High-speed anti-submarine unmanned aerial vehicle and flight control method thereof
Patent Information
- Application Number
- CN202510418173.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-03
- Publication Date
- 2026-10-16
AI Technical Summary
舰载直升机飞行速度低，其前往目标区域的时间较长，反潜效率也较低
[0023]This invention proposes a high-speed anti-submarine unmanned aerial vehicle (UAV) and its flight control method. The UAV can take off and land vertically on ship decks, with a maximum speed exceeding 400 km/h. The UAV's wings are foldable, resulting in a small footprint, and multiple UAVs can be deployed simultaneously on a ship. Magnetic anomaly detectors are mounted on the wingtips of the UAV, and a torpedo is carried on the fuselage. Multiple UAVs can be launched to conduct distributed, coordinated anti-submarine operations. The coaxial tail-seat high-speed unmanned anti-submarine platform proposed in this invention possesses greater operational efficiency and rapid response capabilities than existing anti-submarine helicopters, effectively enhancing the fleet's situational awareness and combat capabilities.
Smart Images
Figure CN122915437A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of anti-submarine technology for unmanned aerial vehicles (UAVs), and particularly relates to a high-speed anti-submarine UAV and its flight control method. Background Technology
[0002] Submarines and other underwater vehicles pose a significant threat to fleet security. Currently, the fleet primarily relies on shipborne helicopters equipped with sonar and magnetic anomaly detectors for submarine searches and torpedo attacks. However, shipborne helicopters have low flight speeds, resulting in long travel times to target areas and relatively low anti-submarine warfare (ASW) efficiency. Furthermore, limited hangar space on ships restricts the number of helicopters that can be accommodated, further limiting the fleet's ASW efficiency. To address future high-intensity ASW demands, new ASW models are needed to improve the fleet's overall ASW efficiency. Summary of the Invention
[0003] To address the problem in the background art where limited hangar space on ships restricts the number of helicopters that can be carried, thus limiting the anti-submarine warfare efficiency of the fleet, this invention provides a high-speed anti-submarine unmanned aerial vehicle and its flight control method.
[0004] On one hand, the present invention provides a high-speed anti-submarine drone, which includes: a coaxial dual rotor located at the nose position, a foldable wing located above the fuselage, and a cross-shaped tail fin; the high-speed anti-submarine drone also includes: a retractable electronically controlled harpoon device located at the tail of the drone, a magnetic anomaly detector located at the wingtip of the wing, and an anti-submarine torpedo located in the belly of the fuselage.
[0005] Furthermore, the coaxial dual rotor is equipped with an automatic swashplate and servo actuators, enabling collective pitch control and cyclic pitch control. Adjusting the rotor collective pitch can change the rotor thrust, and adjusting the rotor cyclic pitch can change the rotor hub torque.
[0006] Furthermore, the foldable wings on the fuselage unfold during horizontal flight and fold during vertical flight.
[0007] Furthermore, after the drone lands on the ship, the retractable, electrically controlled harpoon device is fixedly connected to the metal grille on the ship's deck.
[0008] Secondly, the present invention also provides a flight control method for a high-speed anti-submarine unmanned aerial vehicle, the method comprising:
[0009] The flight modes of high-speed anti-submarine drones include: vertical flight mode, horizontal flight mode, flight mode transitioning between vertical and horizontal flight, and flight mode transitioning between horizontal and vertical flight.
[0010] Furthermore,
[0011] In vertical flight mode, the wings fold downwards, and the coaxial dual rotors generate vertical thrust to balance gravity. Adjusting the rotor collective pitch can change the rotor thrust. Adding periodic pitch control to the rotors, along with the control torque provided by the rotor airflow acting on the tail, together achieves vertical flight control of the UAV.
[0012] Furthermore,
[0013] In horizontal flight mode, the coaxial dual rotors provide forward thrust for the UAV. When the wings are deployed, they generate lift to balance gravity. The ailerons on the wings and the tail control surfaces on the tail provide roll, pitch and yaw moments, respectively.
[0014] Furthermore,
[0015] In the transition flight mode from vertical to horizontal flight, after the anti-submarine drone climbs vertically to a safe altitude, its wings unfold, and the drone is controlled by a combination of coaxial dual rotors and tail fins to switch from vertical flight to high-speed horizontal flight.
[0016] Furthermore,
[0017] In the transition flight mode from horizontal to vertical flight, the drone transitions from horizontal to vertical flight by climbing at an angle. After transitioning to vertical flight, the wings fold and the drone lands vertically.
[0018] Thirdly, the present invention also provides a method for an anti-submarine drone to perform anti-submarine missions, the method comprising:
[0019] S1, multiple anti-submarine drones carrying torpedoes and magnetic anomaly detectors took off vertically from the ship's deck, quickly switched to horizontal flight, and then flew forward at high speed to the target area;
[0020] S2: Multiple anti-submarine drones conduct distributed anti-submarine operations, using magnetic anomaly detectors to detect underwater targets;
[0021] S3, after detecting an underwater target, transmits the detection information back to the rear ships and other anti-submarine drones, and the anti-submarine drones airdrop torpedoes to attack the underwater target;
[0022] After completing its anti-submarine detection and attack mission, the anti-submarine drone returned to the airspace above the rear ship for a vertical landing recovery.
[0023] This invention proposes a high-speed anti-submarine unmanned aerial vehicle (UAV) and its flight control method. The UAV can take off and land vertically on ship decks, with a maximum speed exceeding 400 km / h. The UAV's wings are foldable, resulting in a small footprint, and multiple UAVs can be deployed simultaneously on a ship. Magnetic anomaly detectors are mounted on the wingtips of the UAV, and a torpedo is carried on the fuselage. Multiple UAVs can be launched to conduct distributed, coordinated anti-submarine operations. The coaxial tail-seat high-speed unmanned anti-submarine platform proposed in this invention possesses greater operational efficiency and rapid response capabilities than existing anti-submarine helicopters, effectively enhancing the fleet's situational awareness and combat capabilities. Attached Figure Description
[0024] Figure 1 This is a schematic diagram of the structure of a high-speed anti-submarine drone provided in an embodiment of the present invention;
[0025] 1. Coaxial twin rotors 2. Fuselage 3. Foldable wings 4. Ailerons 5. Tail 6. Tail control surfaces
[0026] 7. Magnetic anomaly detector 8. Torpedo
[0027] Figure 2 This is a schematic diagram of the wing deployment and folding states of a high-speed anti-submarine drone provided in an embodiment of the present invention; the left side is a schematic diagram of the wing unfolded, and the right side is a schematic diagram of the wing folded.
[0028] Figure 3 This invention provides a schematic diagram of a high-speed anti-submarine drone being fixedly connected to a ship's deck.
[0029] Figure 4 A schematic diagram of the vertical flight of a high-speed anti-submarine drone provided in an embodiment of the present invention;
[0030] Figure 5 This is a schematic diagram illustrating the transition between vertical and horizontal flight of a high-speed anti-submarine drone, provided as an embodiment of the present invention. Detailed Implementation
[0031] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
[0032] This invention provides a high-speed anti-submarine drone, which includes: a coaxial dual rotor located at the nose position, a foldable wing located above the fuselage, and a cross-shaped tail fin; the high-speed anti-submarine drone also includes: a retractable electronically controlled harpoon device located at the tail of the drone, a magnetic anomaly detector located at the wingtip of the wing, and an anti-submarine torpedo located in the belly of the fuselage.
[0033] The coaxial twin rotor is equipped with an automatic swashplate and servo actuators, enabling collective pitch control and cyclic pitch control. Adjusting the rotor collective pitch can change the rotor thrust, and adjusting the rotor cyclic pitch can change the rotor hub torque.
[0034] The foldable wings on the fuselage unfold when flying horizontally and fold when flying vertically.
[0035] After the drone lands on the ship, the retractable, electrically controlled harpoon device is fixedly connected to the metal grille on the ship's deck.
[0036] This invention also provides a flight control method for a high-speed anti-submarine unmanned aerial vehicle (UAV), the method comprising:
[0037] The flight modes of high-speed anti-submarine drones include: vertical flight mode, horizontal flight mode, flight mode transitioning between vertical and horizontal flight, and flight mode transitioning between horizontal and vertical flight.
[0038] In vertical flight mode, the wings fold downwards, and the coaxial dual rotors generate vertical thrust to balance gravity. Adjusting the rotor collective pitch can change the rotor thrust. Adding periodic pitch control to the rotors, along with the control torque provided by the rotor airflow acting on the tail, together achieves vertical flight control of the UAV.
[0039] In horizontal flight mode, the coaxial dual rotors provide forward thrust for the UAV. When the wings are deployed, they generate lift to balance gravity. The ailerons on the wings and the tail control surfaces on the tail provide roll, pitch and yaw moments, respectively.
[0040] In the transition flight mode from vertical to horizontal flight, after the anti-submarine drone climbs vertically to a safe altitude, its wings unfold, and the drone is controlled by a combination of coaxial dual rotors and tail fins to switch from vertical flight to high-speed horizontal flight.
[0041] In the transition flight mode from horizontal to vertical flight, the drone transitions from horizontal to vertical flight by climbing at an angle. After transitioning to vertical flight, the wings fold and the drone lands vertically.
[0042] This invention also provides a method for an anti-submarine drone to perform anti-submarine missions, the method comprising:
[0043] S1, multiple anti-submarine drones carrying torpedoes and magnetic anomaly detectors took off vertically from the ship's deck, quickly switched to horizontal flight, and then flew forward at high speed to the target area;
[0044] S2: Multiple anti-submarine drones conduct distributed anti-submarine operations, using magnetic anomaly detectors to detect underwater targets;
[0045] S3, after detecting an underwater target, transmits the detection information back to the rear ships and other anti-submarine drones, and the anti-submarine drones airdrop torpedoes to attack the underwater target;
[0046] After completing its anti-submarine detection and attack mission, the anti-submarine drone returned to the airspace above the rear ship for a vertical landing recovery.
[0047] Specifically,
[0048] To meet the requirements of shipborne anti-submarine missions, this invention proposes a high-speed anti-submarine unmanned aerial vehicle (UAV). Figure 1 The main characteristics of anti-submarine drones are as follows:
[0049] 1) The anti-submarine drone is powered by a single turboshaft engine, which is decelerated by a reducer and then drives a coaxial dual rotor located at the nose to provide thrust.
[0050] 2) The coaxial dual rotors of the anti-submarine drone have collective pitch control and cyclic pitch control capabilities. Adjusting the rotor collective pitch can achieve changes in rotor thrust, and adjusting the rotor cyclic pitch can achieve changes in rotor hub torque.
[0051] 3) The anti-submarine drone has foldable wings mounted on its fuselage. Figure 2 The wings unfold to provide lift during horizontal flight and fold during vertical flight to reduce the frontal area, which is beneficial for takeoff and landing in strong winds on the deck.
[0052] 4) The anti-submarine drone adopts a cross-shaped tail configuration. The tail fins can provide pitch, roll and yaw control torques for the drone and can also be used as landing gear for support during landing.
[0053] 5) The anti-submarine drone is equipped with a retractable, electrically controlled harpoon device at its tail, which can be fixed to the metal grille on the ship's deck to improve landing safety. Figure 3 );
[0054] 6) The anti-submarine drone is equipped with magnetic anomaly detectors at the wingtips for detecting underwater targets, and an anti-submarine torpedo is mounted on the fuselage for attacking targets.
[0055] Anti-submarine drones possess vertical takeoff and landing, hovering, and high-speed forward flight capabilities. The specific principles underlying vertical flight, horizontal flight, and flight mode switching are as follows:
[0056] 1) In vertical flight mode, the wings fold downwards, and the coaxial dual rotors generate vertical thrust to balance gravity. Adjusting the rotor collective pitch allows for variations in rotor thrust. To enhance the anti-submarine drone's wind resistance during vertical flight, cyclic pitch control is added to the rotors to provide hub control torque. This, combined with the control torque provided by the rotor airflow acting on the tail fin, enables vertical flight control of the drone. Figure 4The multi-torque combination control method enables anti-submarine drones to achieve better vertical flight control performance and wind resistance;
[0057] 2) In horizontal flight mode, the coaxial dual rotors provide forward thrust for the UAV. When the wings are deployed, the wings generate lift to balance gravity. The ailerons on the wings and the tail control surfaces on the tail provide roll, pitch and yaw moments, respectively.
[0058] 3) In the transition flight mode from vertical to horizontal flight, after the anti-submarine drone climbs vertically to a safe altitude, its wings unfold, and the drone is controlled by a combination of rotor and tail fin maneuvers to transition from vertical to high-speed horizontal flight. Figure 4 );
[0059] 4) In the transition flight mode from horizontal to vertical flight, the UAV transitions from horizontal to vertical flight by climbing at an angle. After transitioning to vertical flight, the wings fold, and the UAV lands vertically. Figure 5 ).
[0060] The main process of anti-submarine drones performing anti-submarine missions is as follows:
[0061] 1) Multiple anti-submarine drones, equipped with torpedoes and magnetic anomaly detectors, took off vertically from the ship's deck, quickly switched to horizontal flight, and then flew forward at high speed to the target area;
[0062] 2) Multiple anti-submarine drones conduct distributed anti-submarine operations, using magnetic anomaly detectors to detect underwater targets;
[0063] 3) After detecting an underwater target, the detection information will be transmitted back to rear ships and other anti-submarine drones.
[0064] Anti-submarine drones airdrop torpedoes to attack underwater targets;
[0065] After completing its anti-submarine detection and attack mission, the anti-submarine drone returned to the airspace above the rear ship for a vertical landing recovery.
[0066] To address the demands of future high-intensity anti-submarine warfare, this invention proposes a high-speed anti-submarine unmanned aerial vehicle (UAV) solution. The UAV can take off and land vertically on ship decks, with a maximum speed exceeding 400 km / h. Its foldable wings reduce its footprint, allowing multiple UAVs to be deployed simultaneously on a ship. Magnetic anomaly detectors are mounted on the wingtips, and a torpedo is carried on the fuselage. Multiple UAVs can be launched to conduct distributed, coordinated anti-submarine operations.
[0067] The coaxial tail-mounted high-speed unmanned anti-submarine platform proposed in this invention has stronger operational efficiency and rapid response capability than existing anti-submarine helicopters, and can effectively enhance the fleet's situational awareness and combat capabilities.
Claims
1. A high-speed anti-submarine drone, characterized in that, The high-speed anti-submarine drone includes: a coaxial dual rotor located at the nose position, foldable wings located on the upper part of the fuselage, and a cross-shaped tail fin; the high-speed anti-submarine drone also includes: a retractable electronically controlled harpoon device located at the tail of the drone, a magnetic anomaly detector located at the wingtip of the wing, and an anti-submarine torpedo located on the belly of the fuselage.
2. The high-speed anti-submarine drone according to claim 1, characterized in that, The coaxial twin rotor is equipped with an automatic swashplate and servo actuators, enabling collective pitch control and cyclic pitch control. Adjusting the rotor collective pitch can change the rotor thrust, and adjusting the rotor cyclic pitch can change the rotor hub torque.
3. A high-speed anti-submarine drone according to claim 1, characterized in that, The foldable wings on the fuselage unfold when flying horizontally and fold when flying vertically.
4. A high-speed anti-submarine drone according to claim 1, characterized in that, After the drone lands on the ship, the retractable, electrically controlled harpoon device is fixedly connected to the metal grille on the ship's deck.
5. A flight control method for a high-speed anti-submarine unmanned aerial vehicle, characterized in that, The method is used to manipulate a drone as described in any one of claims 1-4, the method comprising: The flight modes of high-speed anti-submarine drones include: vertical flight mode, horizontal flight mode, flight mode transitioning between vertical and horizontal flight, and flight mode transitioning between horizontal and vertical flight.
6. The flight control method for a high-speed anti-submarine unmanned aerial vehicle according to claim 5, characterized in that, In vertical flight mode, the wings fold downwards, and the coaxial dual rotors generate vertical thrust to balance gravity. Adjusting the rotor collective pitch can change the rotor thrust. Adding periodic pitch control to the rotors, along with the control torque provided by the rotor airflow acting on the tail, together achieves vertical flight control of the UAV.
7. The flight control method for a high-speed anti-submarine unmanned aerial vehicle according to claim 5, characterized in that, In horizontal flight mode, the coaxial dual rotors provide forward thrust for the UAV. When the wings are deployed, they generate lift to balance gravity. The ailerons on the wings and the tail control surfaces on the tail provide roll, pitch and yaw moments, respectively.
8. The flight control method for a high-speed anti-submarine unmanned aerial vehicle according to claim 5, characterized in that, In the transition flight mode from vertical to horizontal flight, after the anti-submarine drone climbs vertically to a safe altitude, its wings unfold, and the drone is controlled by a combination of coaxial dual rotors and tail fins to switch from vertical flight to high-speed horizontal flight.
9. The flight control method for a high-speed anti-submarine unmanned aerial vehicle according to claim 5, characterized in that, In the transition flight mode from horizontal to vertical flight, the drone transitions from horizontal to vertical flight by climbing at an angle. After transitioning to vertical flight, the wings fold and the drone lands vertically.
10. A method for an anti-submarine unmanned aerial vehicle (UAV) to perform anti-submarine missions, characterized in that, The method is applied to a drone as described in any one of claims 1-4, the method comprising: S1, multiple anti-submarine drones carrying torpedoes and magnetic anomaly detectors took off vertically from the ship's deck, quickly switched to horizontal flight, and then flew forward at high speed to the target area; S2: Multiple anti-submarine drones conduct distributed anti-submarine operations, using magnetic anomaly detectors to detect underwater targets; S3, after detecting an underwater target, transmits the detection information back to the rear ships and other anti-submarine drones, and the anti-submarine drones airdrop torpedoes to attack the underwater target; After completing its anti-submarine detection and attack mission, the anti-submarine drone returned to the airspace above the rear ship for a vertical landing recovery.