A vertical take-off and landing horizontal flight combined power unmanned aerial vehicle

Abstract

The application belongs to the field of aerospace technology, and particularly relates to a vertical take-off and landing horizontal flight combined power unmanned aerial vehicle, which comprises a fuselage, main wings, rotors, horizontal tail wings and movable vertical tail wings; the main wings are symmetrically connected to the middle part of the fuselage, and the rotors are symmetrically connected to the main wings on the two sides; the horizontal tail wings are symmetrically connected to the tail part of the fuselage, and the movable vertical tail wings are connected to the upper part of the tail part of the fuselage; a pressure measuring device is arranged on the movable vertical tail wings; the pressure measuring device collects the pressure on the two sides of the movable vertical tail wings to a flight control system, and the flight control system calculates the pressure difference between the left and right sides to control the deflection of the movable vertical tail wings. The cruising efficiency of the unmanned aerial vehicle is improved, the driving device and structure thereof are relatively simple and light compared with the full-motion vertical tail wing. Meanwhile, the unmanned aerial vehicle also has the cruising efficiency of a fixed-wing aircraft and the low requirement for a take-off and landing site of a rotor vertical take-off and landing aircraft.

Description

Technical Field

[0001] This application belongs to the field of aerospace technology, and specifically relates to a vertical take-off and landing horizontal flight combined-power unmanned aerial vehicle. Background Technology

[0002] With the gradual rise of the low-altitude economy, the demand for small and medium-sized unmanned aerial vehicles (UAVs) is also increasing. Especially in high-demand low-altitude automated operations, the multi-functionality and flexibility of UAVs have become the focus of market attention. In traditional aircraft, fixed-wing UAVs use horizontal takeoff and landing, a design that gives them excellent cruise performance, but also requires long runways, limiting the choice of operating environment. Due to their weight limitations, small and medium-sized fixed-wing UAVs generally have lower flight speeds. At low speeds, propeller efficiency is relatively high, and the propeller at the nose usually generates slipstream, which has a significant impact on the tail, causing yaw moment in the UAV. Adjusting the yaw moment with the rudder requires large rudder deflection and is not conducive to cruise, reducing drag, and improving the lift-to-drag ratio. Using an all-moving vertical tail would incur significant structural and propulsion costs.

[0003] In contrast, rotary-wing drones can take off and land vertically, have better site adaptability, and can take off and land flexibly in confined spaces. However, their design features result in lower cruise efficiency and limitations in terms of loiter time, flight speed, and range.

[0004] Therefore, how to more effectively improve the cruise efficiency of vertical take-off and landing drones is a problem that needs to be solved. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a vertical take-off and landing (VTOL) horizontal flight combined propulsion unmanned aerial vehicle (UAV) to solve the problems of low cruise efficiency and limitations in loiter time, flight speed, and range caused by existing VTOL UAVs.

[0006] The technical solution of this application is: a vertical take-off and landing horizontal flight combined power unmanned aerial vehicle, including a fuselage, main wing, rotor, horizontal tail and movable vertical tail;

[0007] The main wings consist of two sets and are symmetrically connected to both sides of the middle of the fuselage, while the rotors consist of multiple sets and are respectively connected to the main wings on both sides.

[0008] The horizontal tail has two sets and is symmetrically connected to both sides of the tail of the fuselage. The movable vertical tail is connected to the top of the tail of the fuselage, and a pressure measuring device is installed on the movable vertical tail.

[0009] The pressure measuring device collects the pressure on both sides of the movable vertical tail and transmits it to the flight control system. The flight control system calculates the pressure difference between the left and right sides and controls the deflection of the movable vertical tail.

[0010] Preferably, the pressure measuring device includes several symmetrical pressure measuring points arranged on both sides of the movable vertical tail fin near the leading edge; the movable vertical tail fin is inclined, and the several pressure measuring points are arranged at intervals along the inclined direction of the movable vertical tail fin, and the ratio of the tail fin area corresponding to each pressure measuring point on each side to the total tail fin area is collected as a weight to calculate the pressure difference between the left and right sides.

[0011] Preferably, the specific method for calculating the pressure difference between the left and right sides is as follows: three pressure measurement points are set on each side, and different weights are assigned to pressure measurement points at different heights. The ratio of the lateral projection of a certain pressure measurement point to the lateral projection of the tail fin is calculated and used as the weight of that pressure measurement point, namely K1, K2 and K3.

[0012] The pressure difference between the left and right sides is calculated as follows:

[0013] ;

[0014] In the formula, , , The pressures collected at the first, second, and third pressure measurement points on the left side are respectively; , , The pressures were collected at the first, second, and third pressure measurement points on the right side, respectively.

[0015] Preferably, the flight control system calculates the pressure difference between the left and right sides to control the deflection of the movable vertical tail, specifically as follows:

[0016] The flight control system sets standard flight speed, air density, and temperature, acquires the current flight speed, local air density, and current temperature, and sets a scaling factor based on the drone's flight speed, local air density, and temperature. The deflection angle of the movable vertical tail fin is calculated as follows: ;

[0017] proportionality coefficient The calculation is as follows: calculate the ratios of standard flight speed to current flight speed, standard air density to local air density, and standard temperature to current temperature, and then multiply them together.

[0018] Preferably, the fuselage is provided with a fixed vertical tail fin at the front end corresponding to the movable vertical tail fin, and a rotating shaft is provided at the rear end of the fixed vertical tail fin. The movable vertical tail fin is rotatably connected to the rotating shaft. The fuselage is also provided with a linear motor, a connecting rod, and a sliding groove. The linear motor is arranged perpendicular to the plane of symmetry of the UAV. The sliding groove is located inside the fixed vertical tail fin. One end of the connecting rod is connected to the rotating shaft, and the middle part is hinged to the output shaft of the linear motor. The output shaft of the linear motor has a certain amount of movement in the length direction of the connecting rod.

[0019] Preferably, there are four rotors, which are symmetrically suspended in pairs on the front and rear sides of the two main wings. An engine is installed inside each rotor, and a main battery connected to the engine is installed inside each main wing. When the UAV performs take-off and landing, the main motor supplies power to the engine.

[0020] The vertical takeoff and landing horizontal flight combined-powered unmanned aerial vehicle of this application has the following advantages:

[0021] Compared to other UAVs, this aircraft features reduced rudder trim and deflection, improving cruise efficiency. Compared to all-moving vertical tail fins, its drive system and structure are simpler and lighter. Simultaneously, this UAV combines the cruise efficiency of fixed-wing aircraft with the low requirements for takeoff and landing sites of rotary-wing vertical takeoff and landing aircraft. Furthermore, this aircraft employs a combined gasoline and electric propulsion system, utilizing the advantages of each power unit depending on the scenario: an electric propeller system during takeoff and landing, and a gasoline system during cruising and level flight. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this application;

[0023] Figure 2 This is a schematic diagram of the pressure measurement point layout on the vertical tail fin of this application;

[0024] Figure 3 This is a schematic diagram of the vertical tail fin drive device of this application.

[0025] 1. Shaft; 2. Linear motor; 3. Sliding groove; 4. Connecting rod; 5. Fuselage; 6. Main wing; 7. Rotor; 8. Horizontal tail fin; 9. Movable vertical tail fin; 10. Fixed vertical tail fin. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, not all, of the embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0027] The first aspect of this application provides a vertical take-off and landing horizontal flight combined-powered unmanned aerial vehicle, including a fuselage 5, a main wing 6, a rotor 7, a horizontal tail 8, and a movable vertical tail 9.

[0028] There are two sets of main wings 6, symmetrically connected to both sides of the middle of the fuselage 5. There are multiple sets of rotors 7, which are connected to the main wings 6 on both sides. In order to maintain high low-speed cruise characteristics, the main wings 6 adopt a high aspect ratio, straight wing arrangement, with a tip-to-root ratio of about one-third, and are located on the upper part of the fuselage 5 in a high-wing configuration.

[0029] The fuselage 5 has a propeller at the nose position, which is driven by a piston-type oil engine.

[0030] There are two sets of horizontal tail fins 8, which are symmetrically connected to both sides of the tail of the fuselage 5. The movable vertical tail fin 9 is connected to the upper part of the tail of the fuselage 5, and a pressure measuring device is installed on the movable vertical tail fin 9.

[0031] The pressure measuring device collects the pressure on both sides of the movable vertical tail 9 and transmits it to the flight control system. The flight control system calculates the pressure difference between the left and right sides and controls the deflection of the movable vertical tail 9.

[0032] By integrating the core structure of fuselage 5, main wing 6, rotor 7, horizontal tail 8 and movable vertical tail 9 with pressure measurement device, the UAV simultaneously possesses the basic characteristics of vertical take-off and landing of rotor 7 and horizontal flight of fixed wing, taking into account the dual advantages of low site requirements for vertical take-off and landing and high cruise efficiency of horizontal flight, and adapting to diverse operational scenarios under low-altitude economy.

[0033] Preferably, the pressure measuring device includes several symmetrical pressure measuring points arranged on both sides of the movable vertical tail fin 9 near the leading edge; the movable vertical tail fin 9 is inclined, and several pressure measuring points are arranged at intervals along the inclined direction of the movable vertical tail fin 9, and the ratio of the tail fin area corresponding to each pressure measuring point on each side to the total tail fin area is collected as a weight to calculate the pressure difference between the left and right sides.

[0034] The pressure measurement points are symmetrically arranged on both sides of the movable vertical tail fin 9 near the leading edge, and are arranged diagonally upwards and downwards at intervals. This allows the pressure measurement device to accurately and comprehensively collect pressure data from different areas of the tail fin, avoiding the one-sidedness of pressure measurement at a single location, improving the accuracy of pressure detection, and ensuring the reliability of yaw moment judgment.

[0035] Preferably, the specific method for calculating the pressure difference between the left and right sides is as follows: three pressure measurement points are set on each side, and different weights are assigned to pressure measurement points at different heights. The ratio of the lateral projection of a certain pressure measurement point to the lateral projection of the tail fin is calculated and used as the weight of that pressure measurement point, namely K1, K2 and K3.

[0036] The pressure difference between the left and right sides is calculated as follows:

[0037] ;

[0038] In the formula, , , The pressures collected at the first, second, and third pressure measurement points on the left side are respectively; , , The pressures were collected at the first, second, and third pressure measurement points on the right side, respectively.

[0039] In a specific example, the pressures measured on the vertical tail of the UAV during flight are shown in Table 1:

[0040]

[0041] Based on the formula for calculating the pressure difference between the left and right sides, we obtain .

[0042] The above design can accurately quantify the force difference on both sides of the movable vertical tail, directly reflecting the actual impact of the propeller slipstream on the tail, and providing accurate and quantitative basic data for the subsequent precise calculation of the tail deflection angle.

[0043] Preferably, the flight control system calculates the pressure difference between the left and right sides to control the deflection of the movable vertical tail, specifically as follows:

[0044] The flight control system sets standard flight speed, air density, and temperature, acquires the current flight speed, local air density, and current temperature, and sets a scaling factor based on the drone's flight speed, local air density, and temperature. The deflection angle of the movable vertical tail fin is calculated as follows: ;

[0045] proportionality coefficient The calculation is as follows: calculate the ratios of standard flight speed to current flight speed, standard air density to local air density, and standard temperature to current temperature, and then multiply them together.

[0046] By combining the actual flight environment parameters such as the drone's flight speed, local air density, and temperature to set a proportional coefficient, the calculation of the deflection angle of the movable vertical tail is no longer a fixed value, but can be dynamically adjusted according to real-time flight conditions. This adapts to the changes in slipstream influence under different flight speeds and airspace environments, achieving precise cancellation of yaw moment under all operating conditions.

[0047] Preferably, the fuselage 5 is provided with a fixed vertical tail 10 at the front end of the movable vertical tail 9, and a rotating shaft 1 is provided at the rear end of the fixed vertical tail 10. The movable vertical tail 9 is rotatably connected to the rotating shaft 1. The fuselage 5 is also provided with a drive device, including: a linear motor 2, a connecting rod 4 and a sliding groove 3. The linear motor 2 is arranged perpendicular to the plane of symmetry of the UAV. The sliding groove 3 is located in the fixed vertical tail 10. One end of the connecting rod 4 is connected to the rotating shaft 1, and the middle part is hinged to the output shaft of the linear motor 2. The output shaft of the linear motor 2 has a certain amount of movement in the length direction of the connecting rod 4.

[0048] An electric actuator pushes one side of the tail fin to rotate around tail fin pivot 1, causing the tail fin to deflect. Simultaneously, the end of the electric actuator slides horizontally within a groove. If the pressure is greater on the left, the tail fin deflects to the left; if the pressure is greater on the right, the tail fin deflects to the right.

[0049] The design of the connection structure of the fixed vertical tail 10 and the pivot 1 provides stable rotation support for the movable vertical tail 9, ensuring structural stability during tail deflection, avoiding tail swaying and deflection jamming during high-speed flight, and improving the safety and control stability of the UAV flight.

[0050] Preferably, there are four rotors 7, which are symmetrically suspended in pairs and connected to the front and rear sides of the two main wings 6. The rotors 7 are equipped with engines, and the main wings 6 are equipped with main batteries connected to the engines. When the UAV performs take-off and landing, the main motors supply power to the engines. This ensures lift balance during the UAV's vertical take-off and landing, avoids the fuselage 5 from tilting or deflecting during take-off and landing, and improves the stability and maneuverability of vertical take-off and landing.

[0051] In summary, this application has the following advantages:

[0052] Compared to other UAVs, this aircraft features reduced rudder trim and deflection, improving cruise efficiency. Compared to all-moving vertical tail fins, its drive system and structure are simpler and lighter. Simultaneously, this UAV combines the cruise efficiency of fixed-wing aircraft with the low requirements for takeoff and landing sites of rotary-wing vertical takeoff and landing aircraft. Furthermore, this aircraft employs a combined gasoline and electric propulsion system, utilizing the advantages of each power unit depending on the scenario: an electric propeller system during takeoff and landing, and a gasoline system during cruising and level flight.

[0053] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vertical takeoff and landing horizontal flight combined-power unmanned aerial vehicle, characterized in that, It includes the fuselage (5), main wings (6), rotors (7), horizontal tail (8), and movable vertical tail (9); The main wings (6) consist of two sets and are symmetrically connected to the two sides of the middle part of the fuselage (5), and the rotors (7) consist of multiple sets and are respectively connected to the main wings (6) on both sides; The horizontal tail fin (8) has two sets and is symmetrically connected to both sides of the tail of the fuselage (5). The movable vertical tail fin (9) is connected to the upper part of the tail of the fuselage (5). A pressure measuring device is provided on the movable vertical tail fin (9). The pressure measuring device collects the pressure on both sides of the movable vertical tail (9) and transmits it to the flight control system. The flight control system calculates the pressure difference between the left and right sides and controls the deflection of the movable vertical tail (9).

2. The vertical takeoff and landing horizontal flight combined-powered unmanned aerial vehicle as described in claim 1, characterized in that, The pressure measuring device includes several symmetrical pressure measuring points arranged on both sides of the movable vertical tail fin (9) near the leading edge. The movable vertical tail fin (9) is inclined, and several pressure measuring points are arranged at intervals along the inclined direction of the movable vertical tail fin (9). The ratio of the tail fin area corresponding to each pressure measuring point on each side to the total tail fin area is collected as a weight to calculate the pressure difference between the left and right sides.

3. The vertical takeoff and landing horizontal flight combined-powered unmanned aerial vehicle as described in claim 2, characterized in that, The specific method for calculating the pressure difference between the left and right sides is as follows: three pressure measurement points are set on each side, and different weights are assigned to pressure measurement points at different altitudes. The ratio of the lateral projection of a certain pressure measurement point to the lateral projection of the tail fin is calculated and used as the weight of that pressure measurement point, namely K1, K2 and K3. The pressure difference between the left and right sides is calculated as follows: ； In the formula, , , The pressures collected at the first, second, and third pressure measurement points on the left side are respectively; , , The pressures were collected at the first, second, and third pressure measurement points on the right side, respectively.

4. The vertical takeoff and landing horizontal flight combined-powered unmanned aerial vehicle as described in claim 3, characterized in that, The flight control system calculates the pressure difference between the left and right sides to control the deflection of the movable vertical tail (9), specifically: The flight control system sets standard flight speed, air density, and temperature, acquires the current flight speed, local air density, and current temperature, and sets a scaling factor based on the drone's flight speed, local air density, and temperature. The deflection angle of the movable vertical tail fin is calculated as follows: ; proportionality coefficient The calculation is as follows: calculate the ratios of standard flight speed to current flight speed, standard air density to local air density, and standard temperature to current temperature, and then multiply them together.

5. The vertical takeoff and landing horizontal flight combined-powered unmanned aerial vehicle as described in claim 4, characterized in that, The fuselage (5) is provided with a fixed vertical tail fin (10) at the front end of the movable vertical tail fin (9). The fixed vertical tail fin (10) is provided with a rotating shaft (1) at the rear end. The movable vertical tail fin (9) is rotatably connected to the rotating shaft (1). The fuselage (5) is also provided with a linear motor (2), a connecting rod (4) and a sliding groove (3). The linear motor (2) is set perpendicular to the plane of symmetry of the UAV. The sliding groove (3) is set inside the fixed vertical tail fin (10). The axis of the sliding groove (3) is perpendicular to the axis of the linear motor (2). One end of the connecting rod (4) is connected to the rotating shaft (1), and the middle part is hinged to the output shaft of the linear motor (2). The output shaft of the linear motor (2) has a certain amount of movement in the length direction of the connecting rod (4).

6. The vertical takeoff and landing horizontal flight combined-powered unmanned aerial vehicle as described in claim 1, characterized in that, The rotor (7) consists of four rotors, which are symmetrically suspended in pairs on the front and rear sides of the two main wings (6). The rotor (7) contains an engine, and the main wing (6) contains a main battery connected to the engine. When the UAV performs take-off and landing, the main motor supplies power to the engine.

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