Spinnable multi-degree-of-freedom solid-state aircraft based on dislocated needle-thread structure and control method thereof

Abstract

The present invention relates to a rotatable multi-degree-of-freedom solid-state aircraft based on a staggered needle-wire structure and a control method thereof. The solid-state aircraft comprises a bracket and a plurality of force generators mounted on the bracket. The force generator comprises a wire electrode plate and a plurality of needle electrodes located above the wire electrode plate and parallel to each other; the wire electrode plate comprises a plurality of wire electrode units arranged in parallel, a first fixing member connecting the first ends of the wire electrode units together, and a second fixing member connecting the second ends of the wire electrode units together; the plurality of needle electrodes are staggered with the plurality of wire electrode units. The solid-state aircraft comprises a bracket and four force generators mounted on the bracket. In this way, four groups of ion wind generators can be used to generate a propulsion force to cause the aircraft to float upward and a yaw moment to cause the aircraft to spin, thereby achieving attitude-controllable flight with full degrees of freedom in pitch, roll, and yaw.

Description

Technical Field

[0001] The present invention relates to the technical field of solid-state aircraft, and in particular to a rotatable multi-degree-of-freedom solid-state aircraft based on a staggered needle-thread structure and a control method thereof. Background Art

[0002] Aircraft are an indispensable means of transportation in modern society and are widely used in military and civilian fields. Traditional aircraft include fixed-wing, rotary-wing, and flapping-wing types. They generally use fuel-powered or electric-powered engines to drive movable parts such as propellers, turbofans, and flapping wings to generate propulsion, or use chemical fuel combustion jets to generate propulsion to achieve flight. This type of aircraft has many defects such as complex structure, low energy conversion efficiency, and high noise. The ion wind solid-state aircraft is a new type of aircraft without moving parts. Since it uses the Biefelder-Brown effect force as the propulsion power, it has the characteristics of high energy conversion efficiency, simple structure, low noise, and high reliability. The existing ion wind aircraft currently use the Biefelder-Brown effect force generator only as a power source to drive the body to glide or hover, and cannot efficiently achieve attitude control with full degrees of freedom of pitch, roll, and yaw.

[0003] Traditional ion wind aircraft usually use a Biefeld-Brown effect force generator as a propulsion power to drive the fixed-wing fuselage to glide. For example, in 2018, a team from the Massachusetts Institute of Technology built a fixed-wing ion wind propulsion device with a wingspan of 5 meters and a weight of 2.45 kilograms. It can fly continuously for 60 meters at an average altitude of only 0.47 meters. This is a milestone breakthrough for ion wind aircraft. However, currently, attitude-controlled flight cannot be achieved by using only ion wind as propulsion. Another type of ion wind aircraft uses the net thrust generated by a Biefeld-Brown effect force generator to directly overcome its own gravity to achieve hovering or maneuvering flight. In this type of application, the force generated by the Biefeld-Brown effect force generator is a one-dimensional force and can only achieve basic pitch and roll control. For example, Chinese patent CN 2874916Y discloses a statically stable hoist that can only achieve control of three degrees of freedom: pitch, roll, and ascent, and its usage scenarios are greatly limited; Chinese patent CN113401343A discloses a quadrotor-like ion wind aircraft that can be controlled in multiple degrees of freedom. It proposes the use of four ion wind drives and four servos to achieve multi-degree-of-freedom control through eight drives, but the additional drives greatly waste the efficiency of the aircraft and increase the control complexity. The University of California, Berkeley has developed an ion wind aircraft consisting of four sets of force generators based on a needle-mesh electrode structure, which can achieve controllable flight in three degrees of freedom: pitch, roll, and translation. However, since the ion wind generator has no propellers, it cannot use angular momentum to generate yaw torque like a quadrotor, and the needle-mesh electrode structure cannot achieve a tilting force effect through dislocation. Summary of the Invention

[0004] The purpose of the present invention is to provide a rotatable multi-degree-of-freedom solid-state aircraft based on a staggered needle-thread structure and a control method thereof. The aircraft and the control method thereof can solve the shortcomings of the existing technology. Through four groups of ion wind generators, the aircraft can generate an upward propulsion force and a yaw moment to make the aircraft spin, thereby realizing attitude-controlled flight with full degrees of freedom of pitch, roll and yaw.

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

[0006] In a first aspect of the present invention, a rotatable multi-degree-of-freedom solid-state aircraft with a staggered needle-thread structure is disclosed. The solid-state aircraft includes a bracket and a plurality of force generators mounted on the bracket.

[0007] The force generator includes a wire electrode plate and a plurality of needle electrodes located above the wire electrode plate and parallel to each other;

[0008] The wire electrode plate includes a plurality of wire electrode units arranged in parallel, a first fixing member connecting first ends of the wire electrode units together, and a second fixing member connecting second ends of the wire electrode units together;

[0009] The plurality of needle electrodes and the plurality of wire electrode units are distributed alternately.

[0010] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the first fixing member and the second fixing member are both provided with a first mounting portion.

[0011] According to the above aspects and any possible implementation, an implementation is further provided, wherein both ends of the needle electrode are respectively fixed to both sides of the wire electrode plate through needle electrode posts.

[0012] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the needle electrode comprises a needle electrode plate and a plurality of needle electrode units arranged on the needle electrode plate, and the vertical distances between the needle electrode and two adjacent wire electrode units are unequal.

[0013] According to the above aspects and any possible implementation, an implementation is further provided, wherein the needle electrode column includes a needle electrode column body, a second mounting portion provided at the upper end of the needle electrode column body, and a third mounting portion provided at the lower end of the needle electrode body.

[0014] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the needle electrode is connected to the positive electrode of the high-voltage power supply, and the wire electrode unit is connected to the ground electrode of the high-voltage power supply.

[0015] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the number of the force generators is four, namely a first force generator, a second force generator, a third force generator, and a fourth force generator;

[0016] The first force generator is located in the first quadrant, the second force generator is located in the second quadrant, the third force generator is located in the third quadrant, and the fourth force generator is located in the fourth quadrant;

[0017] The first force generator and the second force generator are symmetrically arranged, and the third force generator and the fourth force generator are symmetrically arranged.

[0018] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein the symmetry axis of the first force generator and the second force generator and the symmetry axis of the third force generator and the fourth force generator are both Roll axes; the coordinate axis perpendicular to the Roll axis and located in the same plane as the Roll axis is the Pitch axis; the intersection of the Roll axis and the Pitch axis is the geometric center of the body.

[0019] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the bracket includes a first fixing plate, a second fixing plate, and a third fixing plate arranged in parallel, a first connecting plate connected between the middle section of the first fixing plate and the middle section of the second fixing plate, and a second connecting plate connected between the middle section of the second fixing plate and the middle section of the third fixing plate;

[0020] The first fixing plate, the second fixing plate and the third fixing plate are each provided with a plurality of needle electrode column mounting portions and a plurality of wire electrode plate mounting portions.

[0021] In a second aspect of the present invention, a method for controlling the solid-state aircraft is disclosed, the method comprising the following steps:

[0022] (1) Lift control

[0023] The same voltage is applied to the first force generator, the second force generator, the third force generator and the fourth force generator, and the applied voltage of the four force generators is increased or decreased synchronously to change the lift force applied to the body and realize the lifting movement of the body.

[0024] (2) Roll control

[0025] The bias voltage applied to the first force generator, the second force generator, the third force generator and the fourth force generator makes the propulsion force output on both sides of the Roll axis of the body different in magnitude, thereby generating a torque that causes the body to rotate around the Roll axis and realize the rolling motion of the body.

[0026] (3) Pitch control

[0027] The bias voltage applied to the first force generator, the second force generator, the third force generator and the fourth force generator makes the propulsion force output on both sides of the Pitch axis of the body different, thereby generating a torque that causes the body to rotate around the Pitch axis and realize the pitch motion of the body.

[0028] (4) Yaw control

[0029] The bias voltage applied to the first force generator, the second force generator, the third force generator and the fourth force generator makes the yaw moment generated by the first force generator and the fourth force generator greater or less than the yaw moment generated by the second force generator and the third force generator, thereby causing the aircraft to generate a yaw moment to the right or left, thereby achieving yaw control of the aircraft.

[0030] Compared with the prior art, the advantages of the present invention are:

[0031] The present invention proposes a spinable multi-degree-of-freedom solid-state aircraft based on a staggered needle-wire electrode structure and a control method thereof. A staggered needle-wire electrode structure is designed to generate the Biefelder-Brown effect for use in an ion wind generator. The aircraft, through four ion wind generators and the control method, can achieve spinable multi-degree-of-freedom controllable flight. This overcomes the limitations of traditional ion wind aircraft, which cannot achieve spinable multi-degree-of-freedom control or require more than four actuators to achieve spinable multi-degree-of-freedom control, and provides new ideas for the design and control of a new generation of solid-state aircraft. The present invention also proposes a control method for a solid-state aircraft. This control method, based on the aforementioned ion wind generator, only requires synchronous adjustment of the voltages of the four ion wind generators to achieve spinable full-degree-of-freedom control, resolving the difficulty of current ion wind aircraft in achieving spin without additional actuators. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic structural diagram of the solid-state aircraft of the present invention;

[0033] Figure 2 is a top view of the solid-state aircraft of the present invention;

[0034] Figure 3 It is a schematic diagram of the explosion structure of the solid-state aircraft in the present invention;

[0035] Figure 4 It is a schematic structural diagram of the bracket in the present invention;

[0036] Figure 5 It is a structural schematic diagram of the centerline electrode plate of the present invention;

[0037] Figure 6 It is a schematic structural diagram of the needle electrode column in the present invention;

[0038] Figure 7Schematic diagram of the structure of the needle electrode in the present invention;

[0039] Figure 8 1 is a front view schematic diagram of the second force generator 2 - 2 along the Pitch axis in the solid-state aircraft of the present invention;

[0040] Figure 9 It is a front view schematic diagram of the second force generator 2-2 along the Roll axis in the solid-state aircraft of the present invention.

[0041] in:

[0042] 1. Solid-state aircraft; 2-1. First force generator; 2-2. Second force generator; 2-3. Third force generator; 2-4. Fourth force generator; 3-1. Needle electrode; 3-2. Needle electrode column; 3-3. Wire electrode plate; 3-4. Bracket; 4-1. Needle electrode column mounting portion; 4-2. Wire electrode plate mounting portion; 4-3. First fixing plate; 4-4. Second fixing plate; 4-5. Third fixing plate; 5-1. First wire electrode unit; 5-2. Second wire electrode unit; 5-3. Third wire electrode unit; 5-4. Fourth wire electrode unit; 5-5. First fixing member; 5-6. Second fixing member Parts; 6-1, second mounting portion, 6-2, needle electrode column body, 6-3, third mounting portion; 7-1, needle electrode plate, 7-2, needle electrode unit; 8-1, first needle electrode plate, 8-2, needle electrode unit on the first needle electrode plate, 8-3, first wire electrode unit, 8-4, second wire electrode unit, 8-5, needle electrode unit on the second needle electrode plate, 8-6, resultant force of the forces acting on the corresponding needle electrode plates by each wire electrode unit, 8-7, component of the resultant force along the Pitch axis, 8-8, component of the resultant force along the Yaw axis, 8-9, second needle electrode plate, 8-10, third wire electrode unit. DETAILED DESCRIPTION

[0043] The present invention will be further described below with reference to the accompanying drawings:

[0044] like Figure 1As shown, the present invention proposes a rotatable multi-degree-of-freedom solid-state aircraft 1 based on a dislocated needle-wire structure, which includes a bracket and four groups of force generators installed on the bracket. The force generator is a Biefelder-Brown effect force generator based on a dislocated needle-wire electrode structure. The Biefelder-Brown effect means that when a very high voltage is used to input electrical energy into a capacitor, a force will be generated in a certain direction. Ionic wind refers to the air jet phenomenon caused by corona in the Biefelder-Brown effect, which is called ionic wind. A solid-state aircraft refers to an aircraft that can achieve flight without the need for movable parts. Usually, the aircraft's degrees of freedom refer to the three-axis translational degrees of freedom in a Cartesian coordinate system and the yaw, roll, and pitch degrees of freedom rotating around the three axes. Needle-wire electrode structure: an electrode structure composed of needle electrodes and wire electrodes, which generates a corona discharge by applying high voltage electricity to produce the Biefelder-Brown effect.

[0045] like Figure 2 As shown, with the fuselage's geometric center as origin O and the positive direction of the Roll axis as the fuselage's positive direction, the four Biefeld-Brown effect force generators are the first force generator 2-1, the second force generator 2-2, the third force generator 2-3, and the fourth force generator 2-4. The first force generator 2-1 is located in the first quadrant, the second force generator 2-2 is located in the second quadrant, the third force generator 2-3 is located in the third quadrant, and the fourth force generator 2-4 is located in the fourth quadrant. The first force generator 2-1 is symmetrically arranged with the second force generator 2-2, and the third force generator 2-3 is symmetrically arranged with the fourth force generator 2-4. The axis of symmetry between the first force generator 2-1 and the second force generator 2-2, and the axis of symmetry between the third force generator 2-3 and the fourth force generator 2-4 are both Roll axes. The coordinate axis perpendicular to the Roll axis and coplanar with the Roll axis is the Pitch axis. The intersection of the Roll axis and the Pitch axis is the geometric center of the fuselage. Specifically, the first force generator 2-1 and the third force generator 2-3 have the same size and structure, the second force generator 2-2 and the fourth force generator 2-4 have the same size and structure, and the first force generator 2-1 and the second force generator 2-2 are symmetrical about the Roll axis. Figure 2 A set of needle-wire Biefeld-Brown effect force generators can be composed of four needle electrodes 3-1, eight needle electrode columns 3-2, a wire electrode plate 3-3, and a bracket for fixing the force generator. The four sets of Biefeld-Brown effect force generators are connected by a bracket 3-4 and the eight common needle electrode columns.

[0046] like Figure 1 As shown, each force generator includes a wire electrode plate 3-3 and a plurality of needle electrodes 3-1 located above the wire electrode plate 3-3 and parallel to each other. Figure 3 and Figure 5As shown, the wire electrode plate 3-3 includes a plurality of wire electrode units arranged in parallel, a first fixing member 5-5 connecting the first ends of the wire electrode units together, and a second fixing member 5-6 connecting the second ends of the wire electrode units together. The first fixing member 5-5 and the second fixing member 5-6 are both provided with a first mounting portion. The wire electrode plate 3-3 is made of metal foil or metal plate. Four tenons are provided on the edge of the wire electrode plate 3-3, which cooperate with the wire electrode plate mounting portion 4-2. Figure 1 In the example, each wire electrode plate 3-3 has four wire electrode units. The multiple needle electrodes are interlaced with the multiple wire electrode units. Specifically, a wire electrode plate 3-3 includes four wire electrode units: a first wire electrode unit 5-1, a second wire electrode unit 5-2, a third wire electrode unit 5-3, and a fourth wire electrode unit 5-4. The same end of each wire electrode unit is called a first end, and the other end is called a second end. The needle electrode 3-1 is connected to the positive electrode of the high-voltage power supply, and the wire electrode units are connected to the ground electrode of the high-voltage power supply.

[0047] Specifically, if Figure 3 As shown, the fuselage 1 is composed of a bracket 3-4, four identical wire electrode plates 3-3, twenty-four identical needle electrode posts 3-2, and sixteen identical needle electrodes 3-1. The bracket 3-4 and the needle electrode posts are interference-fitted with the third mounting portion 6-3 via the needle electrode post mounting portion 4-1. The bracket 3-4 and the wire electrode plate 3-3 are interference-fitted with the first mounting portion via the wire electrode plate mounting portion 4-2. The needle electrode posts and the needle electrodes are interference-fitted with the end of the needle electrode plate via the second mounting portion 6-1. The needle electrode post mounting portion 4-1, the second mounting portion 6-1, and the wire electrode plate mounting portion 4-2 are all tongue-and-groove configurations. The first mounting portion and the third mounting portion 6-3 are both tenons.

[0048] like Figure 3 and 7 As shown, the needle electrode 3-1 includes a needle electrode plate 7-1 and multiple needle electrode units 7-2 mounted on the needle electrode plate 7-1. The needle electrode 3-1 is made of conductive metal, with two tenons at each end for connection to the needle electrode post. The ends of the needle electrode 3-1 are fixed to the sides of the line electrode plate 3-3 via the needle electrode post. The needle electrode post includes a needle electrode post body 6-2, a second mounting portion 6-1 located at the upper end of the needle electrode post body 6-2, and a third mounting portion 6-3 located at the lower end of the needle electrode post body 6-2. The needle electrode post is made of a lightweight insulating material such as Aoki. The second mounting portion 6-1 is a tenon-groove that mates with the tenon on the needle electrode 3-1. The third mounting portion 6-3 is a tenon that mates with the needle electrode post mounting portion on the bracket 3-4. The needle electrode post mounting portion 4-1 is a tenon-groove.

[0049] exist Figure 7 Each needle electrode has six needle electrode units. A needle electrode 3-1 consists of a needle electrode plate 7-1 and six identical, parallel needle electrode units 7-2 mounted on the plate. The two ends of the needle electrode plate 7-1 have tenons that correspond to the grooves on the needle electrode column, connecting the plate to the column.

[0050] In some embodiments, the bracket 3-4 includes a first fixing plate 4-3, a second fixing plate 4-4, and a third fixing plate 4-5 arranged in parallel, a first connecting plate connected between the middle section of the first fixing plate 4-3 and the middle section of the second fixing plate 4-4, and a second connecting plate connected between the middle section of the second fixing plate 4-4 and the middle section of the third fixing plate 4-5; the first fixing plate 4-3, the second fixing plate 4-4, and the third fixing plate 4-5 are each provided with a plurality of needle electrode column mounting portions 4-1 and a plurality of wire electrode plate mounting portions 4-2. Specifically, the structure of the bracket 3-4 is as follows: Figure 4 As shown, the main body is made of a lightweight insulating material (such as green wood) and has twenty-four grooves that mate with the tenons 6-3 of the twenty-four needle electrode posts of the four Biefelder-Brown effect force generators. The first force generator 2-1 and the third force generator 2-3 share four needle electrode posts, while the second force generator 2-2 and the fourth force generator 2-4 share four needle electrode posts. The bracket also has twelve grooves that mate with the twelve tenons of the wire electrode plates of the four Biefelder-Brown effect force generators.

[0051] Figure 8 and Figure 9 The force relationship between the wire electrode plate and the needle electrode is introduced by taking the second force generator 2-2 as an example. Figure 8 As shown, the second force generator 2-2 includes four needle electrode plates, namely the first needle electrode plate 8-1, the second needle electrode plate 8-9, the third needle electrode plate and the fourth needle electrode plate. Figure 9 As shown, the second force generator 2-2 includes four wire electrode units, namely the first wire electrode unit 8-3, the second wire electrode unit 8-4, the third wire electrode unit 8-10, and the fourth wire electrode unit. In the second force generator 2-2, the needle electrode plate is connected to the positive electrode of the high-voltage power supply, and the wire electrode unit is connected to the ground electrode of the high-voltage power supply, so that the Biefelder-Brown effect can be generated, generating six forces directed from the wire electrode unit to the needle electrode unit, as shown in FIG. Figure 8 As shown in 8-6-1 to 8-6-6, the wire electrode unit further generates a force directed toward the needle electrode plate, that is, Figure 8 The resultant force 8 - 6 of the forces acting on the corresponding needle electrode plates from each wire electrode unit is shown.

[0052] like Figure 9As shown, in the second force generator 2-2, it is assumed that the distance between the projection of the first wire electrode unit 8-3 on the Pitch axis and the projection of the first needle electrode plate 8-1 on the Pitch axis is d, and the distance between the projection of the first needle electrode plate 8-1 and the second wire electrode plate 8-4 on the Pitch axis is D, that is, the distance between two adjacent wire electrode units is (d+D). In the embodiment of the present invention, d<<D must be satisfied. Since d is much smaller than D, the influence of the needle electrode unit on the adjacent farther wire electrode unit can be ignored. At this time, the force generated by the wire electrode unit points to the nearest needle electrode unit (with a projection distance of d). For example, Figure 9 In the figure, the needle electrode unit 8-5 on the second needle electrode plate is close to the first wire electrode unit 8-4, and is far from the second wire electrode unit 8-10. Therefore, the force between the needle electrode unit 8-5 on the second needle electrode plate and the second wire electrode unit 8-10 is negligible, and only the force 8-6-1 between the needle electrode unit 8-5 on the second needle electrode plate and the first wire electrode unit 8-4 is considered. A force is generated between each group of wire electrode units and the corresponding needle electrode plate. For example, there is a force 8-6-1 between the second wire electrode plate 8-4 and the second needle electrode plate 8-9. A force is also generated between the remaining wire electrode units and their corresponding needle electrode plates, such as Figure 8 As shown in the figure, there are six forces acting between each wire electrode unit and the needle electrode plate, which are Figure 8 The resultant force of the six forces 8-6-1, 8-6-2, 8-6-3, 8-6-4, 8-6-5, and 8-6-6 shown in the figure is represented as 8-6. At this time, in a Biefeld-Brown effect force generator with a needle-wire electrode structure, the four sets of wire electrode units generate forces pointing to the nearest needle electrode plate, such as Figure 9 The second linear electrode unit 8-4 in the center of the aircraft directs a force 8-6 directed toward the nearest second needle electrode plate 8-9. This force simultaneously generates lift (i.e., the resultant force component 8-8 along the Yaw axis) that causes the aircraft to ascend, and torque (i.e., the resultant force component 8-7 along the Pitch axis) that causes the aircraft to spin. Combined with appropriate control schemes, flight is achieved. The force-generating principles of the other force generators are the same as those of the second force generator.

[0053] The invention also discloses a control method for the solid-state aircraft.

[0054] exist Figure 2 In the figure, the ion wind solid-state aircraft is divided into four groups of force generators, namely the first force generator 2-1, the second force generator 2-2, the third force generator 2-3 and the fourth force generator 2-4. The voltages applied to the four force generators are set to A, B, C and D respectively. First, the positive direction of the Roll axis is set to the nose of the ion wind solid-state aircraft, and the geometric center of the fuselage is set to the origin O. Figure 1, the positive directions of the rotation directions around the axes Roll, Yaw, and Pitch conform to the left - hand rule as shown by the arrow directions. Since the thrust output by the force generator can be adjusted by changing the voltage applied to the Biefeld - Brown effect force generator, the attitude control of the ionic wind solid - state aircraft can be achieved by means such as voltage regulation.

[0055] This control method includes the following steps:

[0056] (1) Lift control

[0057] Apply the same voltage to the first force generator 2 - 1, the second force generator 2 - 2, the third force generator 2 - 3, and the fourth force generator 2 - 4, and synchronously increase or decrease the applied voltage of the four force generators to change the magnitude of the lift received by the aircraft body, thereby realizing the up - and - down movement of the aircraft body.

[0058] Specifically, given that the same voltage is applied to the four force generators, that is, A = B = C = D. Since the first force generator 2 - 1, the third force generator 2 - 3 and the second force generator 2 - 2, the fourth force generator 2 - 4 are symmetric about the Roll axis, the spin torques generated by the first force generator 2 - 1 and the third force generator 2 - 3 cancel out the spin torques generated by the second force generator 2 - 2 and the fourth force generator 2 - 4, and the remaining combined thrust is the lift. By synchronously increasing or decreasing the applied voltage of the four force generators, the magnitude of the lift received by the aircraft body can be changed, thereby realizing the up - and - down movement of the aircraft body.

[0059] (2) Roll control

[0060] Bias the voltages applied to the first force generator 2 - 1, the second force generator 2 - 2, the third force generator 2 - 3, and the fourth force generator 2 - 4, so that the magnitudes of the thrusts output on both sides of the Roll axis of the aircraft body are different, thereby generating a torque that causes the aircraft body to rotate around the Roll axis and realizing the roll movement of the aircraft body.

[0061] Specifically, by biasing the voltages on the first force generator 2 - 1, the third force generator 2 - 3 and the second force generator 2 - 2, the fourth force generator 2 - 4, such as making A = C > B = D, the output thrusts of the first force generator 2 - 1 and the third force generator 2 - 3 can be made greater than the outputs of the second force generator 2 - 2 and the fourth force generator 2 - 4; such as making A = C < B = D, the output thrusts of the first force generator 2 - 1 and the third force generator 2 - 3 can be made less than the outputs of the second force generator 2 - 2 and the fourth force generator 2 - 4, thereby generating a torque that causes the aircraft body to rotate around the Roll axis and realizing the roll movement control of the aircraft body. By adjusting the roll angle, a lateral component force can be generated, thereby realizing the left - and - right lateral drift movement of the aircraft body.

[0062] (3) Pitch control

[0063] Biasing the voltages applied to the first force generator 2-1, the second force generator 2-2, the third force generator 2-3, and the fourth force generator 2-4 causes the magnitudes of the propulsive forces output on both sides of the Pitch axis of the body to be different, thereby generating a torque that causes the body to rotate about the Pitch axis and realizing the pitching motion of the body.

[0064] By biasing the voltages on the first force generator 2-1, the second force generator 2-2, and the third force generator 2-3, the fourth force generator 2-4, such as making A = B > C = D, the output propulsive forces of the first force generator 2-1 and the second force generator 2-2 can be made greater than the outputs of the third force generator 2-3 and the fourth force generator 2-4; if A = B < C = D, the output propulsive forces of the first force generator 2-1 and the second force generator 2-2 are less than the outputs of the third force generator 2-3 and the fourth force generator 2-4, thereby generating a torque that causes the body to rotate about the Pitch axis and realizing the control of the pitching motion of the body. By adjusting the pitch angle, a longitudinal component force can be generated, thereby realizing the forward and backward longitudinal drift motion of the body.

[0065] (4) Yaw control

[0066] Biasing the voltages applied to the first force generator 2-1, the second force generator 2-2, the third force generator 2-3, and the fourth force generator 2-4 causes the yaw torques generated by the first force generator 2-1 and the fourth force generator 2-4 to be greater than or less than the yaw torques generated by the second force generator 2-2 and the third force generator 2-3, thereby causing the body to generate a right or left yaw torque and realizing the yaw control of the body. [[ID=!1]]

[0067] Since the first force generator 2-1 and the second force generator 2-2 generate a spin torque in the negative direction around the Roll axis, and the third force generator 2-3 and the fourth force generator 2-4 generate a spin torque in the positive direction around the Roll axis, that is, the first force generator 2-1 and the fourth force generator 2-4 generate a torque that causes the body to yaw to the right (clockwise rotation when looking in the positive direction of the Yaw axis), and the second force generator 2-2 and the third force generator 2-3 generate a torque that causes the body to yaw to the left (counterclockwise rotation when looking in the positive direction of the Yaw axis). By biasing the voltages applied to the first force generator 2-1, the fourth force generator 2-4 and the second force generator 2-2, the third force generator 2-3, such as making A = D > B = C, the yaw torque generated by the first force generator 2-1 and the fourth force generator 2-4 can be made greater than the yaw torque generated by the second force generator 2-2 and the third force generator 2-3; if A = D < B = C or the yaw torque generated by the first force generator 2-!1 and the fourth force generator 2-4 is less than the yaw torque generated by the second force generator 2-2 and the third force generator 2-3, finally, the body generates a right and left yaw torque respectively, thereby realizing the yaw control of the body.

[0068] It should be noted that there seems to be a typo in the original text where "!1" appears in the description of the fourth force generator in line 12. This might need to be corrected in the original for a more accurate translation.In summary, the present invention proposes a staggered needle-wire electrode structure and design method that can generate the Biefelder-Brown effect for use in ion wind generators. Currently, the ion wind generators used in traditional ion wind aircraft mainly include wire-plate electrode structures, needle-plate electrode structures, and needle-mesh electrode structures, which can generate lift but cannot generate spin torque. Solid-state aircraft designed based on the above structures can achieve multi-degree-of-freedom attitude control by adding additional actuators to change the force plane of the force generator. The staggered needle-wire structure proposed in the present invention tilts the forces generated by the wire and needle electrodes by staggering the wire electrodes to produce a certain angle difference. At the same time, multiple groups of needle-wire electrodes in a group of force generators can increase the lift effect, and it is necessary to ensure that each group of needle-wire electrodes is at a certain distance to prevent mutual interference, so that the overall force generator generates lift and spin torque.

[0069] The above-described embodiments are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A rotatable multi-degree-of-freedom solid-state aircraft based on a staggered needle-thread structure, characterized in that: comprising a bracket and a plurality of force generators mounted on the bracket, The force generator includes a wire electrode plate and a plurality of needle electrodes located above the wire electrode plate and parallel to each other; The wire electrode plate includes a plurality of wire electrode units arranged in parallel, a first fixing member connecting first ends of the wire electrode units together, and a second fixing member connecting second ends of the wire electrode units together; The plurality of needle electrodes and the plurality of wire electrode units are staggeredly distributed; There are four force generators, namely a first force generator, a second force generator, a third force generator and a fourth force generator; The control method of the solid-state aircraft comprises the following steps: (1) Lift control Applying the same voltage to the first force generator, the second force generator, the third force generator, and the fourth force generator, and synchronously increasing or decreasing the applied voltage of the four force generators, thereby changing the magnitude of the lift force applied to the body and achieving the lifting movement of the body; (2) Roll control The voltage applied to the first force generator, the second force generator, the third force generator, and the fourth force generator is biased so that the propulsion force output on both sides of the body's roll axis is different, thereby generating a torque that causes the body to rotate around the roll axis, thereby achieving the body's rolling motion; (3) Pitch control The voltage applied to the first force generator, the second force generator, the third force generator, and the fourth force generator is biased so that the propulsion forces output on both sides of the Pitch axis of the aircraft are different, thereby generating a torque that causes the aircraft to rotate around the Pitch axis, thereby achieving the pitch motion of the aircraft; (4) Yaw control The bias voltage applied to the first force generator, the second force generator, the third force generator and the fourth force generator makes the yaw moment generated by the first force generator and the fourth force generator greater or less than the yaw moment generated by the second force generator and the third force generator, thereby causing the aircraft to generate a yaw moment to the right or left, thereby achieving yaw control of the aircraft.

2. The solid-state aircraft according to claim 1, characterized in that: The first fixing member and the second fixing member are both provided with a first mounting portion.

3. The solid-state aircraft according to claim 1, characterized in that: The two ends of the needle electrode are respectively fixed to the two sides of the wire electrode plate through needle electrode columns.

4. The solid-state aircraft according to claim 3, characterized in that: The needle electrode comprises a needle electrode plate and a plurality of needle electrode units arranged on the needle electrode plate; The vertical distances between the needle electrode and two adjacent line electrode units are not equal.

5. The solid-state aircraft according to claim 3, characterized in that: The needle electrode column includes a needle electrode column body, a second mounting portion provided at the upper end of the needle electrode column body, and a third mounting portion provided at the lower end of the needle electrode column body.

6. The solid-state aircraft according to claim 4, characterized in that: The needle electrode is connected to the positive electrode of the high-voltage power supply, and the wire electrode unit is connected to the ground electrode of the high-voltage power supply.

7. The solid-state aircraft according to any one of claims 1 to 6, characterized in that: The first force generator is located in the first quadrant, the second force generator is located in the second quadrant, the third force generator is located in the third quadrant, and the fourth force generator is located in the fourth quadrant; The first force generator and the second force generator are symmetrically arranged, and the third force generator and the fourth force generator are symmetrically arranged.

8. The solid-state aircraft according to claim 7, characterized in that: The symmetry axes of the first force generator and the second force generator and the symmetry axes of the third force generator and the fourth force generator are both Roll axes; the coordinate axis perpendicular to the Roll axis and located in the same plane as the Roll axis is the Pitch axis; the intersection of the Roll axis and the Pitch axis is the geometric center of the body.

9. The solid-state aircraft according to claim 7, characterized in that: The bracket includes a first fixing plate, a second fixing plate and a third fixing plate arranged in parallel, a first connecting plate connected between the middle section of the first fixing plate and the middle section of the second fixing plate, and a second connecting plate connected between the middle section of the second fixing plate and the middle section of the third fixing plate; The first fixing plate, the second fixing plate and the third fixing plate are each provided with a plurality of needle electrode column mounting portions and a plurality of wire electrode plate mounting portions.

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