11 results about "Unpowered flight" patented technology

The invention relates to a control method, a control system and a traction system of a traction unmanned aerial vehicle. The traction unmanned aerial vehicle comprises a plurality of vertical rotors and two tension rotors. The rotation axis direction of each tension rotor wing is the first direction. The traction drone is configured to be connected to the unpowered aircraft through a traction rope. The control method comprises the following steps: acquiring a preset flight direction of the unpowered aircraft; the traction unmanned aerial vehicle is controlled to move to the front upper portion of the unpowered aircraft in the preset flight direction; and controlling the traction unmanned aerial vehicle to pull the unpowered aircraft to rise to a preset height through the traction rope. Wherein the step of controlling the traction unmanned aerial vehicle to pull the unpowered aircraft to rise to the preset height through the traction rope comprises the substeps that when the unpowered aircraft climbs, the angle between the first direction and the direction of the traction rope is controlled to be smaller than or equal to 20 degrees.

The invention discloses a flying robot and an unhooking system of the flying robot, the flying robot is connected with an unpowered aircraft through a traction piece and used for pulling the unpowered aircraft to rise through the traction piece, and the unhooking system comprises a controller, a receiver, a steering engine, a support, an opening and closing mechanism and a navigation module; the controller is connected with the receiver, the steering engine and the navigation module, the support is fixed to the flying robot, and the steering engine and the opening and closing mechanism are arranged on the support; the controller receives a preset remote control instruction from the receiver, the controller receives real-time data from the navigation module, the controller is used for generating an unhooking instruction based on the remote control instruction or the real-time data, and the steering engine controls the opening and closing mechanism to be opened based on the unhooking instruction, so that the traction piece is separated from the opening and closing mechanism. The unhooking instruction is generated through the controller based on the remote control instruction or the real-time data, the steering engine controls the opening and closing mechanism to be opened based on the unhooking instruction, rapid separation of the traction piece and the opening and closing mechanism is achieved, and the flight safety of the unpowered aircraft is improved.

The application discloses a boost separation method considering speed constraint of unpowered flight section, comprising the following steps: S1, recording the time when the engine stops working as the earliest separation time tp0; S2, determining the latest separation time tp_max, wherein the tp_max is the latest time when the control system can control the aircraft to reach the target position according to the required speed and height; S3, obtaining the altitude-speed curve of the ideal trajectory as the ideal speed curve, and recording the ideal speed curve as the H-V curve; S4, determining the separation time of the aircraft according to the H-V curve in the actual flight process. The separation method provided by the application limits the speed of the separation time of the aircraft and the boost stage, provides a suitable initial speed for the unpowered flight section of the aircraft, and is simple, efficient and easy to implement.

The invention discloses a foldable single-rotor slow-descent unpowered aircraft and a control method thereof, and belongs to the technical field of air-drop rescue and aviation. The aircraft mainly comprises a central main shaft, a foldable rotor wing mechanism, a gravity center adjusting mechanism and a control system. The foldable rotor wing mechanism is folded and stored before being released and is automatically unfolded after being released; the gravity center adjusting mechanism changes the overall gravity center of the aircraft by moving the position of the balancing weight, and therefore in the unpowered free falling process, the falling posture, the rotating speed and the falling speed of the aircraft are controlled through the coupling effect of aerodynamic lift force, aerodynamic resistance and gravity. The aircraft is simple in structure, low in cost, convenient to store and transport, capable of achieving stable spinning slow descent and accurate attitude control under the unpowered condition, and particularly suitable for scenes such as material air-drop, data collection, emergency rescue and low-altitude Internet of Things.

The invention discloses an unmanned aerial vehicle, a foldable device and an unmanned aerial vehicle system, in the unmanned aerial vehicle provided by the invention, the foldable device is arranged on a lifting force machine arm of a lifting force device and a tensile force machine arm of a tensile force device, so that the lifting force machine arm and the tensile force machine arm are arranged in a foldable manner. The unmanned aerial vehicle can stably lift the unpowered aircraft through cooperation of the lift device and the tension device, meanwhile, the foldable devices are arranged on the lift arms and the tension arms, foldable arrangement of the lift arms and the tension arms is achieved, and then the lift arms and the tension arms can be unfolded in the working state and folded in the non-working state. The occupied space of the unmanned aerial vehicle is reduced, meanwhile, possible damage such as collision in the transportation process when the vehicle arms are unfolded can be avoided, and the service life of the unmanned aerial vehicle is prolonged.

The invention relates to an aircraft energy management section autonomous trajectory planning and guidance system and method, belongs to the technical field of aerospace aircraft guidance, and effectively solves three technical problems in unpowered return by providing a height correction mechanism driven by a voyage sensitivity coefficient. The dynamic sensing energy state is calculated by adopting a correction factor, and the track deviation tolerance is improved; for energy-track decoupling out-of-control, height correction generated based on an eta value division mode is designed to achieve kinetic energy and potential energy dynamic conversion, and the energy utilization efficiency of the unpowered aircraft is improved; aiming at poor real-time performance and large storage overhead of online re-planning, an attack angle adjusting scale with O (1) complexity is constructed to replace online optimization, decision delay time and memory occupation of a flight control machine are reduced, the method is suitable for strong-robustness trajectory control of large-range initial state deviation, the energy utilization efficiency of the unpowered returning aircraft is improved, and the method is suitable for large-range initial state deviation. And on-line guidance decisions of guidance frequency and flight control machine memory occupation requirements are satisfied.

The invention discloses a high-altitude pollution particulate matter sampling device based on active air intake. The technical problems that an existing unpowered aircraft cannot obtain enough analysis and measurement pollution particulate matter samples under part of working conditions and cannot achieve graded sampling are solved. The sampling device comprises a shell as well as a sampling mechanism, a flow measuring mechanism, a master controller, a gas extraction mechanism and a power supply which are positioned in the shell, and the sampling mechanism is arranged close to a sample inlet and is used for collecting a pollutant particle sample in gas; the flow measuring mechanism is electrically connected with the main controller and is used for measuring flow information of the gas passing through the sampling mechanism; the air exhaust mechanism is electrically connected with the main controller and is used for realizing active air intake and exhausting air through the exhaust hole; the power supply is connected with the master controller for supplying power to the master controller; the master controller is used for controlling starting and stopping of the flow measuring mechanism and the air exhaust mechanism and storing flow information transmitted by the flow measuring mechanism. The sampling device can be quickly launched to the position of the pollutant cloud cluster, so that quick and accurate sampling is realized.

The application discloses an online trajectory planning and lateral adjustment method in a reentry process and belongs to the technical field of aircraft guidance and control. The method comprises the following steps: S1, a D-V constraint corridor composed of a heat flux density constraint, a dynamic pressure constraint and an overload constraint is determined by real-time calculation; a reference D-V profile is obtained by solving, and is compared with the D-V constraint corridor to generate a longitudinal guidance instruction; S2, a lateral error corridor is determined by real-time calculation; based on a current flight state, trajectory prediction is carried out, and is compared with the lateral error corridor to generate a longitudinal adjustment amount; S3, a combined resistance acceleration instruction is generated; and S4, steps S1-S3 are repeated to realize an online rolling planning cycle. The method can realize online trajectory planning and lateral range control of a hypersonic unpowered aircraft in a reentry return process, and solves the problem that a traditional method cannot realize online real-time trajectory re-planning and accurate range control under strong uncertainty and strict path constraints.

This invention provides a method and apparatus for energy planning during the descent phase of an aircraft. After the first-stage engine separates, the minimum RCS attitude of the aircraft is calculated based on its current position and the position of the target detection point. When the aircraft's flight altitude exceeds a preset altitude, its attitude is adjusted to the minimum RCS attitude, and the aircraft is controlled to fly without power. After the aircraft reaches the highest point of its orbit without power, the optimal firing time and optimal firing attitude of the second-stage engine are searched based on the aircraft's tilt angle constraints and reentry point coordinate constraints. The second-stage engine is controlled to ignite at the optimal firing time, and the aircraft's attitude is adjusted to the optimal firing attitude. This achieves the control of the second-stage engine not igniting during the ascent phase of the elliptical orbit. After the aircraft flies without power over the highest point of the elliptical orbit, it flies according to the searched optimal firing time and optimal firing attitude. After the engine is exhausted, it flies according to the attitude constrained by the reentry angle of attack, ensuring that the aircraft's orbit meets the constraints. This increases the difficulty of detection, tracking, and orbit prediction for the aircraft during the second-stage flight phase.

This invention relates to an attitude control method, system, device, and medium for aircraft. The attitude control method, used for attitude control of a wide-range unpowered aircraft, includes: S101 using an MPC as the attitude controller; S102 using a simplified state space as the required state space model for the attitude controller; S103 obtaining the state space deviation caused by the simplification of the state space observed by an extended state observer; S104 superimposing the observed state space deviation onto the state space as the input to the attitude controller; S105 constructing a predicted state space for a predetermined number of future iterations using the state space deviation through iterative optimization; and S106 constructing a loss function and using a quadratic programming algorithm to find the input that minimizes the loss function, which is then used as the optimal control output. This invention eliminates the need for separate designs for different operating conditions, reducing design workload and computational load, and allows for real-time operation within a flight control computer.

The invention discloses an unpowered flight practice entertainment device, and belongs to the technical field of fitness and entertainment equipment. A device body is balanced through a speed-changing gear box (1), a pedaling crank (1-12), double transmission shafts (2), double propeller shafts (3-3) and double propellers (3-6), work is conducted through human body energy and the instrument principle, a handrail handle (4) is arranged to transmit pull force of arms to feet, reciprocating pedaling force of the feet is increased, double suspension ropes (6-2-7) are connected with double counter weights (6-3), a power-assisting rope (6-3-1) is arranged, a bent pipe (6) is arranged, and the power-assisting rope (6-3-1) is connected with the double counter weights (6-3). The device can be suitable for people with different physical fitness differences to reciprocate around the circular track of the bent pipe for flying and entertainment. The balance weight-free flying entertainment device has the dual functions of balance weight-hanging type flying and balance weight-free free flying entertainment, has the characteristics of reasonable structure, convenience in use and the like, and is an ideal entertainment instrument.