Flight control method of vertical take-off and landing / fixed-wing dual-mode flight aircraft

Abstract

The invention provides a vertical take-off and landing / fixed-wing dual-mode flight aircraft and a flight control method (eVTOL) thereof. The aircraft comprises a fuselage, wings, a vertical empennage, a horizontal empennage, a left tiltable power assembly, a right tiltable power assembly and the like. A left wing and a right wing are arranged on the left side and the right side of the front portion of the fuselage respectively, a horizontal tail capable of fully moving within a certain angle is arranged on the tail portion of the fuselage, the left tiltable power assembly is installed on the left wing and can tilt around the advancing direction, the retreating direction and the rising direction of the fuselage, and the right tiltable power assembly is installed on the right wing and can tilt around the rising direction of the fuselage. And the machine body can tilt around the advancing, retreating and ascending directions of the machine body. By combining the synchronous / differential rotation of the left / right tilting power assembly and cooperatively adjusting the angle of attack of the full-motion horizontal tail, the switching between the vertical take-off and landing flight mode and the fixed wing flight mode can be realized, the stability of the dual-mode flight process can be ensured, and the eVTOL scheme is excellent, economical and reliable in structure.

Description

Technical Field

[0001] The present application belongs to the field of aircraft technology, and in particular, relates to a flight control method for a vertical take-off and landing / fixed-wing dual-mode flight aircraft. Background Art

[0002] A VTOL aircraft is a type of aircraft that can switch between helicopter mode and fixed-wing mode. It can be divided into manned and unmanned types. Most of the existing tilt-rotor VTOL aircraft use more than three axes of power, and non-tilt VTOL aircraft integrate multi-axis vertical take-off and fixed-wing into one. The main problems with multi-axis VTOLs are: due to the large number of power systems, they result in high cost, heavy weight, and low efficiency. Therefore, reducing the number of power systems is one way to solve the above problems.

[0003] There are two-axis VTOLs on the market, which can achieve the following: in vertical take-off and landing mode, the aircraft can fly left and right, turn left and right, and fly forward like a helicopter, but when flying backward and forward, when the brakes are controlled backward, the aircraft will vibrate and appear in a pendulum state when pitching, resulting in confusion and crash. Summary of the invention

[0004] The technical problem solved by the present application is: how to solve the stability problem of a two-axis aircraft during vertical take-off and landing.

[0005] The present application provides a vertical take-off and landing / fixed-wing dual-mode flight aircraft, the aircraft comprising:

[0006] body;

[0007] Wings, the wings comprising a left wing and a right wing respectively arranged on the left and right sides of the fuselage;

[0008] The tail assembly includes a fuselage tail, a vertical tail, and a horizontal tail, and the horizontal tail has a tilt angle of 0-45°;

[0009] A left tiltable power assembly, which is installed on the left wing and can tilt around the forward, backward and upward directions of the fuselage, with a tilt angle of 0-180°;

[0010] The right tiltable power assembly is installed on the right wing, and the right tiltable power assembly can be tilted around the forward, backward and upward directions of the fuselage, and the tilting angle is 0-180°.

[0011] Optionally, a left moving fixed rod is provided at the wing tip of the left wing, the left moving fixed rod is connected to the fuselage, and the left tilting power assembly is installed on the left moving fixed rod to realize rotation.

[0012] Optionally, the left tiltable powertrain includes:

[0013] A left-tilting rotating base, which is mounted on the left-moving fixed rod and can realize a controllable rotation of 0-180°;

[0014] A left drive motor, the left drive motor being mounted on the left tilting base;

[0015] A left propeller connected to an output shaft of the left drive motor;

[0016] A left server, the left server being mounted on the left tilting base;

[0017] A left rotating gear, the left transmission gear is connected to the output shaft of the left servo, the left moving fixed rod is equipped with a left fixed gear, and the left transmission gear is meshed with the left fixed gear.

[0018] Optionally, the left drive motor is installed on the upper part of the left tilt base, the middle part of the left tilt base is rotatably installed on the left moving fixing rod, and the left servo is installed on the lower part of the left tilt base.

[0019] Optionally, a right moving fixed rod is provided at the wingtip of the right wing, the right moving fixed rod is connected to the fuselage, and the right tiltable power assembly is installed on the right moving fixed rod to realize rotation.

[0020] Optionally, the right tiltable powertrain includes:

[0021] A right tilting base, which is mounted on the right moving fixed rod and can realize a controllable rotation of 0-180°;

[0022] A right drive motor, the right drive motor being mounted on the right tilting base;

[0023] A right propeller, the rotating shaft of which is connected to the output shaft of the right driving motor;

[0024] a right servo, the right servo being mounted on the right tilt base;

[0025] A right driving gear is connected to the output shaft of the right servo, and a right fixed gear is installed on the right moving fixed rod, and the right driving gear is meshed with the right fixed gear.

[0026] Optionally, the right drive motor is mounted on the upper portion of the right tilt base, the middle portion of the right tilt base is rotatably mounted on the right moving fixing rod, and the right servo is mounted on the lower portion of the right tilt base.

[0027] Optionally, the horizontal tail comprises a left horizontal tail and a right horizontal tail symmetrically arranged on the left and right sides of the tail of the fuselage.

[0028] The present application also discloses a flight control method for a vertical take-off and landing / fixed-wing dual-mode flight aircraft, the flight control method comprising:

[0029] determining a flight mode of the aircraft;

[0030] The positive attack angle of the horizontal tail and the tilt angles of the left tiltable power assembly and the right tiltable power assembly are adjusted according to the flight mode to achieve switching and flight between the vertical take-off and landing mode and the fixed-wing mode.

[0031] Optionally, when the flight mode is a vertical take-off and landing mode, the tilt angles of the left tiltable power assembly and the right tiltable power assembly are autonomously variable angles of 0-180°, and the angle of attack of the horizontal tail is autonomously variable angles of 0-45°; when the flight mode is a fixed-wing mode, the horizontal tail is in a horizontal state, locked at 0°, and the tilt angles of the left tiltable power assembly and the right tiltable power assembly are autonomously variable angles of 0-45°.

[0032] The present application provides a vertical take-off and landing / fixed-wing dual-mode flight aircraft and a flight control method thereof, which have the following technical effects:

[0033] The aircraft uses a minimum (at least 2 axes) of tiltable powertrains to achieve vertical takeoff and landing. It has both the characteristics of helicopters that do not require a high takeoff and landing site, and the performance of fixed-wing aircraft with long flight time and long flight distance, thereby greatly improving the efficiency of the aircraft. Compared with existing vertical takeoff and landing fixed-wing aircraft, the power system uses less, has low cost, low energy consumption, and light weight, so the flight efficiency is higher. At the same time, it has the ability to take off and land with fixed wings. When the power source is low and insufficient to support vertical landing or a failure occurs, the fixed wing can be used for gliding landing to complete the landing or reduce the risk. It can also be expanded into aircraft with more tiltable power shafts through the adjustment of the structure and control system to meet the flight needs under large loads. It is an excellent solution to achieve diversified, economical and portable transportation of small and medium-sized aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a three-dimensional structural diagram of an aircraft in a vertical take-off and landing mode according to one or more embodiments;

[0035] Figure 2 is a three-dimensional structural diagram of an aircraft in a vertical take-off and landing mode according to one or more embodiments;

[0036] Figure 3 is a schematic diagram of a fuselage of an aircraft according to one or more embodiments;

[0037] Figure 4 is a schematic diagram of a left wing and a right wing according to one or more embodiments;

[0038] Figure 5 is a schematic diagram of left movement according to one or more embodiments;

[0039] Figure 6 is a schematic diagram of right movement according to one or more embodiments;

[0040] Figure 7 is a schematic diagram of the connection between the left movement and the left wing according to one or more embodiments;

[0041] Figure 8 is a schematic diagram of left movement according to one or more embodiments;

[0042] Fig. 9 is a schematic diagram of the connection between the right movement and the right wing according to one or more embodiments;

[0043] Fig.10 is a schematic diagram of right movement according to one or more embodiments;

[0044] Fig.11 The schematic diagram of a flight control method for an aircraft according to one or more embodiments is shown. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] Before describing the various embodiments of the present application in detail, the technical concept of the present application is briefly described first: the existing two-axis aircraft is prone to unstable problems such as oscillation and swing in the vertical take-off and landing mode. For this reason, the present application provides a vertical take-off and landing / fixed-wing dual-mode flight aircraft and its flight control method. By setting a rotatable horizontal tail at the tail of the fuselage, setting a tiltable left and right movement on the left and right wings, and adjusting the positive attack angle of the horizontal tail and the tilt angle of the left and right movement, the stability of the flight process in the vertical take-off and landing flight mode can be improved. The specific principles of the aircraft and its flight control method of the present application are described below in combination with more embodiments.

[0047] Specifically, if Figure 1and Figure 2 As shown, the vertical take-off and landing / fixed-wing dual-mode flight aircraft (hereinafter referred to as "aircraft") of the present embodiment includes a fuselage 10, wings, a tail assembly, a left tiltable power assembly (hereinafter referred to as "left movement") 20, and a right tiltable power assembly (hereinafter referred to as "right movement") 30. The wings include a left wing 11 and a right wing 12 respectively arranged on the left and right sides of the fuselage 10; the tail assembly includes a fuselage tail, a vertical tail, and a horizontal tail 13, and the tilt angle of the horizontal tail 13 is 0-45°; the left tiltable power assembly 20 is installed on the left wing 11, and the left tiltable power assembly 20 can tilt around the forward, backward and upward directions of the fuselage, and the tilt angle is 0-180°; the right tiltable power assembly 30 is installed on the right wing 12, and the right tiltable power assembly 30 can tilt around the forward, backward and upward directions of the fuselage, and the tilt angle is 0-180°. By adjusting the positive angle of attack of the horizontal tail 13, the tilt angles of the left power assembly 20 and the right power assembly 30, the flight stability in different flight modes can be achieved.

[0048] like Figure 3 As shown, the fuselage 10 is the main structure of the aircraft, with built-in flight control, power source, communication and other equipment, and is also the basis of the main strength of the aircraft. Figure 4 As shown in FIG. 1 , the left wing 11 and the right wing 12 are the installation platforms of the tiltable power assembly and the lift source during fixed-wing flight. The overall structures of the left tiltable power assembly 20 and the right tiltable power assembly 30 are respectively as shown in FIG. Figure 5 and Figure 6 shown.

[0049] In one or more embodiments, Figure 7 As shown, a left moving fixed rod 11a is provided at the wing tip of the left wing 11, the left moving fixed rod 11a is connected to the fuselage 10, and the left moving 20 is mounted on the left moving fixed rod 11a and rotates. Exemplarily, the extension direction of the left moving fixed rod 11a is the length direction of the left wing 11.

[0050] Among them, Figure 8As shown, the left motion 20 includes a left tilt base 21, a left drive motor 22, a left propeller 23, a left servo 24, and a left driving gear 25. The left tilt base 21 is rotatably mounted on the left motion fixed rod 11a, and can realize 0-180° controllable rotation. The left drive motor 22 is mounted on the left tilt base 21, the rotating shaft of the left propeller 23 is connected to the output shaft of the left drive motor 22, the left servo 24 is mounted on the left tilt base 21, the left driving gear 25 is connected to the output shaft of the left servo 24, and the left motion fixed rod 11a is mounted with a left fixed gear 11b, and the left driving gear 11b is meshed with the left fixed gear 11b. The left drive motor 22 drives the left propeller 23 to rotate, providing a flight driving force; the left servo 24 drives the left driving gear 25 to rotate relative to the left fixed gear 11b, thereby adjusting the tilt angle of the left motion 20 to adjust the flight direction of the aircraft.

[0051] Exemplarily, the left driving motor 22 is mounted on the upper part of the left tilting base 21, the middle part of the left tilting base 21 is rotatably mounted on the left moving fixed rod 11a, and the left servo 24 is mounted on the lower part of the left tilting base 21. This layout can ensure the normal operation of the components of the left moving 20 without interfering with each other.

[0052] In one or more embodiments, Fig. 9 As shown, the wing tip of the right wing 12 is provided with a right moving fixing rod 12a, the right moving fixing rod 12a is connected to the fuselage 10, and the right moving 30 is rotatably mounted on the right moving fixing rod 12a. Exemplarily, the extension direction of the right moving fixing rod 12a is the length direction of the right wing 12.

[0053] Among them, Fig.10 As shown, the right motion 30 includes a right tilt base 31, a right drive motor 32, a right propeller 33, a right servo 34, and a right driving gear 35. The right tilt base 31 is rotatably mounted on the right motion fixed rod 12a, the right drive motor 32 is mounted on the right tilt base 31, the rotating shaft of the right propeller 33 is connected to the output shaft of the right drive motor 32, the right servo 34 is mounted on the right tilt base 31, the right driving gear 35 is connected to the output shaft of the right servo 32, the right motion fixed rod 12a is mounted with a right fixed gear 12b, and the right driving gear 35 is meshed with the right fixed gear 12b. The right drive motor 32 drives the right propeller 33 to rotate and provide a flight driving force; the right servo 34 drives the right driving gear 35 to rotate relative to the right fixed gear 12b, thereby adjusting the tilt angle of the right motion 30 to adjust the flight direction of the aircraft.

[0054] Exemplarily, the right driving motor 32 is mounted on the upper portion of the right tilt base 31 , the middle portion of the right tilt base 31 is rotatably mounted on the right moving fixing rod 12 a , and the right servo 34 is mounted on the lower portion of the right tilt base 31 .

[0055] In one or more embodiments, the horizontal tail 13 includes a left horizontal tail 13a and a right horizontal tail 13b symmetrically arranged on the left and right sides of the tail of the fuselage. The left horizontal tail 13a and the right horizontal tail 13b both include a top plate and a side plate, and the horizontal tail 13 plays an air damping role to reduce vibration and swing.

[0056] Furthermore, a rudder 14 is provided at the tail of the fuselage 10 , and the rudder 14 is located between the left horizontal tail 13 a and the right horizontal tail 13 b. The left wing 11 is also provided with a left aileron 15 , and the right wing 12 is also provided with a right aileron 16 .

[0057] In one or more embodiments, the flight control method of the aircraft includes: determining the flight mode of the aircraft, adjusting the angle of attack of the horizontal tail 13 and the tilt angles of the left tilt power assembly and the right tilt power assembly according to the flight mode, so as to achieve switching and flight between the vertical take-off and landing mode and the fixed-wing mode. When the flight mode is the vertical take-off and landing mode, the tilt angles of the left tilt power assembly 20 and the right tilt power assembly 30 are autonomously variable angles of 0-180°, and the angle of attack of the horizontal tail 13 is autonomously variable angles of 0-45°; when the flight mode is the fixed-wing mode, the horizontal tail 13 is in a horizontal state, locked at 0°, and the tilt angles of the left tilt power assembly 20 and the right tilt power assembly 30 are autonomously variable angles of 0-45°. Fig.11 As shown, the flight control principle in the vertical take-off and landing mode is explained below in combination with a specific flight mode.

[0058] (1) Ascending mode: the right movement 30 and the left movement 20 are both in a vertical posture (maintained in the direction of arrow A and arrow D respectively), and force is applied at the same time.

[0059] (2) Descending mode: the right movement 30 and the left movement 20 are both in a vertical posture (maintained in the direction of arrow A and arrow D respectively), and the force is reduced at the same time.

[0060] (3) Forward flight mode: both the right movement 30 and the left movement 20 are tilted forward (along arrows B and E, respectively), and force is applied at the same time.

[0061] (4) Backward flight mode: both the right movement 30 and the left movement 20 are tilted backward (along arrow C and arrow F, respectively), and force is applied at the same time.

[0062] (5) Left flying mode: The left movement 20 is in a vertical posture and the force is reduced (maintained in the direction of arrow A), and the right movement 30 is in a vertical posture and the force is increased (maintained in the direction of arrow D).

[0063] (6) Right flying mode: The left movement 20 is in a vertical posture and the force is increased (maintained in the direction of arrow A), and the right movement 30 is in a vertical posture and the force is reduced (maintained in the direction of arrow D).

[0064] (7) Left turn mode: The left movement 20 tilts backward and increases or decreases force (tilts along arrow C), and the right movement 30 tilts forward and increases or decreases force (tilts along arrow E).

[0065] (8) Right turn mode: The left movement 20 tilts forward and increases or decreases force (tilts along arrow B), and the right movement 30 tilts backward and decreases or increases force (tilts along arrow F).

[0066] The aircraft and flight control method provided by this embodiment are:

[0067] The aircraft uses a minimum (at least 2 axes) of tiltable powertrains to achieve vertical takeoff and landing. It not only has the characteristics of helicopters that do not require a high takeoff and landing site, but also has the performance of fixed-wing aircraft with long flight time and long flight distance, thereby greatly improving the efficiency of the aircraft. Compared with existing vertical takeoff and landing fixed-wing aircraft, the power system uses less, has low cost, low energy consumption, and light weight, so the flight efficiency is higher. At the same time, it has the ability to take off and land with fixed wings. When the power source is low and insufficient to support vertical landing or a failure occurs, the fixed wing can be used for gliding landing to complete the landing or reduce the risk. It can also be expanded into aircraft with more tiltable power shafts through the adjustment of the structure and control system to meet the flight needs under large loads. It is an excellent solution to achieve diversified, economical and portable transportation of small and medium-sized aircraft.

[0068] The specific implementation methods of the present application are described in detail above. Although some embodiments have been shown and described, those skilled in the art should understand that these embodiments can be modified and improved without departing from the principles and spirit of the present application whose scope is defined by the claims and their equivalents. These modifications and improvements should also be within the scope of protection of the present application.

Claims

1. A vertical take-off and landing / fixed-wing dual-mode aircraft, characterized in that: The aircraft comprises: body; Wings, the wings comprising a left wing and a right wing respectively arranged on the left and right sides of the fuselage; The tail assembly includes a fuselage tail, a vertical tail, and a horizontal tail, and the horizontal tail has a tilt angle of 0-45°; A left tiltable power assembly, which is installed on the left wing and can tilt around the forward, backward and upward directions of the fuselage, with a tilt angle of 0-180°; The right tiltable power assembly is installed on the right wing, and the right tiltable power assembly can be tilted around the forward, backward and upward directions of the fuselage, and the tilting angle is 0-180°.

2. The vertical take-off and landing / fixed-wing dual-mode flight aircraft according to claim 1, characterized in that: A left moving fixed rod is arranged at the wing tip of the left wing, the left moving fixed rod is connected to the fuselage, and the left tilting power assembly is installed on the left moving fixed rod and realizes rotation.

3. The vertical take-off and landing / fixed-wing dual-mode flight aircraft according to claim 2, characterized in that: The left tiltable powertrain comprises: A left-tilting rotating base, which is mounted on the left-moving fixed rod and can realize a controllable rotation of 0-180°; A left drive motor, the left drive motor being mounted on the left tilting base; A left propeller connected to an output shaft of the left drive motor; A left server, the left server being mounted on the left tilting base; A left rotating gear, the left transmission gear is connected to the output shaft of the left servo, the left moving fixed rod is equipped with a left fixed gear, and the left transmission gear is meshed with the left fixed gear.

4. The vertical take-off and landing / fixed-wing dual-mode flight aircraft according to claim 3, characterized in that: The left driving motor is installed on the upper part of the left tilting base, the middle part of the left tilting base is rotatably installed on the left moving fixing rod, and the left servo is installed on the lower part of the left tilting base.

5. The vertical take-off and landing / fixed-wing dual-mode flight aircraft according to claim 1, characterized in that: A right moving fixed rod is arranged at the wing tip of the right wing, the right moving fixed rod is connected to the fuselage, and the right tilting power assembly is installed on the right moving fixed rod and realizes rotation.

6. The vertical take-off and landing / fixed-wing dual-mode flight aircraft according to claim 5, characterized in that: The right tiltable powertrain comprises: A right tilting base, which is mounted on the right moving fixed rod and can realize a controllable rotation of 0-180°; A right drive motor, the right drive motor being mounted on the right tilting base; A right propeller, the rotating shaft of which is connected to the output shaft of the right driving motor; a right servo, the right servo being mounted on the right tilt base; A right driving gear is connected to the output shaft of the right servo, and a right fixed gear is installed on the right moving fixed rod, and the right driving gear is meshed with the right fixed gear.

7. The vertical take-off and landing / fixed-wing dual-mode flight aircraft according to claim 6, characterized in that: The right driving motor is installed on the upper part of the right tilt base, the middle part of the right tilt base is rotatably installed on the right moving fixing rod, and the right servo is installed on the lower part of the right tilt base.

8. The vertical take-off and landing / fixed-wing dual-mode flight aircraft according to claim 1, characterized in that: The all-movable horizontal tail comprises a left horizontal tail and a right horizontal tail which are symmetrically arranged on the left and right sides of the tail of the fuselage.

9. A flight control method for a vertical take-off and landing / fixed-wing dual-mode aircraft according to any one of claims 1 to 8, characterized in that: The flight control method comprises: determining a flight mode of the aircraft; The positive attack angle of the horizontal tail and the tilt angles of the left tiltable power assembly and the right tiltable power assembly are adjusted according to the flight mode to achieve switching and flight between the vertical take-off and landing mode and the fixed-wing mode.

10. The flight control method of an aircraft according to claim 9, characterized in that: When the flight mode is a vertical take-off and landing mode, the tilt angles of the left tiltable power assembly and the right tiltable power assembly are autonomously variable angles of 0-180°, and the angle of attack of the horizontal tail is autonomously variable angles of 0-45°; when the flight mode is a fixed-wing mode, the horizontal tail is in a horizontal state, locked at 0°, and the tilt angles of the left tiltable power assembly and the right tiltable power assembly are autonomously variable angles of 0-45°.

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