A high-lift unmanned aerial vehicle and an adaptive control method thereof

Abstract

The present application relates to the technical field of unmanned aerial vehicle, especially relates to a high-lift unmanned aerial vehicle and an adaptive control method thereof, unmanned aerial vehicle, including fixed-wing aircraft system, attitude measurement unit, adaptive flight control system, photoelectric composite cable and ground anchoring system, the attitude measurement unit, adaptive flight control system are arranged in the fixed-wing aircraft system, the fixed-wing aircraft system is connected with the ground anchoring system through the photoelectric composite cable, the present application can make the tethered unmanned aerial vehicle have the characteristics of wind condition adaptation, high lift and strong wind resistance, especially in the complex wind condition environment of variable wind direction and large wind speed, greatly expand the application range of unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and particularly relates to a high-lift unmanned aerial vehicle and an adaptive control method thereof. BACKGROUND

[0002] The tethered unmanned aerial vehicle is an unmanned aerial vehicle capable of long-time hovering operation, and its power supply is on the ground and connected with the unmanned aerial vehicle through an optical-electric composite cable to provide power, so that the unmanned aerial vehicle is not limited by power.

[0003] The unmanned aerial vehicle is released with strict wind speed requirements, but sometimes the task is urgent and the situation of excessive wind speed has to be faced (such as high mountain high altitude operation, ocean island operation, etc.), so the unmanned aerial vehicle is required to have enough lift to take off in a complex wind environment, and to maintain a stable attitude and continue operation.

[0004] The current unmanned aerial vehicle can resist crosswind by adjusting the fan blade deflection, but the wind resistance is still limited, and can only reach level 6. Especially in the face of complex wind conditions or changing wind direction environment, the unmanned aerial vehicle may not be able to take off due to insufficient lift; even if it takes off, it is easy to occur side tilt or be overturned by the wind, and cannot maintain a stable attitude, causing damage to the body.

[0005] Therefore, it is urgent to provide a high-lift unmanned aerial vehicle and an adaptive control method to solve the above problems. SUMMARY

[0006] The technical problem solved by the present application: the existing tethered unmanned aerial vehicle often cannot take off or maintain a stable attitude in the face of strong wind and complex wind conditions, which delays the task progress, so for the problem of taking off and hovering in the air of the tethered unmanned aerial vehicle in the strong wind environment, a high-lift unmanned aerial vehicle and an adaptive control method are proposed, which can make the tethered unmanned aerial vehicle have the characteristics of wind condition adaptation, high lift and strong wind resistance, especially in the complex wind environment with changing wind direction and large wind speed, greatly expanding the application range of the unmanned aerial vehicle.

[0007] The technical scheme of the present application:

[0008] A high-lift unmanned aerial vehicle, comprising a fixed-wing aircraft system, an attitude measurement unit, an adaptive flight control system, an optical-electric composite cable and a ground anchoring system, the attitude measurement unit and the adaptive flight control system are arranged in the fixed-wing aircraft system, and the fixed-wing aircraft system is connected with the ground anchoring system through the optical-electric composite cable.

[0009] Furthermore, the fixed-wing aircraft system includes a fuselage, canard, aft wing, tail boom, vertical tail, landing gear, motors, ducted fan, and vectoring fan; the fuselage and vertical tail are connected by the tail boom; the canard is arranged on both sides of the upper surface of the fuselage, and the aft wing is arranged on both sides of the middle of the fuselage, with the aft wing located diagonally below and behind the canard, i.e., the canard and aft wings are arranged in a tandem configuration; the landing gear is arranged at the bottom of the fuselage, the ducted fan is embedded in the canard, and the vectoring fan is arranged at the tail of the UAV; both the ducted fan and the vectoring fan are driven to rotate by motors, which are arranged inside the fuselage, and the motors output torque to the shaft, driving the blades of the ducted fan and the vectoring fan to rotate.

[0010] Furthermore, one end of the fixed-wing aircraft system is rotatably connected to the optoelectronic composite cable via a universal joint, and the other end of the optoelectronic composite cable is connected to the automatic cable retraction device in the ground mooring system.

[0011] Furthermore, the ground mooring system includes: a power distribution device, an automatic cable reeling and releasing device, a winch mooring device, a control console, and a cable tension sensor;

[0012] The power distribution unit is connected to the automatic cable reel-in / deel-out device, winch mooring device, control console, and cable tension sensor, providing power to these devices. Simultaneously, the power distribution unit is connected to the adaptive flight control system and fixed-wing aircraft system via an optoelectronic composite cable, providing power to both systems.

[0013] The control console is connected to the automatic cable reel and release device and the winch mooring device to control the automatic cable reel and release device and the winch mooring device to automatically perform cable reel and release operations;

[0014] The output of the cable tension sensor is connected to the input of the adaptive flight control system via a photoelectric composite cable to monitor the tension of the photoelectric composite cable.

[0015] Furthermore, the power distribution device, automatic cable reeling and releasing device, winch mooring device, and control console are all located on a ground platform.

[0016] Furthermore, the attitude measurement unit includes an attitude sensor, a wind speed sensor, a magnetic sensor, a barometric pressure sensor, and an inertial sensor. The attitude sensor, wind speed sensor, barometric pressure sensor, and inertial sensor are all electrically connected to the input terminal of the adaptive flight control system.

[0017] Further, the adaptive flight control system mainly comprises a solving processor, a control module and an operation module, the solving processor is connected with an attitude sensor, a wind speed sensor, a magnetic sensor, an air pressure sensor and an inertial sensor, the attitude sensor, the wind speed sensor, the magnetic sensor, the air pressure sensor and the inertial sensor input the real-time measured flight state data to the solving processor, the solving processor is connected with the control module, the control module is connected with a control console through an optical and electrical composite cable, the control module is connected with the operation module, the operation module is connected with a motor in the fixed-wing aircraft system, the motor is driven through the operation module, the motor drives the ducted fan and the vector fan blade to rotate or reverse, or drives the vector fan to deflect.

[0018] An adaptive control method of a high-lift unmanned aerial vehicle, an attitude measurement unit inputs real-time measured flight attitude data to a solving processor in an adaptive flight control system, and compares the real-time measured flight attitude data with a set attitude data threshold and a set wind speed threshold, judges whether the real-time measured flight attitude data and the wind speed reach the set threshold, and issues an instruction to a control module or a control console according to the judgment result, the control module controls the rotation speed and the steering direction of the ducted fan and the vector fan, and drives the deflection angle of the vector fan; or the control console controls a winch mooring device and a cable automatic retraction device to retract or release the cable.

[0019] Further, in an ideal environment with simple wind conditions, the flight attitude data and the wind speed monitored by the solving processor in real time are within the designed threshold range, and the unmanned aerial vehicle can maintain a balanced state only by relying on the high lift provided by the tandem wing;

[0020] In a slight wind environment with slightly complex wind conditions, when the solving processor judges that the real-time measured flight attitude data is less than the designed attitude data threshold, or the real-time measured wind speed data is less than the designed wind speed threshold, or both the real-time measured flight attitude data and the real-time measured wind speed data are less than the designed attitude data threshold and the designed wind speed threshold; it indicates that the unmanned aerial vehicle is slightly unbalanced or has insufficient lift, at this time the solving processor issues an instruction to the control module according to the judgment result, the control module controls the motor to drive the ducted fan and the vector fan to start, the solving processor adaptively controls and adjusts the rotation speed and the rotation direction of the ducted fan, and the rotation speed and the deflection angle of the vector fan; at this time, the cable is still in a relaxed state, relying on the adaptive force generated by the ducted fan and the vector fan to resist the wind resistance brought by the slight wind, to maintain the stability of the flight attitude; at the same time, the attitude measurement unit continuously monitors the flight attitude data of the unmanned aerial vehicle;

[0021] In the strong wind environment, the solving processor judges that the real-time measured flight attitude data is greater than the designed attitude data threshold, or the real-time measured wind speed data is greater than the designed wind speed threshold, or the real-time measured flight attitude data is greater than the designed attitude data threshold and the real-time measured wind speed data is greater than the designed wind speed threshold; it shows that the unmanned aerial vehicle has signs of imbalance or excessive lift, at this time the solving processor issues an instruction to the control module according to the judgment result, the control module controls the motor to drive the ducted fan and the vector fan to start, and the solving processor adaptively controls and adjusts the rotating speed and rotating direction of the ducted fan and the rotating speed and deflection angle of the vector fan; the unmanned aerial vehicle relies on the ducted fan and the vector fan to provide sufficient upward torque to make the aircraft in a positive angle of attack attitude, at this time, the photoelectric composite cable is always kept tight to provide tension to the aircraft; the high lift generated by the tandem wing, the upward torque generated by the vector fan and the ducted fan combined make the unmanned aerial vehicle ascend at a certain angle of attack, at this time, rely on the strong tension of the photoelectric composite cable to offset the excess lift in the vertical direction and the wind resistance in the horizontal direction, thereby comprehensively guaranteeing the stable attitude in the strong wind environment; at the same time, the attitude measurement unit continuously monitors the flight attitude data of the unmanned aerial vehicle; the cable tension sensor continuously monitors the cable tension.

[0022] When the real-time measured flight attitude data has a trend of exceeding the designed attitude data threshold, or the real-time measured wind speed data has a trend of exceeding the designed wind speed threshold, or the maximum rotating speed of the motor for driving the vector fan and the ducted fan, it shows that the unmanned aerial vehicle will exceed the designed use range, and the control console issues an instruction through the photoelectric composite cable to control the winch mooring device and the cable automatic winding and unwinding device to wind and unwind the cable, automatically adjust the hovering height of the aircraft, and enhance the tension of the photoelectric composite cable on the unmanned aerial vehicle, at the same time, the cable tension sensor continuously monitors the cable tension; the attitude measurement unit continuously monitors the flight attitude data of the unmanned aerial vehicle.

[0023] The beneficial effects of the present application are:

[0024] 1. For the mooring type unmanned aerial vehicle operating in the strong wind complex environment, the special case of large angle of attack often occurs, the large slenderness ratio fuselage and the tandem wing aerodynamic layout can provide more sufficient lift for the mooring type unmanned aerial vehicle and improve the wind resistance.

[0025] 2. Based on the adaptive flight control method of this invention, wind resistance is resisted in light wind conditions by intelligently adjusting the fan speed and vector fan orientation; in strong wind conditions, the torque balance between the tandem wings, fans, and optoelectronic composite cables is adjusted, and the tension of the optoelectronic composite cables is used to offset the excess lift in the vertical direction and the wind resistance in the horizontal direction of the UAV, thus comprehensively ensuring attitude stability. This enables the UAV to achieve a maximum wind resistance of level 9, further expanding its application range. At the same time, it has the ability to carry lightweight communication equipment, optoelectronic sensors, and small radar to perform various combat missions such as persistent relay communication and circumferential situational awareness. The planned maximum tethered altitude is 300m, and the continuous loiter time is not less than 8 hours.

[0026] 3. The drone and the automatic cable retraction device work together to intelligently adjust the drone's hovering altitude and cable tension, further enhancing the drone's stability and safety. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of a high-lift unmanned aerial vehicle provided by the present invention.

[0028] Figure 2 This is a top view of the fixed-wing aircraft system in this invention.

[0029] Figure 3 This is a left view of the fixed-wing aircraft system in this invention.

[0030] Figure 4 This is a front view of the fixed-wing aircraft system in this invention.

[0031] Figure 5 This is a block diagram of the adaptive control method in this invention.

[0032] Explanation of reference numerals in the attached diagram: 1. Fixed-wing aircraft system; 2. Electro-optical composite cable; 3. Ground mooring system; 11. Fuselage; 12. Canard; 13. Rear wing; 14. Tail boom; 15. Vertical tail; 16. Landing gear; 17. Ducted fan; 18. Vectoring fan. Detailed Implementation

[0033] The following description, with reference to the accompanying drawings, further details the specific embodiments of the present invention, including the shape and structure of each component, the relative positions and connections between the parts, the function and working principle of each part, the manufacturing process, and the operation and use methods. This is to help those skilled in the art to have a more complete, accurate, and in-depth understanding of the concept and technical solution of the present invention.

[0034] A high-lift unmanned aerial vehicle, a fixed-wing aircraft system 1, a posture measurement unit, an adaptive flight control system, an optical-electric composite cable 2, and a ground anchoring system 3; the posture measurement unit and the adaptive flight control system are arranged in the fixed-wing aircraft system 1, and the optical-electric composite cable 2 connects the fixed-wing aircraft system 1 and a cable automatic winding and unwinding device in the ground anchoring device 3 through a universal joint.

[0035] The fixed-wing aircraft system comprises a fuselage 11, a front wing 12, a rear wing 13, a tail rod 14, a vertical tail 15, a landing gear 16, a motor, a ducted fan 17, and a vector fan 18; the fuselage 11 is connected to the vertical tail 15 through the tail rod 14; the front wing 12 is arranged on both sides of the upper surface of the fuselage 11, and the rear wing 13 is arranged on both sides of the middle part of the fuselage 11, and the rear wing 13 is located obliquely behind and below the front wing 12, that is, the front wing 12 and the rear wing 13 are arranged in a tandem wing manner; the landing gear 16 is arranged at the bottom of the fuselage 11, the ducted fan 17 is embedded in the front wing 12, and the vector fan 18 is arranged at the tail of the unmanned aerial vehicle; the ducted fan 17 and the vector fan 18 are driven to rotate by the motor, the motor is arranged in the fuselage 11, the motor outputs torque to a rotating shaft, and drives the fan blades of the ducted fan 17 and the vector fan 18 to rotate.

[0036] In this embodiment, according to the wind condition environment, the load capacity, and the fan power of the unmanned aerial vehicle, it is determined that the ducted fan 17 is two and the vector fan 18 is two.

[0037] In this embodiment, a large aspect ratio fuselage 11 and a tandem wing are adopted in the aerodynamic configuration of the aircraft, that is, the front wing 12 is arranged above and the rear wing 13 is arranged below, under the premise of having stability in all directions, the aerodynamic layout has better lift characteristics and higher lift-drag ratio at large angles of attack, and is particularly suitable for the scene of the tethered unmanned aerial vehicle operating in a strong wind environment.

[0038] In this embodiment, an optical-electric composite cable 2 with tensile load resistance is adopted to connect the fixed-wing aircraft system 1 and the cable automatic winding and unwinding device in the ground anchoring device 3 through a universal joint; the optical-electric composite cable 2 contains power lines, which can provide power support from ground facilities to the unmanned aerial vehicle, realize data transmission between the ground platform and the unmanned aerial vehicle, and simultaneously have the function of wind resistance and pulling operation.

[0039] In this embodiment, the power distribution device, the cable automatic winding and unwinding device, the winch tethering device, and the control console are all arranged on the ground platform. The ground anchoring system comprises a power distribution device, a cable automatic winding and unwinding device, a winch tethering device, a control console, and a cable tension sensor.

[0040] The power distribution device is connected with the cable automatic retraction device, the winch mooring device, the control console and the cable tension sensor, and provides power for the cable automatic retraction device, the winch mooring device, the control console and the cable tension sensor; meanwhile, the power distribution device is connected with the adaptive flight control system and the fixed-wing aircraft system through the photoelectric composite cable 2, and provides power for the adaptive flight control system and the fixed-wing aircraft system.

[0041] The control console is connected with the cable automatic retraction device and the winch mooring device, and controls the cable automatic retraction device and the winch mooring device to automatically retract and release the cable.

[0042] The output end of the cable tension sensor is connected with the input end of the adaptive flight control system through the photoelectric composite cable 2, and is used for monitoring the tension of the photoelectric composite cable.

[0043] In the embodiment, the attitude measurement unit includes an attitude sensor, a wind speed sensor, a magnetic sensor, an air pressure sensor and an inertial sensor, and the attitude sensor, the wind speed sensor, the air pressure sensor and the inertial sensor are electrically connected with the input end of the adaptive flight control system. The magnetic sensor determines the precision and dimension of the aircraft, and does not need to be connected with the adaptive flight control system. The air pressure sensor measures the height of the unmanned aerial vehicle. The wind speed sensor measures the wind speed. The attitude measurement unit is used for measuring the flight data such as the speed, the inclination angle, the height, the roll angle, the pitch angle and the yaw angle of the unmanned aerial vehicle in real time.

[0044] In the embodiment, the adaptive flight control system mainly includes a calculation processor, a control module and an operation module. The calculation processor is connected with the attitude sensor, the wind speed sensor, the magnetic sensor, the air pressure sensor and the inertial sensor. The calculation processor inputs the real-time measured flight state data of the attitude sensor, the wind speed sensor, the magnetic sensor, the air pressure sensor and the inertial sensor into the calculation processor. The calculation processor is connected with the control module, and the control module is connected with the control console through the photoelectric composite cable 2. The control module is connected with the operation module, the operation module is connected with the motor in the fixed-wing aircraft system, the motor is driven through the operation module, the motor drives the positive rotation or reverse rotation of the ducted fan 17 and the vector fan 18, or drives the deflection of the vector fan 18.

[0045] An adaptive control method of a high-lift unmanned aerial vehicle, and a calculation processor applied to the method is provided with an attitude data threshold value and a wind speed threshold value, and both the attitude data threshold value and the wind speed threshold value are interval ranges.

[0046] Overall, the control method is that the attitude measurement unit inputs the real-time measured flight attitude data into the solving processor in the adaptive flight control system, and compares the attitude data threshold and the wind speed threshold set by the solving processor, judges whether the real-time measured attitude data and wind speed reach the set threshold, and issues instructions to the control module or the console according to the judgment result. The control module controls the speed and steering of the ducted fan and the vector fan, and drives the deflection angle of the vector fan; or the console controls the winch mooring device and the cable automatic retraction device to retract the cable.

[0047] Specifically, in a simple ideal environment, that is, in an environment with single wind direction and uniform wind speed, the flight attitude data and wind speed monitored by the solving processor in real time are within the designed threshold range, and the unmanned aerial vehicle can maintain a balanced state only by relying on the high lift provided by the tandem wing;

[0048] In a slightly complex breeze environment, that is, in an environment with multi-directional wind, small and slightly changed wind speed, when the solving processor judges that the real-time measured flight attitude data is less than the designed attitude data threshold, or the real-time measured wind speed data is less than the designed wind speed threshold, or the real-time measured flight attitude data is less than the designed attitude data threshold and the real-time measured wind speed data is less than the designed wind speed threshold; it indicates that the unmanned aerial vehicle is slightly unbalanced or insufficient in lift. At this time, the solving processor issues instructions to the control module according to the judgment result, and the control module controls the motor to drive the ducted fan 17 and the vector fan 18 to start, and opens the fan driving motor and the steering system. The solving processor adaptively controls and adjusts the speed and direction of the ducted fan 17, and the speed and deflection angle of the vector fan 18; at this time, the cable is still in a relaxed state, relying on the adaptive force generated by the ducted fan 17 and the vector fan 18 to resist the wind resistance brought by the breeze, and maintaining the stability of the flight attitude; at the same time, the attitude measurement unit continuously monitors the flight attitude data of the unmanned aerial vehicle;

[0049] In the strong wind environment with complex wind conditions, i.e. multi-directional wind, large wind speed and slight changes, when the real-time measured flight attitude data is greater than the designed attitude data threshold, or the real-time measured wind speed data is greater than the designed wind speed threshold, or the real-time measured flight attitude data is greater than the designed attitude data threshold and the real-time measured wind speed data is greater than the designed wind speed threshold, it indicates that the unmanned aerial vehicle has signs of imbalance or excessive lift. At this time, the solving processor issues an instruction to the control module according to the judgment result, and starts the fan driving motor and the steering system. The control module controls the motor to drive the ducted fan 17 and the vector fan 18 to start, and the solving processor adaptively controls and adjusts the rotating speed and rotating direction of the ducted fan 17, and the rotating speed and deflection angle of the vector fan 18. The unmanned aerial vehicle relies on the ducted fan 17 and the vector fan 18 to provide sufficient pitching moment, so that the aircraft is in a positive angle of attack attitude. At this time, the photoelectric composite cable 2 is always kept tight to provide tension to the aircraft. The high lift generated by the tandem wing, the pitching moment generated by the vector fan 18 and the ducted fan 17 combined makes the unmanned aerial vehicle pitch at a certain angle of attack. At this time, relying on the strong tension of the photoelectric composite cable 2, the excess lift in the vertical direction and the wind resistance in the horizontal direction of the unmanned aerial vehicle are offset, so as to comprehensively ensure the stable attitude in the strong wind environment. At the same time, the attitude measurement unit continuously monitors the flight attitude data of the unmanned aerial vehicle, and the cable tension sensor continuously monitors the cable tension.

[0050] When the real-time measured flight attitude data has a trend of exceeding the designed attitude data threshold, or the real-time measured wind speed data has a trend of exceeding the designed wind speed threshold, or the maximum rotating speed of the motor for driving the vector fan 18 and the ducted fan 17, it indicates that the unmanned aerial vehicle will exceed the designed use range. Through the photoelectric composite cable 2, an instruction is issued to the control console to control the winch mooring device and the cable automatic winding and unwinding device to wind and unwind the cable, automatically adjust the hovering height of the aircraft, and enhance the tension of the photoelectric composite cable 2 on the unmanned aerial vehicle. At the same time, the cable tension sensor continuously monitors the cable tension, and the attitude measurement unit continuously monitors the flight attitude data of the unmanned aerial vehicle.

[0051] The present application is aimed at the special situation of large angle of attack of the tethered unmanned aerial vehicle in the strong wind complex environment, the aerodynamic layout of the long slenderness ratio fuselage and tandem wings can provide more sufficient lift for the tethered unmanned aerial vehicle and improve the wind resistance. The adaptive flight control method of the unmanned aerial vehicle based on the present application can resist the wind resistance by intelligently regulating the fan speed and the direction of the vector fan in the light wind environment; in the strong wind environment, the moment balance among the tandem wings, the fan and the photoelectric composite cable is adjusted, the excess lift in the vertical direction and the wind resistance in the horizontal direction of the unmanned aerial vehicle are offset by the tension of the photoelectric composite cable, the attitude stability is comprehensively ensured, the maximum wind resistance of the unmanned aerial vehicle reaches 9 levels, and the use range is further expanded. Meanwhile, the unmanned aerial vehicle and the cable automatic winding and unwinding device are linked, the hovering height of the unmanned aerial vehicle and the tension of the cable are intelligently adjusted, and the stability and safety of the unmanned aerial vehicle are further enhanced.

[0052] The present application is described above in conjunction with the drawings, and it is obvious that the specific implementation of the present application is not limited by the above method, as long as various non-essential improvements are made by using the method concept and technical solution of the present application, or the concept and technical solution of the present application are directly applied to other occasions without improvement, all of which are within the protection scope of the present application.

Claims

1. A high-lift drone, characterized by, The utility model relates to a fixed wing aircraft system, attitude measuring unit, adaptive flight control system, photoelectric composite cable and ground anchoring system, the adaptive flight control system is arranged in the fixed wing aircraft system, and the fixed wing aircraft system is connected with the ground anchoring system through the photoelectric composite cable, the fixed wing aircraft system includes fuselage, front wing, rear wing, tail rod, vertical tail, landing gear, motor, ducted fan, vector fan, the fuselage is connected with the vertical tail through the tail rod, the front wing is arranged on the both sides of the upper surface of fuselage, the rear wing is arranged on the both sides of the middle part of fuselage, and the rear wing is located the oblique rear below of front wing, that is, the front wing, rear wing arrangement mode is tandem wing, the landing gear is arranged in the bottom of fuselage, the ducted fan is embedded in the front wing, and the vector fan is arranged in the tail of unmanned aerial vehicle, the ducted fan, vector fan are all driven to rotate by motor, and the motor is arranged in the fuselage, and the motor output torque is to the rotating shaft, drives the ducted fan, vector fan blade rotation, the ground anchoring system includes: distribution device, cable automatic take-up device, capstan mooring device, control cabinet, cable tension sensor, the distribution device is connected with cable automatic take-up device, capstan mooring device, control cabinet, cable tension sensor, provides power for cable automatic take-up device, capstan mooring device, control cabinet, cable tension sensor, simultaneously, the distribution device is connected with adaptive flight control system, fixed wing aircraft system through photoelectric composite cable, provides power for adaptive flight control system, fixed wing aircraft system, the control cabinet is connected with cable automatic take-up device, capstan mooring device, controls cable automatic take-up device, capstan mooring device, and automatically carries out the work of cable's taking, the output end of cable tension sensor is connected with the input end of adaptive flight control system through photoelectric composite cable, is used for monitoring the tension of photoelectric composite cable, the distribution device, cable automatic take-up device, capstan mooring device, control cabinet all are located on the ground platform, the attitude measuring unit includes attitude sensor, wind speed sensor, magnetic sensor, baroceptor and inertial sensor, and the attitude sensor, wind speed sensor, baroceptor and inertial sensor are electrically connected with the input end of adaptive flight control system, the adaptive flight control system mainly includes: solving processor, control module and operation module, the solving processor is connected with attitude sensor, wind speed sensor, magnetic sensor, baroceptor and inertial sensor, and the solving processor is connected with attitude sensor, wind speed sensor, magnetic sensor, baroceptor and inertial sensor, and the real-time measurement of flight state data is input to the solving processor, the solving processor is connected with control module, and the control module is connected with control cabinet through photoelectric composite cable, the control module is connected with operation module, and the operation module is connected with the motor in fixed wing aircraft system, drives the motor through operation module, and the motor drives the ducted fan, vector fan blade forward rotation or reverse rotation, or drives the vector fan deflection.

2. The high-lift drone of claim 1, wherein, The fixed wing aircraft system is rotatably connected with one end of the photoelectric composite cable through the universal joint, and the other end of the photoelectric composite cable is connected with the cable automatic take-up device in the ground anchoring system.

3. The adaptive control method of a high-lift UAV according to claim 2, wherein, The attitude measurement unit inputs the real-time measured flight attitude data into the solving processor in the adaptive flight control system, and compares the flight attitude data with the set attitude data threshold and the wind speed threshold of the solving processor, to determine whether the real-time measured flight attitude data and wind speed reach the set threshold, and issues an instruction to the control module or the console according to the determination result, the control module controls the rotation speed and rotation direction of the ducted fan and the vector fan, and drives the deflection angle of the vector fan, or the console controls the winch mooring device and the cable automatic retraction device to retract or release the cable.

4. The adaptive control method of the high-lift unmanned aerial vehicle according to claim 3, characterized in that, In the ideal environment with simple wind conditions, the flight attitude data and wind speed monitored by the solving processor in real time are within the designed threshold range, and the unmanned aerial vehicle can maintain a balanced state only by relying on the high lift provided by the tandem wing; In the slight wind environment with slightly complex wind conditions, when the solving processor determines that the real-time measured flight attitude data is less than the designed attitude data threshold, or the real-time measured wind speed data is less than the designed wind speed threshold, or the real-time measured flight attitude data is less than the designed attitude data threshold and the real-time measured wind speed data is less than the designed wind speed threshold, it indicates that the unmanned aerial vehicle is slightly unbalanced or has insufficient lift, at this time, the solving processor issues an instruction to the control module according to the determination result, the control module controls the motor to drive the ducted fan and the vector fan to start, the solving processor adaptively controls and adjusts the rotation speed and rotation direction of the ducted fan, and the rotation speed and deflection angle of the vector fan, at this time, the cable is still in a relaxed state, relying on the adaptive force generated by the ducted fan and the vector fan to resist the wind resistance brought by the slight wind, to maintain the stability of the flight attitude; at the same time, the attitude measurement unit continuously monitors the flight attitude data of the unmanned aerial vehicle; In the strong wind environment with relatively complex wind conditions, when the solving processor determines that the real-time measured flight attitude data is greater than the designed attitude data threshold, or the real-time measured wind speed data is greater than the designed wind speed threshold, or the real-time measured flight attitude data is greater than the designed attitude data threshold and the real-time measured wind speed data is greater than the designed wind speed threshold, it indicates that the unmanned aerial vehicle is unbalanced or has excessive lift, at this time, the solving processor issues an instruction to the control module according to the determination result, the control module controls the motor to drive the ducted fan and the vector fan to start, the solving processor adaptively controls and adjusts the rotation speed and rotation direction of the ducted fan, and the rotation speed and deflection angle of the vector fan, the unmanned aerial vehicle relies on the ducted fan and the vector fan to provide sufficient pitching moment, so that the aircraft is in a positive angle of attack attitude, at this time, the photoelectric composite cable is always kept tight to provide tension to the aircraft; the high lift generated by the tandem wing, the pitching moment generated by the vector fan and the ducted fan combined to make the unmanned aerial vehicle pitch at a certain angle of attack, at this time, relying on the strong tension of the photoelectric composite cable, the excessive lift in the vertical direction and the wind resistance in the horizontal direction of the unmanned aerial vehicle are offset, thereby comprehensively ensuring the stability of the attitude in the strong wind environment; at the same time, the attitude measurement unit continuously monitors the flight attitude data of the unmanned aerial vehicle; the cable tension sensor continuously monitors the cable tension; When the real-time measured flight attitude data has a trend of exceeding the designed attitude data threshold, or the real-time measured wind speed data has a trend of exceeding the designed wind speed threshold, or the maximum rotating speed of the motor for driving the vector fan and the ducted fan, it indicates that the UAV is about to exceed the designed use range, and the control console is instructed through the photoelectric composite cable to control the winch mooring device and the cable automatic winding and unwinding device to wind and unwind the cable, automatically adjust the hovering height of the aircraft, and enhance the tension of the photoelectric composite cable on the UAV, and at the same time, the cable tension sensor continuously monitors the cable tension; the attitude measurement unit continuously monitors the flight attitude data of the UAV.

Images