Attitude control vector jet device and vertical take-off and landing aircraft

Abstract

The present invention discloses an attitude control vector jet device, which is disposed on the fuselage of a vertical take-off and landing aircraft and includes a propulsion device, a vector nozzle device, and a control device. The propulsion device is disposed at the tail of the vertical take-off and landing aircraft and is used to generate upward thrust; the vector nozzle device is disposed away from the center of gravity of the vertical take-off and landing aircraft and can eject jets outward, generating thrust and rotational torque to assist in adjusting the attitude of the vertical take-off and landing aircraft in horizontal or vertical flight; the control device controls the vector nozzle device to eject continuous or intermittent airflow based on sensor signals from an attitude sensor on the fuselage, thereby controlling the attitude of the vertical take-off and landing aircraft in the air. The present invention adjusts the attitude during vertical take-off by disposing a vector nozzle device on the fuselage in conjunction with the control surfaces of the rotor airflow direction. The device has a simple structure, no control difficulty, is easy to promote and apply, and has excellent practicality.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles and aviation aircraft, and in particular to an attitude control vector jet device based on a vertical take-off and landing aircraft and a vertical take-off and landing aircraft using the attitude control vector jet device. Background Art

[0002] In recent years, with the widespread application of drones in various military and civilian fields, their operating environments and operational missions have become increasingly complex, and users' requirements for drones have also become increasingly demanding, such as the ability to perform continuous operations in complex environments. The convenience and safety of take-off and landing schemes are crucial factors in determining a drone's ability to operate continuously in complex environments such as sea and mountainous areas. Therefore, vertical take-off and landing (VTOL) features are crucial for the expansion of drone applications. UAVs with VTOL capabilities can be divided into two categories: helicopters and fixed-wing drones. Helicopters and fixed-wing drones each have advantages in vertical take-off and landing and high-speed cruising, respectively. How to fully combine these two advantages will be a key issue in determining the initiative in future air combat.

[0003] Fixed-wing aircraft offer the same advantages as fixed-wing aircraft, such as large payloads and long range, but require a runway for takeoff. This makes deployment difficult due to environmental constraints in many applications where a runway is not feasible. The optimal placement of an aircraft's avionics and other payloads is near the front of the fuselage, near the nose. This makes tail-push propulsion systems ideal for freeing up space for these payloads. Examples include the Rainbow and Wing Loong aircraft currently in service. Most fixed-wing drones currently in service require a runway for takeoff. For tail-push aircraft to achieve vertical takeoff and landing in their second configuration, they must utilize control surfaces oriented to the rotor airflow to adjust their attitude during vertical takeoff. Tilt-rotors are the most widely researched vertical takeoff and landing (VTOL)-high-speed cruise technology. These technologies utilize a tilt mechanism in the engine or rotor to transition between VTOL and cruise modes. While these approaches can leverage the strengths of helicopters and fixed-wing drones, existing solutions are limited by the complexity of the wing surfaces and tilt mechanism, as well as the complex control systems required for these complex structures. The dedicated lift fan for takeoff and landing occupies a significant amount of space and weight, making control difficult. Summary of the Invention

[0004] A brief overview of embodiments of the present invention is provided below to provide a basic understanding of certain aspects of the present invention. It should be understood that the following overview is not an exhaustive overview of the present invention. It is not intended to identify key or important aspects of the present invention, nor is it intended to limit the scope of the present invention. Its purpose is simply to present certain concepts in a simplified form as a prelude to the more detailed description discussed later.

[0005] According to one aspect of the present application, there is provided an attitude control vector jet device, which is arranged on the body of a vertical take-off and landing aircraft, and includes a propulsion device, a vector nozzle device and a control device. The propulsion device is arranged at the tail of the vertical take-off and landing aircraft, and is used to generate upward thrust when the vertical take-off and landing aircraft is in a vertical state; the vector nozzle device is arranged away from the center of gravity of the vertical take-off and landing aircraft, and can eject jets outward to generate thrust and rotational torque to assist in adjusting the attitude of the vertical take-off and landing aircraft in horizontal flight or vertical state; the control device controls the vector nozzle device to eject continuous or intermittent airflow according to the sensor signal of the attitude sensor on the body, thereby controlling the attitude of the vertical take-off and landing aircraft in the air.

[0006] Furthermore, the central axis of the vector nozzle device is arranged to coincide with the central axis of the machine body.

[0007] Furthermore, the vector nozzle device is arranged in front of the wing of the vertical take-off and landing aircraft, that is, away from the tail of the vertical take-off and landing aircraft. Preferably, in order to obtain maximum torque, the vector nozzle device is arranged at the nose position.

[0008] Furthermore, the vector nozzle device includes a cylindrical body, in which an air intake, a ducted fan, an air volume distributor, a vector nozzle valve group, and a steering gear group are sequentially arranged from top to bottom. The ducted fan is electrically connected to the steering gear group and rotates under the drive of the steering gear group to draw air in and generate an attitude adjustment airflow. The vector nozzle valve group includes a plurality of vector nozzle valves. One or N air intakes are located at the top of the cylindrical body. M air flow nozzles are evenly arranged around the circumference of the cylindrical body. The air volume distributor includes a partition plate, which is arranged at the position of the air flow nozzles in the cylindrical body. The N air intakes and M air flow nozzles form M independent air ducts through the partition plate. The M independent air ducts are respectively provided with vector nozzle valves (i.e., a total of M vector nozzle valves). The ducted fan is located above the air volume distributor. The outlet of the ducted fan enters the air volume distributor immediately after the M independent air ducts, dividing and distributing the air volume according to the number of vector nozzle valves required for adjustment. The vector nozzle valves open and close each of the independent air ducts according to the control device.

[0009] Furthermore, the vector nozzle valve is a butterfly valve, that is, the vector attitude adjustment device controls the air output of each airflow nozzle by means of a butterfly valve.

[0010] Furthermore, the M air flow nozzles are arranged perpendicular to the axis of the columnar body, so that the M independent air ducts form an L-shaped structure.

[0011] Furthermore, the partition plate is horizontally arranged in the columnar body, and the air inlet end of the independent air duct faces the air outlet side of the ducted fan; specifically, the partition plate includes M air volume dividing lines and M receiving slots separated by the M air volume dividing lines, and the bottom of the receiving slot is an arc-shaped structure, so that the airflow direction formed by the independent air duct is 45 to 90 degrees to the direction of gravity, and the guided airflow is not used to offset the gravity of the aircraft, so that the entire device can operate at a lower power. Furthermore, a through hole is provided at the bottom of the connection between the receiving slot and the airflow nozzle. In order to facilitate the control device to achieve posture control by controlling the air volume, further, the distance from the ducted fan that generates the adjustment force to all air outlets (3 or more) is equal.

[0012] Furthermore, the airflow nozzle is not exposed in the radial cross-section of the fuselage, which has the effect of not increasing the horizontal flight resistance. Through the above structure, the present application realizes a design with a shorter air duct (air channel), so that the airflow reaches the outlet without flowing through a longer channel, thereby preventing the airflow pressure from being attenuated due to flowing through a longer duct.

[0013] Furthermore, taking M=4 as an example, the control process of the control device is as follows:

[0014] Process 1: There are two modes for changing the body's posture through airflow: Mode 1: displacement is generated by actively increasing the airflow in the target movement direction; Mode 2: displacement is generated by closing the airflow in the opposite direction of the target movement. In these two modes, the opening and closing of the horizontal and vertical valves are defined as follows:

[0015]

[0016] Process 2: In mode 1, the ducted fan is first opened, and then all the vector nozzle valves are closed; positive control force is achieved by combining the closing of two vector nozzle valves in the same direction;

[0017] In Mode 2, the ducted fan is first turned on, then all the vector nozzle valves are opened; by combining and closing the two vector nozzle valves in opposite directions to achieve reverse control force, the control response speed is also faster than the need to increase the valve in each direction and then open the valve in that direction. The two vector nozzle valves in opposite directions are two vector nozzle valves with opposite directions. For example, the left and right valves are both open at the beginning. If you control the aircraft to move to the left, close the right valve. This is what reverse means: close the right valve when moving left, and close the left valve when moving right.

[0018] Process 3: If translation along the X and Y axes is required, or a certain angle with the X or Y axis is formed as the direction of the control force F, the offset is achieved by adjusting the ratio of the control forces of the X and Y axes (the control forces are achieved by combining the opening and closing of one or more vector nozzle valves).

[0019] There are four airflow nozzles evenly arranged around the circumference of the columnar body, and the air volume distributor separates the air intake and the four airflow nozzles into four independent air ducts, that is, M=4.

[0020] In actual implementation, the preferred value range of M is 3 to 8. When M=2, control in two directions can be achieved, and when M≥3, 360° control can be achieved.

[0021] For M≥3 (including M=4, and the directions of the four vectors do not coincide with the X-axis or Y-axis), the following control methods can be used:

[0022] At this time, there are M vector nozzles, which are vectors F of the vector nozzles coinciding with the X axis or the Y axis. k (k=1,2……M), then F kx or F ky =F k , the forces F1, F2, ..., F generated by each nozzle that does not coincide with the X-axis or Y-axis M , can be decomposed into two components of the xy axis in the quadrant:

[0023] The force components generated by M nozzles can be equivalent to:

[0024]

[0025] Then F x+ ,F x- ,F y+ ,F y- The four equivalent forces can be repeated according to the case of M=4, and processes 1 to 3 can be achieved to achieve 360° full angle control.

[0026] Furthermore, the outer side of the propulsion device at the tail of the fuselage is also provided with an attitude adjustment control surface, which can deflect upward or downward relative to the plane of the fuselage. The control device can also coordinate control with the control surface of the propulsion device's airflow direction based on the sensor signal of the attitude sensor on the fuselage to cause the vector nozzle device to eject a continuous or intermittent airflow. Specifically, in a vertical state, when the fuselage is subjected to the force of the control mechanism in the air, it rotates along the center of gravity. The control surface generates a control force F1 below the center of gravity, and the vector control surface generates a control force F2 above the center of gravity. Within the same plane, the combination of F1 and F2 can allow the fuselage to rotate clockwise or counterclockwise around the center of gravity, or translate to the left or right.

[0027] According to another aspect of the present invention, a vertical take-off and landing aircraft is provided, on which the above-mentioned attitude control vector jet device is provided.

[0028] The present invention has the following beneficial effects through the above solution:

[0029] 1. The vector nozzle device sprays out continuous or intermittent airflow to control the vertical take-off and landing aircraft's posture in the air. It is installed away from the center of gravity of the aircraft (such as the nose position) to obtain a larger lever arm and thus greater control torque;

[0030] 2. The L-shaped, independent air duct of the vector nozzle device allows the airflow direction to be 45 to 90 degrees to the direction of gravity. The guided airflow does not need to be used to offset the aircraft's gravity, allowing the entire device to operate at lower power.

[0031] 3. The vector nozzle device's compact structure ensures that airflow from the nozzle passes through only a short-stroke air volume distributor from generation to discharge through the vector nozzle valve, preventing the airflow pressure from being attenuated by passage through a longer pipe. Furthermore, the vector nozzle device of the present invention is completely contained within its cylindrical body, meaning the entire structure fits within a single circular tube. When the nozzle is closed, no parts are exposed outside the cross-section of the aircraft fuselage, ensuring that no additional drag is generated during lateral flight.

[0032] 4. In the present invention, the power for generating gas flow comes from a single ducted fan, which is directly connected to the airflow nozzle and is evenly distributed to M airflow nozzles through a control device in conjunction with an air volume distributor, rather than arranging more than one power source in different air ducts to achieve posture-controlled airflow as in the prior art, making the implementation of the solution relatively simple.

[0033] The present invention adjusts the attitude during vertical takeoff by arranging a vector nozzle device on the fuselage in conjunction with the control surface of the rotor airflow direction. It has a simple structure, no control difficulty, is easy to promote and apply, and has good practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention may be better understood by referring to the following description taken in conjunction with the accompanying drawings, in which the same or similar reference numerals are used throughout the drawings to represent the same or similar components. The accompanying drawings, together with the following detailed description, are incorporated in and form a part of this specification and are used to further illustrate preferred embodiments of the present invention and to explain the principles and advantages of the present invention. In the drawings:

[0035] Figure 1 A schematic diagram of a vertical take-off and landing aircraft according to an embodiment of the present invention;

[0036] Figure 2 This is an overall structural diagram of a vector nozzle device according to an embodiment of the present invention;

[0037] Figure 3 Partial structure of the vector nozzle device according to an embodiment of the present invention Figure 1 ;

[0038] Figure 4 Partial structure of the vector nozzle device according to an embodiment of the present invention Figure 2 ;

[0039] Figure 5 A schematic diagram of the directions of Xa, Xb, Ya, and Yb of a control device according to an embodiment of the present invention;

[0040] Figure 6 Schematic diagram of the control force F (M=4) of the control device according to an embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of the operation of the control mechanism of the machine body according to an embodiment of the present invention;

[0042] Figure 8 Schematic diagram of the control force F (M≠4) of the control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] Embodiments of the present invention will be described below with reference to the accompanying drawings. Elements and features described in one drawing or one embodiment of the present invention may be combined with elements and features shown in one or more other drawings or embodiments. It should be noted that for the sake of clarity, the drawings and descriptions omit the representation and description of components and processes that are not relevant to the present invention and are known to those of ordinary skill in the art.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention. In addition, the terms "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Most fixed-wing (wing-equipped) drones currently in service require a runway for takeoff. If a tail-thrust aircraft realizes vertical takeoff and landing in the second form, it is necessary to use the control surfaces in the direction of the rotor airflow to adjust the attitude during vertical takeoff. In order to adjust the attitude during vertical takeoff in conjunction with the attitude adjustment control surfaces, the present invention places a vector attitude adjustment device in front of the wing of the vertical takeoff and landing fixed-wing (second form) aircraft, which is arranged on the body of the vertical takeoff and landing aircraft and includes a propulsion device, a vector nozzle device and a control device. The propulsion device is arranged at the tail of the vertical takeoff and landing aircraft and is used to generate an upward thrust when the vertical takeoff and landing aircraft is in a vertical state; the vector nozzle device is arranged away from the center of gravity of the vertical takeoff and landing aircraft and can eject air outward to generate thrust and rotational torque to assist in adjusting the attitude of the vertical takeoff and landing aircraft in a horizontal or vertical state; the control device controls the vector nozzle device to eject continuous or intermittent airflow according to the sensor signal of the attitude sensor on the body, thereby controlling the attitude of the vertical takeoff and landing aircraft in the air.

[0046] As a specific example, see Figure 1-4 The vertical take-off and landing aircraft of the present invention includes an airframe 101 and wings 102. The wings 102 are symmetrically fixed on both sides of the middle part of the airframe 101. A vector nozzle device 200 is provided at the nose of the airframe 101, and a propulsion device 300 is provided at the tail of the airframe 101. An attitude adjustment rudder 400 is also provided on the outside of the propulsion device 300. The attitude adjustment rudder 400 can be deflected upward or downward relative to the plane of the airframe 101. The control device can also coordinately control the rudder of the airflow direction of the propulsion device 300 according to the sensor signal of the attitude sensor on the airframe 101 to make the vector nozzle device eject continuous or intermittent airflow.

[0047] In this embodiment, M=4, and the control process of the control device is as follows:

[0048] Process 1: There are two modes for changing the body's posture through airflow: Mode 1: displacement is generated by actively increasing the airflow in the target movement direction; Mode 2: displacement is generated by closing the airflow in the opposite direction of the target movement. In these two modes, the opening and closing of the horizontal and vertical valves are defined as follows:

[0049]

[0050] The directions of Xa, Xb, Ya, and Yb are as follows: Figure 5 As shown;

[0051] In mode 1, the ducted fan is opened first, and then all the vector nozzle valves are closed; positive control force is achieved by combining and closing two vector nozzle valves in the same direction;

[0052] In Mode 2, the ducted fan is first turned on, then all the vector nozzle valves are opened; by combining and closing the two vector nozzle valves in opposite directions to achieve reverse control force, the control response speed is also faster than the need to increase the valve in each direction and then open the valve in that direction. The two vector nozzle valves in opposite directions are two vector nozzle valves with opposite directions. For example, the left and right valves are both open at the beginning. If you control the aircraft to move to the left, close the right valve. This is what reverse means: close the right valve when moving left, and close the left valve when moving right.

[0053] Step 3: If you need to translate along the X and Y axes, or form an angle with the X or Y axis as the direction of the control force F (see Figure 6 ), the offset is achieved by adjusting the ratio of the control force of the X and Y axes (the control force is achieved by combining the opening and closing of one or more vector nozzle valves).

[0054] See also Figure 6 , the X-axis forms an angle a in the direction of the adjustment force vector F, F=Fx+Fy,

[0055] Wherein the control component Fx=F*cos a;

[0056] Control component Fy = F*sin(1 / 2π–a);

[0057] In this way, the adjustment of different control forces on any axis can be achieved by combining the valve opening degrees on the X and Y axes.

[0058] Among them, in the above-mentioned control device, M=4, and 4 airflow nozzles are evenly provided around the circumference of the columnar body, that is, the air volume distributor separates the air intake and the 4 airflow nozzles into 4 independent air ducts.

[0059] In actual implementation, the value range of M is 3-8. For M ≥ 3 (including M = 4, and the directions of the four vectors do not coincide with the X axis or Y axis), the following control methods can be used:

[0060] At this time, there are M vector nozzles, which are vectors F of the vector nozzles coinciding with the X axis or the Y axis. k (k=1,2……M), then F kx or F ky =F k , the forces F1, F2, ..., F generated by each nozzle that does not coincide with the X-axis or Y-axis M (See Figure 8 ), can be decomposed into two components of the xy axis in the quadrant in which they are located:

[0061] The force components generated by M nozzles can be equivalent to:

[0062]

[0063] Then F x+ ,F x- ,F y+ ,F y- The four equivalent forces can be calculated based on the case of M=4, and the above steps 1-3 can be repeated to achieve 360° full angle control.

[0064] In this embodiment, the central axis of the vector nozzle device 200 is aligned with the central axis of the aircraft body 101. To maximize torque, the vector nozzle device 200 is located at the nose of the aircraft. In practice, the vector nozzle device 200 can also be located in front of the wing 102 of the vertical take-off and landing aircraft (away from the tail of the vertical take-off and landing aircraft) according to actual installation requirements.

[0065] See also Figure 2 The vector nozzle device 200 includes a cylindrical body. Inside the cylindrical body, from top to bottom, are arranged one or more air intakes 201, a ducted fan 202, an air volume distributor 203, a vector nozzle valve assembly 204, and a steering gear assembly 205. The ducted fan 202 is electrically connected to the steering gear assembly 205. Driven by the steering gear assembly 205, the ducted fan 202 rotates to draw air in and generate an attitude adjustment airflow. The vector nozzle valve assembly 204 includes four vector nozzle valves. In this embodiment, the air intake 201 is located at the top of the cylindrical body. Four airflow nozzles are evenly distributed around the circumference of the cylindrical body. The air volume distributor 203 includes a partition plate, which is located within the cylindrical body at the position of the airflow nozzles. The air intake 201 and the four airflow nozzles form four independent air ducts 206 through the partition plate. Each of the four independent air ducts is equipped with a vector nozzle valve (i.e., a total of four vector nozzle valves). The ducted fan 202 is located above the air volume distributor 203. The outlet of the ducted fan 202 enters the air volume distributor 203 immediately after the four independent air ducts. The air volume is divided and distributed according to the number of vector nozzle valves required for adjustment. The vector nozzle valves open and close each independent air duct according to the control device. The number of vector nozzle valves is physically fixed. Generally, three or more control valves are required to control the stability of a machine body. The vector nozzle valves can be adjusted to control the air volume by adjusting their opening and closing through the control device. They are not only used to increase the air volume in the desired direction, but can also be closed to reduce the air volume in the opposite direction, i.e., control force. The opening of the vector nozzle valve is automatically controlled by a control device, which automatically adjusts the current body posture according to the gyroscope.

[0066] The present embodiment has four vector nozzle valves. In actual design, 2 to 8 vector nozzle valves can be distributed along the circumference of the axis of the body 101 according to actual needs. The vertical take-off and landing aircraft uses the attitude sensor on the body to coordinate with the control surface of the propulsion device airflow direction, or independently control it to eject continuous or intermittent airflow from the airflow nozzle, thereby controlling the attitude of the aircraft in the air. Figure 7 As shown, in a vertical position, the aircraft rotates along its center of gravity when subjected to the force of the control mechanism in mid-air. The control surfaces generate a control force F1 below the center of gravity, while the vector control surfaces generate a control force F2 above the center of gravity. Within the same plane, the combination of F1 and F2 can cause the aircraft to rotate clockwise or counterclockwise around its center of gravity, or to translate left or right. The specific control is as follows:

[0067] F1 F2 Attitude adjustment direction Left Left Pan Left Left right Rotate clockwise around the center of gravity right Left Rotate counterclockwise around the center of gravity right right Pan right

[0068] In addition, the four air flow nozzles are arranged perpendicular to the axis of the columnar body, so that the four independent air ducts form an L-shaped structure.

[0069] In this embodiment, the vector nozzle valves of the vector nozzle valve group 204 are butterfly valves, that is, the vector attitude adjustment device controls the air flow of each airflow nozzle by means of the butterfly valve.

[0070] The partition plate is horizontally arranged in the columnar body, and the air inlet end of the independent air duct faces the air outlet side of the ducted fan 202; 4 air flow nozzles are evenly arranged around the circumference of the columnar body, and the air volume distributor 203 separates the air inlet 201 and the 4 air flow nozzles into 4 independent air ducts. Figure 4 The partition plate includes four air volume dividing lines 2031 and four receiving slots 2032 separated by these four air volume dividing lines 2031. The bottom of the receiving slots 2032 is curved, so that the airflow formed by the independent air ducts is oriented at a 45-90 degree angle to the direction of gravity. The guided airflow does not need to be used to offset the aircraft's gravity, allowing the entire system to operate at lower power. In this embodiment, a through hole 207 is formed at the bottom of the connection between the receiving slot and the airflow nozzle.

[0071] The vector attitude adjustment device cooperates with the attitude adjustment control surface below the propulsion device to adjust the attitude. It can be used for flight attitude adjustment in both horizontal and vertical flight states through the butterfly valve. The working principle and process of the vector nozzle device 200 are as follows:

[0072] Process 1: Adjust the attitude airflow from the vertical state to the ground direction from the nose down (such as Figure 1 direction of the arrow);

[0073] Process 2: The ducted fan 202 is rotated to draw air and generate an attitude-adjusted airflow;

[0074] Process 3: The outlet of the ducted fan 202 enters the air volume distributor 203 along the air duct, and the air volume is divided and distributed according to the number of valves required;

[0075] Process 4: Independent air ducts guide the airflow toward the X-axis and Y-axis, with each axis flowing in two directions, for a total of four directions.

[0076] Process 5: The evenly distributed airflow finally reaches the nozzle valve, and the flow rate out of the nozzle is controlled by the opening degree of the vector nozzle valve.

[0077] The present invention adopts the above-mentioned scheme, and the vector nozzle device is installed at the end of a single body of the aircraft (such as the nose position), so that it obtains a larger lever arm and thus obtains a larger control torque. Of course, the installation position of the vector nozzle device can also be set between the wing 102 and the nose according to actual needs. The airflow direction of its independent air duct is 45 to 90 degrees to the direction of gravity, and the guided airflow is not used to offset the gravity of the aircraft, so that the whole device can operate at a lower power. The airflow of the nozzle only passes through the short-stroke air volume distributor 203 from generation to the ejection valve, and the airflow pressure will not be attenuated due to flowing through a longer pipe. In addition, the power for generating gas flow comes from a single ducted fan, which is directly connected to the nozzle and is evenly distributed to 4 nozzles through the air volume distributor, rather than arranging more than one power in different air ducts to achieve attitude control airflow, making the implementation of the scheme relatively simple.

[0078] It should be emphasized that the term "include / comprises" when used herein refers to the existence of features, elements, steps or components, but does not exclude the existence or addition of one or more other features, elements, steps or components.

[0079] Although the present invention has been disclosed above through the description of specific embodiments of the present invention, it should be understood that all the above embodiments and examples are illustrative rather than restrictive. Those skilled in the art may devise various modifications, improvements, or equivalents of the present invention within the spirit and scope of the appended claims. Such modifications, improvements, or equivalents should also be considered to be within the scope of protection of the present invention.

Claims

1. An attitude control vector jet device, mounted on a vertical take-off and landing aircraft, characterized in that: It includes a propulsion device, a vector nozzle device and a control device. The propulsion device is arranged at the tail of the vertical take-off and landing aircraft to generate upward thrust; the vector nozzle device is arranged away from the center of gravity of the vertical take-off and landing aircraft, and can eject air outward to generate thrust and rotational torque to assist in adjusting the posture of the vertical take-off and landing aircraft in horizontal flight or vertical state; the control device controls the vector nozzle device to eject continuous or intermittent airflow according to the sensor signal of the posture sensor on the body, thereby controlling the posture of the vertical take-off and landing aircraft in the air; the vector nozzle device includes a columnar body, and the columnar body is provided with an air intake, a ducted fan, an air volume distributor, a vector nozzle valve group and a servo group in sequence from top to bottom, and the ducted fan and the servo are connected to each other. The group is electrically connected, and the ducted fan rotates under the drive of the servo group to suck air to generate attitude adjustment airflow; the vector nozzle valve group includes a plurality of vector nozzle valves; one or N air suction ports are located at the top of the columnar body, and M air flow nozzles are evenly arranged around the circumference of the columnar body, and the air volume distributor includes a partition plate, which is arranged at the position of the air flow nozzle in the columnar body, and the N air suction ports and M air flow nozzles form M independent air ducts through the partition plate, and the M independent air ducts are respectively provided with vector nozzle valves; the ducted fan is located above the air volume distributor, and the outlet of the ducted fan enters the air volume distributor immediately after the M independent air ducts, and the air volume is cut and distributed according to the number of vector nozzle valves that need to be adjusted.

2. The attitude control vector injection device according to claim 1, characterized in that: The central axis of the vector nozzle device is arranged to coincide with the central axis of the machine body.

3. The attitude control vector injection device according to claim 1, characterized in that: The vector nozzle device is arranged in front of the wing of the vertical take-off and landing aircraft, that is, away from the tail of the vertical take-off and landing aircraft.

4. The attitude-controlled vector injection device according to claim 3, characterized in that: The vector nozzle device is arranged at the nose position.

5. The attitude-controlled vector injection device according to claim 1, characterized in that: The vector nozzle valve is a butterfly valve, and the posture-controlled vector injection device controls the air output of each airflow nozzle through the butterfly valve.

6. The attitude-controlled vector jetting device according to claim 1, characterized in that: The M air flow nozzles are arranged perpendicular to the axis of the columnar body, so that the M independent air ducts form an L-shaped structure.

7. The attitude-controlled vector jetting device according to claim 1, characterized in that: The partition plate is horizontally arranged in the columnar body, and the air inlet end of the independent air duct faces the air outlet side of the ducted fan; specifically, the partition plate includes M air volume dividing lines and M accommodating grooves separated by the M air volume dividing lines. The bottom of the accommodating groove is an arc-shaped structure, so that the airflow direction formed by the independent air duct is 45 to 90 degrees to the direction of gravity. The guided airflow is not used as an aircraft to offset gravity, so that the entire device can operate at a lower power.

8. The attitude-controlled vector jetting device according to claim 1, characterized in that: The outer side of the propulsion device at the tail of the body is also provided with an attitude adjustment rudder surface, which can be deflected upward or downward relative to the plane of the body. The control device can also coordinate the control surface of the airflow direction of the propulsion device according to the sensor signal of the attitude sensor on the body to enable the vector nozzle device to spray out continuous or intermittent airflow.

9. A vertical take-off and landing aircraft, characterized in that: A posture control vector injection device as described in any one of claims 1-8 is installed.

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