Tandem Rotor UAV Pitch Control for Stable Rotor Unfolding
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Solution Overview
Problem
Tandem rotor unmanned aerial vehicles face challenges in attitude stability and robustness during the unfolding stage due to complex environmental factors, limiting their effectiveness in emergency rescue and disaster relief scenarios.
Innovation Solution
A tandem rotor unmanned aerial vehicle design incorporating a front and rear distributed propulsion system with a periodic variable pitch mechanism, combined with a flight control system using a linear quadratic regulation algorithm and L1 adaptive control to achieve robust attitude adjustment, ensuring stable and efficient rotor unfolding and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the tandem rotor unmanned aerial vehicle is launched by cartridge ejection or box emission with folded wings, then the vehicle can be rapidly deployed for emergency rescue, but the attitude stability and control robustness deteriorate during the rotor unfolding stage due to complex environmental factors
Solution Approach 1:
The patent applies preliminary action by pre-designing a comprehensive attitude control strategy that accounts for all possible environmental factors before deployment. The control system is pre-configured with multiple control modes and parameter sets that can be automatically activated based on real-time sensor feedback during the unfolding stage, ensuring stability without compromising deployment speed
Solution Approach 2:
The patent implements feedback mechanisms through real-time monitoring of attitude parameters, rotor position, and environmental conditions during the unfolding process. The flight control system continuously adjusts control inputs based on feedback from inertial measurement units, gyroscopes, and other sensors to maintain attitude stability throughout the transient unfolding phase
2Ease of manufacture
If a fixed-wing structure is used for the unmanned aerial vehicle, then the structure is simple and easy to manufacture, but the vehicle cannot fully utilize rotorcraft advantages in maritime or mountain emergency rescue scenarios
Solution Approach 1:
The patent applies dynamics by designing a convertible aircraft structure that can dynamically transition between fixed-wing and rotorcraft configurations. The wings are designed to be foldable and removable, allowing the vehicle to adapt its morphology based on mission requirements - using fixed-wing mode for long-range transport and rotorcraft mode for vertical takeoff/landing and hover operations in constrained environments
Solution Approach 2:
The patent implements universality by creating a multi-functional platform that can perform both fixed-wing flight and rotorcraft operations. The vehicle incorporates both fixed-wing structures for efficient forward flight and rotor systems for vertical operations, enabling it to handle diverse emergency rescue scenarios including maritime operations, mountain terrain access, and urban search and rescue
3Loss of time
If the rotor unfolds quickly after ejection, then the deployment time is reduced, but the attitude control complexity and difficulty increase due to various environmental factors affecting the unfolding process
Solution Approach 1:
The patent applies segmentation by dividing the attitude control system into modular components, each responsible for specific functions during the unfolding process. The control system is segmented into rotor position sensing, attitude estimation, control law computation, and actuator control modules, allowing independent optimization and simplified debugging while maintaining fast response
Solution Approach 2:
The patent uses intermediary elements such as flexible couplings, dampers, and intermediate transmission mechanisms in the rotor unfolding mechanism. These intermediaries buffer the mechanical shocks and vibrations during rapid unfolding, reducing the complexity of the control system by passive means while still enabling fast deployment
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables fast and stable rotor unfolding and attitude adjustment, improving the vehicle's stability and control efficiency, reducing attitude adjustment failures, and enhancing its performance in challenging environments.
Implementation Method 1
An output end of the motor is connected to the speed reducer. The speed reducer is connected to the synchronizer. The main shaft is connected to the speed reducer. The motor drives the main shaft to rotate through the speed reducer.
Implementation Method 2
The automatic tilter is arranged on the main shaft in a sleeving manner. The automatic tilter is connected to the rotor nose. The automatic tilter changes tilt directions of the rotor blades through the rotor nose.
Data Source
AI summary
The present disclosure provides a tandem rotor unmanned aerial vehicle, which includes a vehicle body, a flight control system, and a propulsion system. The propulsion system includes a front distributed propulsion system and a rear distributed propulsion system. The front distributed propulsion system is arranged at a front end of the vehicle body. The rear distributed propulsion system is arranged a rear end of the vehicle body. The front distributed propulsion system includes rotor blades, a rotor nose, a main shaft, a speed reducer, a synchronizer, a motor, and a periodic variable pitch mechanism. A polar attitude of the tandem rotor unmanned aerial vehicle of the present disclosure can be adjusted conveniently and stably in the air, and the adjustment efficiency is high. The present disclosure further provides an attitude adjustment control method for the tandem rotor unmanned aerial vehicle.