in operation, When the folding-wing tail-seat UAV is disturbed by wind, the motor throttle is and When the belly folding module (6) is activated; is the wind disturbance factor, is the wind disturbance threshold of the pitch angle.

10. The anti-wind disturbance control method for a folding-wing tail-seat UAV according to claim 9, characterized in that: When the wing folding module (5) is in operation, the wing folding servo (501) rotates to drive the crank arm (502) to rotate, the crank arm (502) drives the connecting rod (503) to rotate, and the connecting rod (503) drives the outer wing base (505) to move, thereby causing the outer section of the wing to fold toward the inner section of the wing. At this time, the windward area only has the area of ​​the inner section of the wing.

11. The anti-wind disturbance control method for a folding-wing tail-seat UAV according to claim 9 is characterized in that: When the belly folding module (6) is in operation, the belly folding servo (601) rotates to drive the flexible rack (602) to move, and the pull ring (603) converts the linear motion of the flexible rack (602) into the rotational motion of the cabin cover (606) along the rotating shaft (604), thereby opening the cabin cover of the inner section of the wing, further reducing the frontal area of ​​the inner section of the wing.

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