104 results about "Thrust vectoring" patented technology

The invention belongs to the technical field of three-dimensional vision measurement, and relates to a deformation measurement method and system of a composite vision measurement unit. The internal and external parameters of the binocular measurement unit are obtained according to the image of the thrust vectoring nozzle target area calibration plate; obtaining coordinates of all binocular measurement units in the same reference coordinate system according to the internal and external parameters and the images of the thrust vectoring nozzles with the first coded mark points, and obtaining coordinates of all binocular measurement units in a unified coordinate system; and acquiring full-field deformation of all target areas of the thrust vectoring nozzle according to the speckle images of the target areas of the thrust vectoring nozzle in the working state and the coordinates of the unified coordinate system of all binocular measurement units. According to the invention, a digital image correlation method and a close-range photogrammetry technology are utilized to realize coordinate system unification and full-field deformation measurement. Compared with a traditional method, the measurement times and data processing steps are reduced, and the measurement efficiency is improved.

An aerial and preferably marine vehicle intended to operate in its principal mode near the surface of water or land employing the Wing-in-Ground Effect (WIG) and capable to take-off and land vertically (VTOL) by means of thrust vectoring, which vehicle has a wing arranged at the lowermost part of the fuselage, propulsion units comprising four rotatable pylons extending transversely in pairs on both sides of the upper part of the fuselage, four elongated nacelles mounted on the outer tips of said pylons, which nacelles contain electric motors (E) and provided with propellers at their extremities, so that the rotation of the pylons results in turning the nacelles and thrust of propellers from substantially vertical, ensuring take-off and landing, to substantially horizontal providing a flight mode, retractable hydroskis for emergency landing on water, while said propulsion units and said wing are spaced apart vertically and horizontally and do not overlap.

An aircraft having a plurality of independent yaw control mechanisms includes an airframe having a central fuselage sized to hold at least one operator or payload and a wing extending from the fuselage. The aircraft includes a distributed thrust array coupled to the airframe, the thrust array having at least a first, second, and third pair of propulsion assemblies. Each propulsion assembly includes a rotor and is operable for at least single-axis thrust vectoring. The aircraft further includes a flight control system operable to independently control and combine each yaw mechanism of the propulsion assemblies. The yaw mechanisms for inducing a yaw moment include: canting at least one pair of propulsion assemblies away from the fuselage, selectively tilting at least one pair of propulsion assemblies forwards and backwards, varying an aerodynamic control surface of at least one propulsion assembly, and varying a rotational speed of at least one propulsion assembly.

The invention relates to the field of unmanned aerial vehicles, and discloses a tilting type composite thrust system of a small fixed-wing aircraft, comprising: a physical bearing and power unit module comprising wings and six groups of tilting thrust units on the wings, each group of unit being composed of a turboprop engine and a variable pitch propeller and generating thrust; the thrust vector adjusting module comprises six sets of electric tilting joints and drives the tilting thrust unit to rotate so as to adjust the thrust direction. The state sensing and feedback module is provided with an angle sensor for monitoring the tilting angle in real time; the cooperation and synchronization control module comprises a synchronization controller which is connected with the angle sensor and the electric tilting joints and controls the six sets of electric tilting joints to be converted in batches according to the monitored angle. According to the invention, the integrated electric tilting joint is arranged, and the joint contains a main tilting shaft for wide-angle mode switching and an auxiliary fine tuning shaft for small-range active compensation, so that two adjusting mechanisms with different functions are integrated in a single structure.

The invention relates to the technical field of aircrafts, and discloses a balanced multi-rotor aircraft which comprises a framework structure, a control part and an energy storage part are arranged on the framework structure, the framework structure comprises a supporting part, a flight arm is rotationally connected to the supporting part, a rotor part is arranged at the free end of the flight arm, and the control part comprises a connecting rod mechanism installed on the supporting part. The connecting rod mechanisms are used for controlling the rotation angles of the rotor wing parts around the axes of the flight arms, and when the two rotor wing parts located on the same axis rotate around the axes in the same direction, the aircraft translates in a horizontal posture; according to the unmanned aerial vehicle, the flying arms are arranged by using a plus sign or cross-shaped frame, the rotor wing parts incline and enable the aircraft to move forwards or backwards when the flying arms are rotated, the rotor wing parts which are not inclined can concentrate on stability, pitching and yawing of the main body fuselage cannot be caused, and yawing can be achieved by changing the rotating speed or thrust vector of the rotor wing parts in the same direction.

The application discloses a shaft-symmetrical rocket-based combined engine with a variable geometry throat, which comprises a combustion chamber and a square flow channel section in communication in an axial direction from front to back; the shell of the combustion chamber is surrounded by a bottom support bottom plate and a top plate, the bottom support bottom plate is horizontal, and the top plate is a semicircular arc shape which is arched upward; the square flow channel section is a cuboid cavity, and an upper variable structure geometry throat and a lower variable structure geometry throat which are consistent with the size of corresponding holes are embedded in the holes at the upper part and the lower part; the upper variable structure geometry throat and the lower variable structure geometry throat are both plate bodies in the shape of an inclined wedge, the tip of the inclined wedge faces the rear, and the inclined surface sides of the inclined wedge both face the cavity; the upper variable structure geometry throat and the lower variable structure geometry throat are used for changing the flow channel geometry throat area in the square flow channel section. The engine is matched with the flight state by reducing the throat area with the increase of the flight Mach number, the engine performance is improved, and the engine thrust vector adjustment can be realized.

The invention belongs to the technical field of aero-engines, and particularly relates to a thrust vectoring nozzle actuator cylinder telescopic mechanical adjusting tool. Comprising a force-bearing rod, one end of the force-bearing rod is a threaded section with an external thread, and the other end of the force-bearing rod is provided with a clamping jaw; the movable bearing sleeve is sleeved on the inner side of the threaded section of the bearing rod in a sliding manner and is provided with a clamping jaw; the contraction nut is mounted on the threaded section; the two clamping jaws act on the piston rod of the actuating cylinder and the fixed end of the actuating cylinder respectively, the adjusting nut is screwed in to enable the movable force bearing sleeve to move towards the other end, and the two clamping jaws enable the piston rod to retract into the actuating cylinder. The expansion rod tool and the contraction rod tool are similar in structure, the two clamping jaws act on a piston rod of the actuator cylinder and the fixed end of the actuator cylinder respectively, the expansion nut is screwed out to enable the right supporting rod to move in the direction away from the left supporting rod, and the two clamping jaws enable the piston rod to stretch out.

The application provides a vertical take-off and landing aircraft driven by longitudinal double vectors, and belongs to the technical field of aircrafts. The aircraft comprises a fuselage, a rotor, a front vector driver and a rear vector driver. The rotor is rotatably connected to the middle top end of the fuselage through a rotor shaft. The front vector driver and the rear vector driver are rotatably connected to the front part of the fuselage and the rear part of the fuselage respectively through installation shafts which are perpendicular to the horizontal installation surface of the fuselage. The installation shafts and the rotor shaft are located in the longitudinal vertical symmetry plane of the fuselage. The thrust vectors generated by the front vector driver and the rear vector driver balance the reverse torque caused by the rotation of the rotor and drive the aircraft to fly in the hovering / vertical lifting and cruising stages. The aircraft has the advantages of simple and feasible implementation, high safety, low cost, long endurance time and large load capacity.

The invention discloses a thrust vector compensation control method suitable for a nonlinear friction load, which adopts a current positive feedback compensation correction network, combines low-pass filtering with proportional gain, takes iq current as input and takes a compensation instruction delta r as output, and is simple, convenient and effective. The problems of amplitude attenuation and phase lag caused by inherent nonlinear load characteristics of the nozzle are solved, and the tracking capability of an electromechanical servo system to a control instruction is improved. The algorithm complexity is low, parameter adjustment is simple and easy to operate, and parameter adjustment time is saved.

This invention discloses an aerodynamic optimization design method for scaled-down model blades of large vertical axis wind turbines based on DMST theory. The method includes: determining scaled-down parameters according to wind tunnel similarity criteria; selecting an optimized airfoil for aerodynamic characteristic matching at low Reynolds numbers based on the lift-to-drag ratio characteristics of the prototype blades; constructing an aerodynamic performance model based on dual-disk multi-flow theory, calculating and verifying the theoretical thrust coefficients of the prototype and optimized airfoils; conducting force-pressure tests in a wind tunnel, extracting the pure thrust of the blades by subtracting the total thrust of the turbine from the tower thrust vector; and comparing the measured thrust coefficients with the theoretical thrust coefficients to verify the aerodynamic load matching degree. This invention effectively eliminates the Reynolds number effect in scaled-down tests by combining airfoil optimization, DMST theory verification, and wind tunnel test verification, achieving high-precision matching of aerodynamic loads on scaled-down model blades of vertical axis wind turbines and improving the reliability of wind tunnel test data.

A heat exchanger configured to perform heat exchange for a heat source of a fuselage and provide thrust or thrust vectoring to the fuselage, and an aircraft including the same are disclosed. The aircraft includes a fuselage, at least one inlet provided at a side of the fuselage, at least one outlet provided at a bottom of the fuselage, and a fan unit having at least one fan disposed between the inlet and the outlet along a fluid flow direction and drawing air inward through the at least one inlet to discharge through the at least one outlet.

The application relates to a force couple balance and longitudinal array push-pull vertical take-off and landing high-speed aircraft, belonging to the technical field of aircrafts, which comprises a fuselage, a rotor, a fixed wing, a steering controller and a propeller. The rotor is installed at the top of the middle part of the fuselage through a rotor shaft, and a clutch is arranged between the rotor and a power system and / or a transmission system matched with the fuselage, so as to be controlled to be disconnected or to transmit power to the rotor. The steering controller comprises a fixed base and a rotating base, and each of the nose and the tail has a set of the rotating base. The propeller is provided with two propellers which are respectively installed on the rotating bases of the nose and the tail, and are controlled to rotate with the rotating bases relative to the fixed base. The force couple formed by the front and rear thrust vectors is used to balance the reverse torque brought by the rotor. When the propeller is coaxial with the middle axis of the fuselage, the wind area of the single propeller obtains double thrust. The application can improve the energy utilization rate, improve the carrying capacity, improve the flight safety performance and obtain a longer hovering time.

The application discloses a three-degree-of-freedom deployable full-function vector adjusting mechanism, which comprises a compression supporting structure, a serial three-degree-of-freedom driving structure carried on the compression supporting structure, a thruster mounting plate carrying a load of the vector adjusting mechanism and moving to a specified working position under the driving of the serial three-degree-of-freedom driving structure, and the serial three-degree-of-freedom driving structure comprises a first joint assembly, a second joint assembly and a third joint assembly, which respectively provide rotating driving forces in a first direction, a second direction and a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; the first joint assembly, the second joint assembly and the third joint assembly sequentially provide the rotating driving forces, one end of the first joint assembly away from the third joint assembly is fixed on the compression supporting structure, and the thruster mounting plate is fixed on the third joint assembly. Therefore, the thrust vector of the thruster passes through the whole satellite barycenter in the whole life cycle, the north and south position protection and the east and west position protection are considered, and the double load backup function is realized.

The utility model discloses a novel turbomachinery vector sealing structure. A vector sealing cavity is formed between a stator shell containing sealing teeth and a rotor. The vector sealing cavity is of a spray pipe type structure in mirror symmetry, and the spray pipe type structure comprises multiple stages of sealing cavities which are sequentially connected end to end and are provided with double throat parts; the sealing cavity is sequentially divided into an expansion section and a contraction section in the airflow flowing direction, and a tooth tip jet flow bypass is arranged between the contraction section and the throat part adjacent to the downstream of the contraction section; according to the thrust vectoring nozzle, the sealing cavity is designed to be of a thrust vectoring nozzle structure with a bypass channel, by means of tooth cavity pressure difference generated by the throttling effect, bypass jet flow is spontaneously driven to be mixed with main leakage flow, a leakage path is guided to directionally deflect in the circumferential direction and the radial direction, multi-dimensional reconstruction of a sealing flow field is achieved, and the dual purposes of reducing leakage and restraining fluid excitation are achieved. And a new method is provided for reducing sealing leakage and improving the excitation suppression performance of sealing fluid.

The invention relates to a round-to-square two-dimensional thrust vectoring nozzle with double ducts independently adjustable in area, and belongs to the technical field of aero-engines. The spray pipe comprises a round-to-square barrel, a main culvert and second culvert adjusting piece system, a heat insulation screen assembly and an actuating mechanism. A second culvert air flow channel with the round-square section transition is formed through the round-to-square barrel and the heat insulation screen, and main culvert air flow passes through a middle cavity defined by the heat insulation screen. A rocker arm-actuator cylinder mechanism is adopted to independently drive an outer duct adjusting piece to achieve second duct area adjustment, and a main duct adjusting piece achieves throat area, outlet area and thrust vector control. And the second low-temperature airflow cools the heat screen. According to the invention, the double-duct area can be independently adjusted, the circular-to-square cross section transition and binary vector function integration is realized, and the double-duct structure has the advantages of compact structure, good thermal protection performance and high adjustment precision.

The invention discloses an aircraft stability verification method, and relates to the technical field of aircrafts, and the method comprises the steps: building a fixed straight flight state of an aircraft after balancing according to an aircraft test working condition, and the aircraft test working condition is obtained through the division according to a thrust vector angle or a tilting mechanism actuation angle; under the condition that the aircraft is in the straightened flight state after trimming, inputting disturbance to the aircraft so as to enable the aircraft to be in a longitudinal oscillation state, and collecting flight parameter data of the aircraft; and determining a stability verification result of the aircraft under the aircraft test working condition according to the flight parameter data of the aircraft. According to the scheme, the test and analysis of the longitudinal dynamic stability of the tilt-rotor aircraft are realized, so that the safety of the tilt-rotor aircraft in configuration design is accurately determined, and the flight safety of the aircraft is improved.

An aircraft for in-flight battery management, comprising: a fuselage of the aircraft; a plurality of batteries wherein at least one battery is partially or completely decoupled from the remaining ones of the batteries; a plurality of thrust vectoring units, each thrust vectoring unit comprising one or more motor-propeller assemblies, the one or more motor-propeller assemblies providing thrust to the fuselage along a thrust vector, and wherein the plurality of thrust vectoring units are powered by the plurality of batteries; at least one controller configured to: determine or receive at least one target related to one or both of a performance of the aircraft and a performance of the battery; converting the target into a power demand from the plurality of batteries; and achieving the power demand by modifying the power consumption of one or more motor-propeller assemblies to achieve the goal while meeting the flight requirements.

The application discloses a vertical take-off and landing fixed-wing aircraft based on thrust vector nozzles, which comprises four engines, four thrust vector nozzles, a wing, a fuselage, a T-shaped tail wing and a support; four sets of power devices adopt a four-point isosceles trapezoidal symmetrical layout, and front and rear power devices are symmetrically arranged about the gravity center of the whole machine. The transverse spacing of the front power device is 2.5-3 times that of the rear power device, the spanwise projection is located at 40%-60% of the wing span length, and the height is matched with the wing leading edge to realize jet flow lift increase; the height and horizontal position of the rear power device are optimized to ensure stable air intake. The thrust vector nozzle takes the horizontal axis of the fuselage as the 0° reference, the vector angle adjustment range is not less than -95°-+15°, and the hovering, mode transition and steady switching of the flat flight are realized through differential adjustment. The application cancels the tilting mechanism, reduces the structural dead weight, reduces the aerodynamic interference, and improves the cruising speed and flight safety.

The invention discloses a berthing and departing attitude optimization method and system based on model predictive control, and the method comprises the following steps: constructing a ship three-degree-of-freedom nonlinear kinematics and dynamics model, and taking the model as a prediction model of MPC; establishing a target function containing state tracking errors and control energy consumption, and controlling output through real-time rolling optimization calculation under the physical constraints of the thruster thrust and the rudder angle; in the berthing stage, weighted collaborative optimization is conducted on the ship position deviation and the attitude angle deviation through an MPC, and high-precision closed-loop control and thrust vector distribution of the pose in the low-speed environment are achieved; in the off-berthing stage, real-time prediction and momentum attenuation compensation are carried out on the inertial sliding track of the ship by combining MPC prediction step length based on preset off-berthing direction guidance, and output of a propeller is dynamically adjusted to ensure the safe envelope of an off-berthing path. According to the invention, high-precision attitude control and dynamic obstacle avoidance of the ship in a complex limited water area can be realized.

The application relates to the technical field of precision measurement, and discloses a sub-micro-newton thrust vector testing method and device, wherein the device comprises a frame support arranged on a base and a double-shaft suspension beam mechanism; a first cross beam is arranged at the top of the frame support; the double-shaft suspension beam mechanism is connected to the center of the first cross beam and forms a double-shaft suspension structure; a micro-propeller mounting frame is used for mounting and fixing a sub-micro-newton micro-propeller and adjusting the position of the micro-propeller during measurement; a double-shaft electromagnetic actuator and a double-shaft displacement sensor are used for measuring the displacement change of the micro-propeller mounting frame and the thrust vector of the sub-micro-newton micro-propeller in two directions perpendicular to each other in a horizontal plane; and a data processing module is used for reading the working current of the double-shaft electromagnetic actuator during measurement, calculating the thrust vector of the sub-micro-newton micro-propeller, and outputting the measurement result of the thrust vector of the sub-micro-newton micro-propeller.

The application discloses a rear body contraction type fluid thrust vector nozzle, which comprises a contraction section, a static pressure cavity, a main jet outlet, a control valve, a contraction wall surface, a secondary flow inlet and a wall surface secondary flow hole. The contraction section is arranged above and below the static pressure cavity, the main jet outlet is arranged at the tail end of the contraction section, the contraction wall surface is arranged at the tail of the static pressure cavity, the secondary flow inlet is arranged on the side of the rear body contraction type fluid thrust vector nozzle, and the wall surface secondary flow hole is arranged on the contraction wall surface. The static pressure cavity is in communication with the secondary flow inlet and the wall surface secondary flow hole, and the secondary flow inlet is controlled by the control valve. The rear body contraction type fluid thrust vector nozzle can realize jet vector deflection control while reducing the thickness of the rear body, has a good application prospect in the integration design of the fluid thrust vector and an aircraft, and can further promote the practical application of the fluid thrust vector nozzle.

This invention relates to a dual-duct area independently adjustable circular-to-square two-dimensional vector nozzle, belonging to the field of aero-engine technology. The nozzle includes a circular-to-square cylindrical body, a main duct and a second duct adjustment vane system, a heat shield assembly, and an actuation mechanism. The second duct airflow channel, formed by the circular-to-square cylindrical body and the heat shield, has a circular-to-square cross-section transition. The main duct airflow passes through the central cavity enclosed by the heat shield. A rocker arm-actuator mechanism independently drives the outer duct adjustment vanes to adjust the second duct area, while the main duct adjustment vanes control the throat area, exit area, and thrust vector. The low-temperature airflow from the second duct cools the heat shield. This invention integrates independently adjustable dual duct area, circular-to-square cross-section transition, and two-dimensional vector function, offering advantages such as compact structure, good thermal protection performance, and high adjustment precision.

The invention discloses a test device and method for thrust vector regulation and control of a synchronous pushing and splicing shield. The test device comprises a simulation shield, a load simulation system, a propelling system and a follow-up supporting system. Wherein the load simulation system is used for simulating rock stratum resistance during shield tunneling, the propulsion system is used for simulating hydraulic cylinder thrust during shield tunneling, and the follow-up support system provides follow-up support for the simulated shield, so that the simulated shield can realize various tunneling postures during underground tunneling; the load simulation system and the propulsion system are installed on the same side and are both arranged on the inner side of the simulation shield. The follow-up supporting system is connected with the simulation shield and the base through an air spring and a universal joint. By adopting the technical scheme of the invention, the trajectory tracking control test requirement of the synchronous pushing and splicing shield is realized.

The invention discloses a new energy electric amphibious vehicle water surface roll stability control method and system based on an angle module, and the method comprises the steps: collecting a roll angle, a roll angle speed and an angular acceleration in real time, and dividing a vehicle roll motion state into an impact stage, a return stage, an oscillation stage and a stable state; the extreme value rotating speed distribution strategy, the dynamic damping rotating speed adjusting strategy and the sliding mode control strategy are adopted for different stages, the rotating speed difference of left and right wheels is converted into the lift force difference through the positive camber angles of the wheels, and anti-roll restoring torque is actively generated. Meanwhile, the yaw disturbance torque caused by the rotating speed difference is calculated in real time, the specific wheel steering angle is adjusted through active steering control, the horizontal component of the fluid thrust vector is changed to offset the disturbance torque, and dynamic decoupling of roll control and course keeping is achieved. According to the invention, active roll stability control is realized when the amphibious vehicle sails on the water surface, and the anti-overturning capability, the attitude convergence smoothness and the course stability are effectively improved.

The application provides a thrust vector nozzle adjusting mechanism friction and wear test bench and a test method thereof, which comprises a roller mechanism, a wear mechanism, a first driving device and a second driving device arranged on the workbench, the second driving device is used for driving the roller mechanism to move back and forth so that the roller mechanism and the wear mechanism are in friction with each other, a groove and a threaded hole are arranged in the framework, a ceramic heating sheet is arranged in the groove and is used for heating the framework, and a temperature sensor is arranged in the threaded hole and is used for measuring the temperature of the framework. The application has a simple structure and is easy to implement. By comparing the friction and wear values of the roller-framework before and after heating, the influence of temperature on the friction and wear of the roller-framework of the thrust vector nozzle adjusting mechanism can be obtained.

The invention belongs to the technical field of aircraft control, and relates to an urban air traffic energy-saving path planning method and system, and the method comprises the following steps: collecting Doppler frequency shift data and thermal infrared radiation data in front of a flight path of an aircraft, and generating an airflow characteristic data packet; analyzing the airflow characteristic data packet to generate an available vortex target; receiving an available eddy current target, and obtaining an asymmetric thrust vector preset instruction according to a rotation direction parameter of the available eddy current target; when the aircraft arrives at the coupling point, an asymmetric thrust vector preset instruction is executed, and an aircraft rotor system is regulated and controlled to manufacture and release coupling vortexes; monitoring a machine body vibration spectrum and a motor working current in real time, and generating an eddy current locking confirmation signal; the output power of the rotor wings is adjusted, and an energy replacement flight instruction is generated and executed; according to the invention, the problem that unnecessary energy waste is caused by continuous confrontation instead of effectively utilizing the environment in the traditional control method is solved.

Example implementations provide fluid-borne vehicles comprising a body and a plurality of thrust vectoring modules, each thrust vectoring module comprising a set of thrust producing means, wherein a first thrust producing means, mounted on a first mounting bar having a first mounting bar axis, is rotatable about the mounting bar axis and the mounting bar axis is rotatable about an arm having an arm axis that is nonparallel to the mounting bar axis; and a second thrust producing means, mounted on a second mounting bar having a second mounting bar axis, is rotatable about the second mounting bar axis and the second mounting bar axis is rotatable about the arm axis that is nonparallel to the second mounting bar axis.

Hybrid propulsion integral systems for a fixed wing aircraft, and a V / STOL aircraft. A core of the jet engine rotates an integral generator, that provides current to charge batteries located in various locations on an aircraft. The batteries and generator are selectively used to power electric motor(s) that provide the sole source of torque (power) to fans, propellers, or rotors that propel the aircraft, along with a fuel operated gas turbine. In addition, for a V / STOL air vehicle, a hybrid propulsion system fixed to a wing or split between wing and empennage, with moving integral submodules, such as a multifunctional thrust vectoring exhaust nozzle and electrically operated tiltable propeller(s). These differ from the prior configurations by provisioning integrated architectures as delineated.

The invention belongs to the technical field of flight control, and relates to a landing stage multi-mode control design method of a short-distance takeoff and vertical landing aircraft. The method comprises the following steps: firstly, respectively designing a control law based on cascade nonlinear dynamic inverse and a control law based on direct force or torque calculation according to a transition mode and a vertical landing mode contained in a landing section; secondly, for a complex control system in which a pneumatic control surface and a thrust vector coexist, a sequential quadratic programming optimization algorithm is adopted for control distribution; and finally, in order to realize smooth switching between modes, an instruction smooth fusion mechanism based on fuzzy logic is introduced, and according to the switching process state, the two-mode instruction is adaptively weighted and fused to generate a final control quantity. According to the method, a complete control framework of'split-mode control law design-multi-control-surface optimal distribution-mode smooth transition 'is formed, and the control problem caused by large difference of mode dynamic characteristics, strong coupling of a control mechanism and discontinuous switching of instructions in the landing process of the STOVL aircraft is effectively solved.