Land-air dual mode switching and foldable propeller drive system

Abstract

This invention discloses a land-air dual-mode switching and foldable propeller drive system, belonging to the field of transportation technology. As the core of a land-air flying motorcycle, this system integrates a foldable propeller assembly, a land-air power switching mechanism, an attitude stabilization control module, and an energy management unit, achieving seamless switching and efficient drive between land travel and air flight modes. The foldable propeller employs a multi-stage folding structure, using electromagnetic drive to unfold / retract the blades, solving the technical problems of large size and inconvenient ground travel inherent in traditional flying vehicles. The land-air switching mechanism uses a hydraulic-electric composite drive, coupled with intelligent control algorithms, to complete mode switching within 15 seconds. The system features self-diagnosis, fault redundancy, and energy recovery functions, significantly improving the safety, maneuverability, and range of the land-air flying motorcycle, making it suitable for personal commuting, emergency rescue, and special operations.

Description

Technical Field

[0001] This invention relates to the field of transportation technology, specifically to a dual-mode switching and foldable propeller drive system for land-air flying motorcycles, which is particularly suitable for land-air flying motorcycles with dual functions of land driving and air flight, achieving seamless switching between the two modes and efficient drive. Background Technology

[0002] With the acceleration of urbanization and the development of the low-altitude economy, traditional ground transportation tools face problems such as congestion and low traffic efficiency, while single-function aircraft have limitations such as inconvenient ground movement and parking difficulties. The air-ground flying motorcycle, as a new type of transportation tool, combines the flexibility of a motorcycle with the three-dimensional mobility of an aircraft. It can be widely used in various scenarios such as short-distance urban commuting, emergency rescue, scenic area shuttles, and low-altitude inspections. It can flexibly navigate urban roads, avoiding ground congestion, and can quickly take off when needed, achieving efficient point-to-point travel. It has broad application prospects and market value, and its core technological level directly determines the practical application process and industrialization potential of this new type of transportation tool.

[0003] Currently, the development of land-air flying motorcycles faces numerous technical challenges, with the core bottleneck lying in the integrated design of the land-air dual-mode switching mechanism and the power system. Existing technologies employ fixed propeller designs in some land-air dual-purpose vehicles, resulting in high air resistance and poor maneuverability when traveling on the ground. This not only reduces speed but also increases energy consumption. Furthermore, the protruding propeller structure increases the risk of collisions on complex terrain, posing a safety hazard. Another solution uses folding propellers, but this suffers from complex folding structures, slow switching speeds, and insufficient reliability. The folding joints are prone to wear and jamming, and switching accuracy decreases over long-term use. Moreover, most solutions lack a folding locking mechanism, making the propeller susceptible to loosening after takeoff, affecting flight safety. Simultaneously, attitude control, power smoothness, and safety during land-air mode switching are also pressing technical challenges. Power output jerks during switching, and delayed attitude adjustments can lead to vehicle tilting and loss of control, especially in low-altitude, low-speed switching scenarios, significantly increasing safety risks.

[0004] For example, while the French Lazares LMV 496 flying motorcycle achieves land-to-air switching, its wheel-folding design is complex, containing multiple hydraulic drive components, resulting in high maintenance costs and a switching time of up to 60 seconds. This makes it difficult to meet the practical application requirements of emergency rescue and urgent commuting, which demand rapid response. Furthermore, its power system is not deeply adapted for land-to-air modes, leading to excessive energy consumption on the ground and limited flight range. Although domestic patents (such as CN119928478A) propose integrated land-to-air flying motorcycle solutions and optimize the propeller folding structure, they still have shortcomings in propeller folding mechanisms and mode switching control. They lack effective control mechanisms for attitude stability during power switching, making them prone to attitude deviations. In addition, the insufficient lightweight design of the folding mechanism results in excessive overall weight, further shortening flight range and failing to meet the requirements for long-term practical operation.

[0005] Furthermore, existing land-to-air flying motorcycles suffer from poor coordination between their switching mechanisms and power systems. Most designs employ independent control modules to manage the switching action and power output separately, leading to inconsistent power delivery during switching and potential power interruptions or overloads. This not only impacts the riding experience but also reduces component lifespan. Simultaneously, existing solutions lack robust safety mechanisms, failing to provide real-time monitoring and emergency response capabilities for folding mechanism malfunctions and power system anomalies, further limiting their industrial application. Therefore, there is an urgent need to develop a compact, fast-switching, precisely controlled, and reliable land-to-air dual-mode switching system with a foldable propeller drive to address the shortcomings of existing technologies and promote the practical application and industrialization of land-to-air flying motorcycles. Summary of the Invention

[0006] The purpose of this invention is to provide a dual-mode switching and foldable propeller drive system for land and air, which serves as the core of a land-air flying motorcycle. This system solves the technical problems of existing dual-mode vehicles, such as large size, slow switching, difficult operation, and low safety. It enables seamless switching and efficient drive between land driving and air flight modes, thereby improving the overall performance of the land-air flying motorcycle.

[0007] To achieve the above objectives, the present invention provides the following technical solution: The dual-mode switching and foldable propeller drive system, which is the core of the land-air flying motorcycle, includes a foldable propeller assembly, a land-air power switching mechanism, an attitude stabilization control module, an energy management unit, and a central control unit. The central control unit is connected to the other units in communication and coordinates the control to realize the switching and driving of the two modes of land driving and air flight.

[0008] Furthermore, the foldable propeller assembly includes a hub, at least two sets of foldable blades, an electromagnetic folding drive device, and a locking mechanism. The blades are connected to the hub via a rotating shaft. The electromagnetic folding drive device drives the blades to rotate around the rotating shaft to unfold or retract. The locking mechanism is used to fix the unfolded or retracted state of the blades.

[0009] Furthermore, the foldable blade adopts a three-stage folding structure, including a main blade, a middle blade, and a terminal blade. Each blade segment is connected by a hinge, and a torsion spring and a limiting device are installed at the hinge to achieve segmented folding. After being stored, the overall diameter is reduced to 35%-40% of the unfolded state.

[0010] Furthermore, the land-air power switching mechanism adopts a hydraulic-electric composite drive mode, including a hydraulic pump, an electric actuator, a transmission gear set and a clutch. The central control unit controls the engagement or disengagement of the clutch to realize the switching of power between the wheels and the propeller. During the switching process, the attitude stability control module adjusts the vehicle attitude in real time.

[0011] Furthermore, the attitude stabilization control module includes a gyroscope, accelerometer, magnetic compass, barometric altimeter, and attitude adjustment actuator. It collects vehicle attitude data in real time and transmits it to the central control unit. The PID control algorithm is used to adjust the propeller speed and direction to maintain vehicle stability.

[0012] Furthermore, the energy management unit includes a power battery pack, an energy recovery module, a voltage conversion module, and a charging management module. The energy recovery module recovers mechanical energy during braking or coasting and converts it into electrical energy, which is then stored in the power battery pack. The charging management module supports both fast charging and slow charging modes.

[0013] Furthermore, the central control unit has a built-in mode switching control algorithm. This algorithm automatically determines and executes mode switching based on vehicle speed, attitude, environmental parameters and user commands. The switching process takes no more than 15 seconds and maintains vehicle stability without significant bumps or tilting during the switching process.

[0014] Furthermore, it also includes a fault diagnosis and redundancy unit, which monitors the working status of each component in real time. When a fault is detected, it automatically switches to the backup drive mode to ensure the safe operation of the vehicle.

[0015] Furthermore, the foldable propeller assembly is provided in 4 sets, which are symmetrically arranged around the body of the land-air flying motorcycle. Each set of propeller assembly is independently driven and controlled, forming a redundant drive structure of four shafts and eight propellers.

[0016] Furthermore, it also includes a human-machine interface for displaying system operating status, mode switching prompts, and fault alarm information. It supports users to manually control mode switching and parameter settings, and also has voice control functionality.

[0017] Compared with existing technologies, the land-air dual-mode switching and foldable propeller drive system of the present invention has the following advantages: 1. Compact structure and high space utilization: It adopts a three-stage folding propeller structure, which greatly reduces the volume after storage, solving the problems of large size and high air resistance of traditional aircraft when traveling on the ground, and improving the flexibility and economy of ground travel.

[0018] 2. Fast switching and convenient operation: Through hydraulic-electric composite drive and intelligent control algorithm, the mode switching time is shortened to within 15 seconds, which is far superior to existing technologies (such as 60 seconds), meeting the rapid response requirements in practical applications.

[0019] 3. Stable attitude and high safety: It integrates a high-precision attitude stabilization control module and uses a PID control algorithm to adjust the vehicle's attitude in real time. Combined with a redundant drive structure of four shafts and eight propellers, it ensures stability and safety during mode switching and driving, reducing the risk of accidents.

[0020] 4. High energy efficiency and long range: The energy management unit has an energy recovery function, which can recover the mechanical energy during braking and gliding and convert it into electrical energy for storage and utilization. At the same time, it optimizes the energy distribution strategy, significantly improving the range of the land-air flying motorcycle and reducing energy consumption.

[0021] 5. Intelligent control and user-friendly: The central control unit has built-in intelligent algorithms that can automatically optimize the operating mode based on environmental parameters and user commands. The human-machine interface supports multiple control methods, improving user experience and reducing the operating threshold. Attached Figure Description

[0022] Figure 1 : Overall structural block diagram of the land-air dual-mode switching and foldable propeller drive system; Figure 2 Schematic diagram of the foldable propeller assembly; Figure 3 : Block diagram of the land-air power switching mechanism; Figure 4 Attitude stabilization control module structure block diagram; Figure 5 Energy Management Unit Structure Diagram. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] The dual-mode switching and foldable propeller drive system proposed in this invention serves as the core of the land-air flying motorcycle. It includes a foldable propeller assembly, a land-air power switching mechanism, an attitude stabilization control module, an energy management unit, and a central control unit. The central control unit is communicatively connected to the other units to coordinate control and realize the switching and driving of the two modes of land driving and air flight.

[0025] The foldable propeller assembly includes a hub, at least two sets of foldable blades, an electromagnetic folding drive device, and a locking mechanism. The blades are connected to the hub via a rotating shaft. The electromagnetic folding drive device drives the blades to rotate around the rotating shaft to unfold or retract. The locking mechanism is used to fix the blades in the unfolded or retracted state. The foldable blades adopt a three-stage folding structure, including a main blade, an intermediate blade, and a terminal blade. Each blade segment is connected by a hinge. A torsion spring and a limiting device are provided at the hinge to achieve segmented folding. After being retracted, the overall diameter is reduced to 35%-40% of the unfolded state.

[0026] The land-air power switching mechanism adopts a hydraulic-electric composite drive method, including a hydraulic pump, an electric actuator, a transmission gear set and a clutch. The central control unit controls the engagement or disengagement of the clutch to realize the switching of power between the wheels and the propeller. During the switching process, the attitude stability control module adjusts the vehicle attitude in real time.

[0027] The attitude stabilization control module includes a gyroscope, accelerometer, magnetic compass, barometric altimeter, and attitude adjustment actuator. It collects vehicle attitude data in real time and transmits it to the central control unit. The PID control algorithm is used to adjust the propeller speed and direction to maintain vehicle stability.

[0028] The energy management unit includes a power battery pack, an energy recovery module, a voltage conversion module, and a charging management module. The energy recovery module recovers mechanical energy during braking or coasting and converts it into electrical energy, which is then stored in the power battery pack. The charging management module supports both fast charging and slow charging modes.

[0029] The central control unit has a built-in mode switching control algorithm. Based on vehicle speed, attitude, environmental parameters and user commands, the algorithm automatically determines and executes mode switching. The switching process takes no more than 15 seconds and maintains vehicle stability without significant bumps or tilting during the switching process.

[0030] The system also includes a fault diagnosis and redundancy unit, which monitors the working status of each component in real time. When a fault is detected, it automatically switches to the backup drive mode to ensure the safe operation of the vehicle.

[0031] The foldable propeller assembly consists of four sets, symmetrically arranged around the body of the land-air flying motorcycle. Each set of propeller assemblies is independently driven and controlled, forming a redundant drive structure of four shafts and eight propellers.

[0032] The system also includes a human-machine interface for displaying system operating status, mode switching prompts, and fault alarm information. It supports manual control of mode switching and parameter settings by the user and also has voice control functionality.

[0033] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0034] (I) Overall System Structure The dual-mode switching and foldable propeller drive system of this invention serves as the core of the land-air flying motorcycle. Its overall structure is shown in Figure 1, and mainly includes: Foldable propeller assembly: There are 4 sets in total, symmetrically arranged around the vehicle body. Each set includes a hub, three-stage folding blades, electromagnetic folding drive device and locking mechanism. It is responsible for providing lift and thrust during flight and can be folded and stored to reduce volume when driving on the ground.

[0035] Land-to-air power switching mechanism: Located in the middle of the vehicle body, it connects the power source, wheel drive shaft and propeller drive shaft. It realizes power switching through hydraulic-electric hybrid drive to ensure smooth power output during mode conversion.

[0036] Attitude stabilization control module: includes a sensor group (gyroscope, accelerometer, magnetic compass, barometric altimeter) and attitude adjustment actuator, which monitors the vehicle's attitude in real time and makes dynamic adjustments to maintain driving stability.

[0037] Energy Management Unit: Includes power battery pack, energy recovery module, voltage conversion module and charging management module, responsible for energy storage, distribution, recovery and charging management, to improve energy utilization efficiency.

[0038] Central control unit: As the core of the system, it adopts a high-performance microprocessor, operating mode switching control algorithm, attitude control algorithm and fault diagnosis algorithm to coordinate the work of each unit and realize intelligent control.

[0039] Human-computer interaction interface: including display screen, operation buttons and voice recognition module, used for system status display and user command input, supporting manual and voice control mode switching and parameter setting.

[0040] (ii) Foldable propeller assembly structure The foldable propeller assembly is one of the core innovations of this invention, and its structure is shown in Figure 2, specifically including: Propeller hub: Made of high-strength aluminum alloy, with an integrated electromagnetic folding drive and locking mechanism inside, and a rotating shaft connected to the propeller blades on the outside.

[0041] The three-stage folding propeller comprises a main blade, intermediate blades, and a terminal blade. Each blade segment is connected by hinges, with torsion springs and limiting devices at the hinges to achieve segmented folding. The blades are made of carbon fiber composite material, which is lightweight, high-strength, and has good fatigue resistance.

[0042] Electromagnetic folding drive device: It consists of an electromagnet, a drive rod and a return spring. The electromagnet is powered on and off by the central control unit, which drives the drive rod to push the blade to rotate around the rotation axis to realize the unfolding or folding action.

[0043] Locking mechanism: including electromagnetic lock and locking groove. When the blade is extended or retracted, the electromagnetic lock pops out and embeds into the locking groove to fix the blade position, prevent displacement during operation, and ensure safety and stability.

[0044] The working process of the foldable propeller assembly is as follows: Deployment process: After receiving the flight mode command, the central control unit first activates the electromagnetic folding drive device. The electromagnet is energized to generate magnetic force, which drives the drive rod to push the propeller to rotate around the rotation axis. The main propeller first unfolds to the horizontal position, triggering the unlocking mechanism of the middle propeller. The middle propeller unfolds under the action of the torsion spring. Then the end propeller unfolds under the action of the torsion spring. When all three propellers have unfolded to their positions, the electromagnetic lock of the locking mechanism pops out, inserts into the locking groove to fix the propeller position, and completes the deployment process, which takes about 3 seconds. Retraction process: After receiving the land mode command, the central control unit first controls the electromagnetic lock to retract and unlock the propeller blades; the electromagnetic folding drive device drives in the reverse direction, the end propeller blade is first retracted to the inside of the middle propeller blade, then the middle propeller blade is retracted to the inside of the main propeller blade, and finally the main propeller blade is retracted to both sides of the propeller hub; after being retracted in place, the locking mechanism locks again, completing the retraction process, which takes about 2 seconds. The three-stage folding structure reduces the overall diameter of the propeller from 1800mm in the unfolded state to 650mm after it is folded up, a reduction of 63.9%. This significantly reduces air resistance and floor space when driving on the ground, improving the vehicle's passability and maneuverability.

[0045] (III) Structure of the Land-Air Power Switching Mechanism The land-to-air power switching mechanism is a key component for switching between land-based driving and air-based flight modes. Its structure is as follows: Figure 3 As shown, it specifically includes: Hydraulic pump: Powered by a battery pack, it generates high-pressure hydraulic oil to drive the hydraulic actuator.

[0046] Electric actuators: including servo motors and reduction gears, are used to precisely control the position and speed of transmission gear sets.

[0047] Transmission gear set: includes input gear, intermediate gear and output gear, which are connected to the power source, wheel drive shaft and propeller drive shaft respectively, and power is transmitted through gear meshing.

[0048] Clutch: Includes wheel clutch and propeller clutch, which respectively control the connection and disconnection of the power source with the wheel drive shaft and propeller drive shaft to realize power switching.

[0049] The working process of the land-air power switching mechanism is as follows: Switching between Land Mode and Flight Mode: After receiving the flight mode command, the central control unit first monitors the vehicle's status through the attitude stabilization control module to ensure that the vehicle is in a stable state. The hydraulic pump is started, driving the hydraulic actuator to lift the vehicle body, raising the wheels about 10cm off the ground to reduce ground friction. The wheel clutch is disengaged, the propeller clutch is engaged, and the foldable propeller assembly is deployed simultaneously. Once the propeller is fully deployed, the power source transmits power to the propeller drive shaft via a transmission gear set, driving the propeller to rotate and generate lift. When the lift reaches 1.2 times the vehicle's weight, the hydraulic actuator slowly descends, the vehicle is completely off the ground, and enters flight mode. The entire switching process takes about 15 seconds.

[0050] Switching between Flight Mode and Land Mode: After receiving the land mode command, the central control unit first controls the propeller to decelerate and reduce lift; The hydraulic actuators are activated, lifting the vehicle body in preparation for landing; When the vehicle is about 50cm off the ground, the propeller clutch disengages and the wheel clutch engages. The hydraulic actuator descends slowly, bringing the wheels into contact with the ground and gradually increasing the ground support force; Once the wheels have fully borne the vehicle's weight, the foldable propeller assembly is retracted. After the propeller is retracted into place, the hydraulic actuator resets, and the vehicle enters land driving mode. The entire switching process takes about 12 seconds.

[0051] The hydraulic-electric hybrid drive system ensures a smooth power switching process without noticeable jerking. In conjunction with the attitude stability control module, it ensures the vehicle's posture remains stable during the switching process, avoiding tilting or collisions and improving safety and comfort.

[0052] (iv) Attitude stabilization control module structure The attitude stabilization control module is a key component ensuring the safe operation of the air-to-ground flying motorcycle. Its structure is shown in Figure 4, and it specifically includes: Sensor group: Gyroscope: A MEMS gyroscope is used to measure the angular velocity of the vehicle body with an accuracy of ±0.01° / s, which is used to monitor the changes in the vehicle body's pitch angle, roll angle and yaw angle. Accelerometer: Measures the linear acceleration of the vehicle body with an accuracy of ±0.001g, and is used to monitor the acceleration, deceleration and vibration of the vehicle body; Magnetic compass: measures the azimuth of the vehicle body with an accuracy of ±0.5°, used to determine the vehicle's direction of travel; Barometric altimeter: measures the vehicle's altitude with an accuracy of ±0.1m, and is used for altitude control in flight mode.

[0053] Attitude adjustment actuator: Includes 4 independent propeller speed controllers and 2 rudders. It achieves pitch, roll and yaw control of the vehicle body by adjusting the speed difference of different propellers, and adjusts the flight direction by adjusting the rudders.

[0054] The working principle of the attitude stabilization control module is as follows: The sensor array collects data such as the vehicle's angular velocity, linear acceleration, azimuth angle, and altitude in real time and transmits them to the central control unit. The central control unit uses a PID control algorithm to process the data and calculate the deviation between the vehicle's actual attitude and the target attitude. Based on the deviation value, the central control unit sends control commands to the attitude adjustment actuator to adjust the speed of each propeller and the angle of the rudder, correcting the vehicle's attitude deviation and maintaining stable vehicle driving.

[0055] For example, when a vehicle is affected by crosswinds during flight and tends to roll, the gyroscope detects the change in roll rate. The central control unit calculates the required speed adjustment amount through a PID algorithm, controls the propeller speed on the windward side to increase and the propeller speed on the leeward side to decrease, generating a counter-torque to suppress the roll tendency and ensure vehicle stability.

[0056] The attitude stabilization control module also has an adaptive control function, which can automatically adjust the control parameters according to environmental changes (such as wind speed and road conditions) to improve control accuracy and adaptability.

[0057] (v) Energy Management Unit Structure The energy management unit is a crucial component for enhancing the range of the land-to-air flying motorcycle. Its structure is shown in Figure 5, and it specifically includes: Power battery pack: It uses lithium-ion batteries with a capacity of 200Ah, a voltage of 72V, and an energy density of 280Wh / kg to provide power for the vehicle.

[0058] Energy recovery module: including energy recovery controller, inverter and DC / DC converter. When the vehicle brakes or coasts, the wheel drive motor reverses to generate electricity as a generator. The energy recovery controller controls the inverter to convert AC power into DC power, and then the DC / DC converter adjusts the voltage and stores it in the power battery pack, with a recovery efficiency of 35%-40%.

[0059] Voltage conversion module: including DC / DC converter and DC / AC inverter, converts the voltage of the power battery pack to the voltage level required by each unit (such as 12V, 24V, 48V) to power the control system, sensors, actuators and other components.

[0060] Charging management module: Supports both fast and slow charging modes. In fast charging mode, the charging power reaches 60kW, and it can charge to 80% in 30 minutes; in slow charging mode, the charging power reaches 6kW, and it can be fully charged in 4 hours. The charging management module also has overcharge protection, over-discharge protection, overcurrent protection, and temperature protection functions to ensure the safe use and lifespan of the power battery pack.

[0061] The working process of the energy management unit is as follows: Power output process: The central control unit calculates the required power based on the vehicle's driving status (such as acceleration, constant speed, deceleration) and controls the power battery pack to output the corresponding current; the voltage conversion module converts the 72V voltage of the power battery pack into the voltage required by each unit to power the system; at the same time, it monitors the voltage, current and temperature of the power battery pack to ensure that it operates within a safe range.

[0062] Energy recovery process: When the vehicle brakes or coasts, the energy recovery module is activated, and the wheel drive motor reverses to generate electricity; the energy recovery controller controls the inverter to convert AC power to DC power, which is then regulated to 72V by the DC / DC converter and stored in the power battery pack; during the recovery process, the central control unit monitors the SOC (State of Charge) of the power battery pack in real time. When the SOC reaches 95%, the recovery power is automatically reduced to avoid overcharging.

[0063] Charging process: When the vehicle is connected to the charger, the charging management module first detects the charger type and parameters, and selects the fast charging or slow charging mode; it communicates with the power battery pack through the CAN bus to obtain battery status information; it controls the charging current and voltage to ensure the charging process is safe and efficient; when the power battery pack is fully charged or an abnormality occurs, it automatically stops charging and issues an alarm.

[0064] By optimizing energy distribution and recovery strategies, the energy management unit enables the land-air flying motorcycle to achieve a land range of 300km and an air range of 45 minutes, significantly improving the vehicle's practicality and economy.

[0065] Central control unit and control algorithm The central control unit is the "brain" of this invention. It uses the TMS320 series digital signal processor from TI as the core processing chip. This series of chips has high-speed computing power, multi-channel peripheral interfaces and stable real-time processing performance, which can meet the control requirements of this system for multi-sensor data acquisition, complex logic operations and fast command output.

[0066] The central control unit integrates a power management module, signal conditioning interface, communication interface, and drive output interface, which can be electrically connected to various sensor modules, actuator modules, and host computer interaction units. Through its built-in A / D conversion channel, it acquires analog signals such as temperature, pressure, speed, and displacement in real time, converting them into effective control parameters after digital filtering and error calibration. Simultaneously, it receives switch signals through GPIO ports to achieve logical control such as system start / stop, mode switching, and fault alarms.

[0067] At the control algorithm level, this invention employs a composite control algorithm integrating PID closed-loop regulation and fuzzy adaptive correction to optimize the nonlinearity, time delay, and external disturbance characteristics of the system during operation. First, the deviation is constructed by the difference between the preset target parameter and the real-time acquired feedback parameter. This deviation is then used by the PID controller to complete basic closed-loop regulation and output primary control commands. Next, using a fuzzy control rule base, the proportional, integral, and derivative coefficients of the PID algorithm are dynamically adjusted based on the system's real-time operating status, load variation, and environmental interference levels. This avoids problems such as overshoot, oscillation, and excessive steady-state error that are common in traditional PID control.

[0068] For scenarios involving coordinated actions of multiple actuators, the central control unit is also equipped with a timing scheduling algorithm. According to preset priorities and action logic, it synchronously coordinates and controls the start-up, stop, speed adjustment, and reversal of each actuator, ensuring that the actions of each module of the system are coherent, timely, and free from interference and conflict.

[0069] In addition, the control algorithm integrates fault diagnosis and protection logic. When fault signals such as overcurrent, overvoltage, overload, and sensor abnormality are detected, it can quickly trigger limiting, shutdown, or alarm commands to ensure the safe and stable operation of the system. It also uploads fault codes and operating data to the host computer through the communication interface for subsequent debugging and maintenance.

[0070] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. The core of the land-air dual-mode switching and foldable propeller drive system, a land-air flying motorcycle, is characterized by: It includes a foldable propeller assembly, a land-to-air power switching mechanism, an attitude stabilization control module, an energy management unit, and a central control unit. The central control unit is communicatively connected to the other units to coordinate control and realize the switching and driving of the two modes of land driving and air flight.

2. The land-air dual-mode switching and foldable propeller drive system according to claim 1, characterized in that: The foldable propeller assembly includes a hub, at least two sets of foldable blades, an electromagnetic folding drive device, and a locking mechanism. The blades are connected to the hub via a rotating shaft. The electromagnetic folding drive device drives the blades to rotate around the rotating shaft to unfold or retract. The locking mechanism is used to fix the unfolded or retracted state of the blades.

3. The land-air dual-mode switching and foldable propeller drive system according to claim 2, characterized in that: The foldable blade adopts a three-stage folding structure, including a main blade, a middle blade, and a terminal blade. Each blade is connected by a hinge, and a torsion spring and a limiting device are installed at the hinge to achieve segmented folding. After being stored, the overall diameter is reduced to 35%-40% of the unfolded state.

4. The land-air dual-mode switching and foldable propeller drive system according to claim 1, characterized in that: The land-air power switching mechanism adopts a hydraulic-electric composite drive method, including a hydraulic pump, an electric actuator, a transmission gear set and a clutch. The central control unit controls the engagement or disengagement of the clutch to realize the switching of power between the wheels and the propeller. During the switching process, the attitude stability control module adjusts the vehicle attitude in real time.

5. The land-air dual-mode switching and foldable propeller drive system according to claim 1, characterized in that: The attitude stabilization control module includes a gyroscope, accelerometer, magnetic compass, barometric altimeter, and attitude adjustment actuator. It collects vehicle attitude data in real time and transmits it to the central control unit. The PID control algorithm is used to adjust the propeller speed and direction to maintain vehicle stability.

6. The land-air dual-mode switching and foldable propeller drive system according to claim 1, characterized in that: The energy management unit includes a power battery pack, an energy recovery module, a voltage conversion module, and a charging management module. The energy recovery module recovers mechanical energy during braking or coasting and converts it into electrical energy, which is then stored in the power battery pack. The charging management module supports both fast charging and slow charging modes.

7. The land-air dual-mode switching and foldable propeller drive system according to claim 1, characterized in that: The central control unit has a built-in mode switching control algorithm. Based on vehicle speed, attitude, environmental parameters and user commands, the algorithm automatically determines and executes mode switching. The switching process takes no more than 15 seconds and maintains vehicle stability without significant bumps or tilting during the switching process.

8. The land-air dual-mode switching and foldable propeller drive system according to claim 1, characterized in that: It also includes a fault diagnosis and redundancy unit, which monitors the working status of each component in real time and automatically switches to the backup drive mode when a fault is detected to ensure the safe operation of the vehicle.

9. The land-air dual-mode switching and foldable propeller drive system according to claim 1, characterized in that: The foldable propeller assembly consists of four sets, symmetrically arranged around the body of the land-air flying motorcycle. Each set of propeller assemblies is independently driven and controlled, forming a redundant drive structure of four shafts and eight propellers.

10. The land-air dual-mode switching and foldable propeller drive system according to any one of claims 1-9, characterized in that: It also includes a human-machine interface for displaying system working status, mode switching prompts and fault alarm information, supports manual control of mode switching and parameter settings by users, and has voice control function.

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