CN106240814A - A kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer - Google Patents

Abstract

The invention discloses a vertical take-off and landing aircraft with a tail-sitting hybrid layout operated by power, which is composed of a fuselage, wings, motors, propellers, and landing gear. The projection in the plane is X-shaped distribution; each wing on the fuselage is divided into several sections, each section has different sweep angles and dihedral angles, and adopts forward-curved airfoils and reverse-curved airfoils to achieve superior aerodynamics and handling performance; a set of propeller motor power systems are installed on the four wings at the same position as the OX axis of the body shaft system; the four sets of power devices take off in the X-type quadrotor mode during the vertical take-off and landing process, and are driven by the pulling force of the motors. Different or cooperate with the control surface to complete the conversion operation and enter the cruising state, and complete the required manipulation through the change of the pulling force of the motor during the whole process. The power device of the aircraft is simple, the control method is reliable, and the slipstream of the propeller can be effectively used, so it is suitable as a flight platform for a tail-sitting vertical take-off and landing UAV.

Description

A power-operated tail-sitting mixed layout vertical take-off and landing aircraft

technical field

The invention relates to a vertical take-off and landing aircraft, in particular to a power-operated tail-sitting mixed layout vertical take-off and landing aircraft.

Background technique

The cruising speed flight envelope is the design goal that fixed-wing aircraft pays special attention to and pursues. Therefore, aircraft with vertical take-off and landing capabilities, fixed-point hovering capabilities, and fast cruising capabilities are the goals of today's era, especially in military aircraft and small It is more obvious in UAVs, such as the Osprey V-22 and F35 with American tilting rotors, and DJI's Phantom series rotors with a slightly slower cruise speed among small aircraft. They all rely on their unique vertical take-off and landing capabilities and hovering capabilities to get rid of the restrictions of the take-off and landing sites and attract the attention of the public. Tail-sit vertical take-off and landing aircraft is a unique family of vertical take-off and landing aircraft. It can take off by standing on the tail-sit type, and realize the process of take-off, cruising to landing, and cruise-hover state transition through power control and rudder surface deflection. Rich interpretation of its vertical take-off and landing capabilities and high-speed cruising capabilities.

In the existing aircraft, the aircraft is mostly controlled by the control surface, and the aerodynamic efficiency is higher by the flying wing layout. For tail-sitting vertical take-off and landing aircraft, for example, the invention patent CN103979104A, in the process of vertical take-off and landing, the ground effect is serious and the flying speed of the aircraft is high, the rudder surface is basically ineffective, and only the weak rudder effect under the slipstream of the propeller can be relied on. Therefore, the effect of using movable control surfaces as a control method is very poor for the vertical take-off and landing process. In addition, the deflection of the rudder surface to achieve control also increases the trim resistance of the aircraft, which lowers the flight efficiency.

However, for the low Reynolds number fluid mechanism of small aircraft, for example, patent CN102133926B generally needs to use a reverse curved airfoil to trim the aircraft to reduce cruise resistance. Aerodynamic efficiency is greatly reduced. In addition, in order to ensure the lateral directional stability of the aircraft, it is necessary to increase the vertical tail, which increases the weight and resistance in flight.

Contents of the invention

In order to avoid the deficiencies in the prior art, the present invention proposes a power-operated tail-sitting mixed-layout vertical take-off and landing aircraft. At the same time as the power, the roll, pitch and yaw control required by the flight mission are completed through the matching of the power difference, without the participation of the control surface at all, the control is simple and reliable, and the aerodynamic efficiency and maneuverability of the aircraft during the flight are improved; As a backup control system, the control surface can be increased to improve the survivability of the aircraft; at the same time, the upper and lower wings adopt different airfoils and the inner and outer wings adopt different dihedral angles and sweep angles, and the X-shaped wing matching adopts The method of the two airfoils is simple, and the aerodynamic characteristics and handling characteristics of the aircraft are improved.

The technical scheme that the present invention adopts to solve its technical problem is: comprise fuselage, wing, motor, screw propeller, landing gear, described fuselage is the streamlined slender cabin body along body axis system X-axis, is provided with electronic Governor, autopilot, data link airborne terminal, task load and power battery; the wing is divided into four parts, symmetrical about the XOZ plane of the body axis system, and projected into an X shape in the XOY plane of the body axis system, The upper part of the root wing is turned up, and the lower part of the root wing is turned down, which are respectively installed on the fuselage. The angle between the upper and lower part of the root wing is 10 to 90 degrees; The shafting OX axis distance is the same, the propeller is arranged on the pivot of the motor, the wings, the motor and the propeller are four, the motor is connected to the electronic governor, the signal line of the electronic governor is connected with the autopilot, and the automatic The pilot and the data link airborne terminal are bidirectionally connected and powered by batteries; it is characterized in that each part of the wing is a segmented wing along the span direction, the number of segments is an integer greater than 1, and the corresponding part of the wing is about the body axis XOZ The plane is symmetrical left and right, and each part of the wing has different sweep angles and dihedral angles; the upper and lower parts in the OX direction of the body axis adopt forward or reverse curved airfoils at the same time, or the upper and lower parts respectively The forward-curved airfoil and the reverse-curved airfoil are adopted; the power system composed of the motor and the propeller is four groups, and a group of power systems is installed at the corresponding position of each part of the wing, and the four groups of power systems are distributed in an X shape. Provide power with the propeller power system, and at the same time provide the control required by the aircraft, and complete the control during the entire flight process through the difference in tension.

The two sets of motors and propeller power systems on the part of the wing on the XOY plane increase the speed at the same time, and the pulling force increases, or the two sets of motors and the propeller power system on the part of the wing on the XOY plane decrease at the same time, and the pulling force decreases, and the pitching control is completed. ; The two sets of motors and propeller power systems on the part of the wing on the XOY plane reduce the speed at the same time, and the pulling force decreases, or the two groups of motors and the propeller power system on the part of the wing on the XOY plane increase the speed at the same time, the pulling force increases, and the head-up is completed Pitch control; through the two sets of motors and propeller power systems on the left wing of the XOZ, the speed is increased at the same time, and the pulling force is increased, or the two sets of motors and the propeller power system on the right wing of the XOZ plane are simultaneously reduced, and the pulling force is reduced. The right yaw control is completed; through the two sets of motors and propeller power systems on the left wing of the XOZ, the speed is reduced at the same time, and the pulling force is reduced, or the two sets of motors and propeller power systems on the right wing of the XOZ plane are simultaneously increased. , the pulling force increases to complete the left yaw manipulation; through the two groups of motors and propeller power systems on the diagonal, the speed is increased or decreased at the same time, and the torque is increased or decreased, or the two groups of motors and propeller power systems on the diagonal At the same time, the speed is reduced or increased, and the torque is reduced or increased to complete the roll manipulation in the opposite direction to the rotation of the propeller that increases the speed.

Movable control surfaces are respectively arranged on each part of the wing, as the backup control system of the motor power system. Deflection in different directions of the Z-axis of the system produces a rolling moment around the OX axis; through the simultaneous deflection of the movable control surfaces on both sides of the XOZ plane to the same direction of the Z-axis of the body system, a pitching moment around the OY axis is generated; through one side of the XOZ plane The two movable control surfaces deflect in different directions of the Z axis of the body axis system, and the two movable control surfaces on the other side of the XOZ plane do not deflect to generate a yaw moment around the OZ axis.

Beneficial effect

Compared with the prior art, a power-operated vertical take-off and landing aircraft with tail-sitting hybrid layout proposed by the present invention is characterized in that:

The invention adopts four sets of power systems, which can be arranged like a four-rotor power system, so that the vertical take-off and landing and hovering of the aircraft are stable and efficient; the four sets of power systems match the wings of the X-shaped flying wing layout, which improves the cruise of the aircraft The speed increases the mission radius of the flight; the four sets of power systems not only provide power, but also the control system of the aircraft, which makes the power utilization more sufficient, reliable and efficient, and improves the aerodynamic efficiency caused by the deflection of the rudder surface of the conventional aircraft during trimming. It has a decisive improvement effect on the basic ineffectiveness of the rudder surface caused by the ground effect during the vertical take-off and landing process.

The X-shaped wing layout form of the present invention increases the wing area of the aircraft under effective elongation, and adopts four sets of power systems, the wing area in the slipstream is larger, and the aerodynamic efficiency of the aircraft is effectively improved.

Each wing of the four wings of the present invention is a segmented wing along the span direction, segmented according to the design target, the number of segments is an integer greater than 1, and each segment has different sweep angles and dihedral angles , to form a wing form similar to a gull-type layout, which improves the spanwise flow of the wing surface, improves the aerodynamic characteristics of the aircraft and the stability and maneuverability of the lateral direction, and saves the weight and aerodynamic efficiency brought by the vertical tail cost.

The upper and lower parts of the wing of the present invention can respectively adopt positive curved airfoil and reverse curved airfoil, which solves the problem of sacrificing aerodynamic efficiency in order to take into account the stability of the flying wing layout aircraft, and the method of adopting two kinds of airfoils for X-shaped wing matching is simple , effectively solves the aerodynamic problem that is difficult to solve for monoplane aircraft, without the need for complex wing torsion design. In addition, the application of different airfoils can make the design of the pitch moment characteristic of the aircraft simple, effective and controllable.

The technical power device of the present invention is simple, the power system provides reliable and efficient manipulation, and the X-shaped segmented wing with different airfoils has good aerodynamic efficiency, and is suitable as an aircraft platform for a multi-task unmanned aerial vehicle system.

Description of drawings

A power-operated tail-sitting mixed layout vertical take-off and landing aircraft of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

FIG. 1 is a schematic diagram of a vertical take-off and landing aircraft with a tail-sitting hybrid layout according to the present invention.

Fig. 2 is a schematic diagram of propeller steering when the VTOL aircraft of the present invention is powered.

Figure 3a is a schematic diagram of pitch control when the propeller provides control.

Figure 3b is a schematic diagram of yaw control when the propeller provides control.

Figure 3c is a schematic diagram of the roll control when the propeller provides control.

Fig. 4a is a schematic diagram of the span direction of the A-A section parallel to the XOZ plane.

Fig. 4b is a schematic diagram of the A-A section when the upper and lower wing parts respectively adopt a forward-curved airfoil and a reverse-curved airfoil.

Fig. 5a is a schematic diagram of the pitch control completed by the control surface when the control surface is used as the backup control system.

Fig. 5b is a schematic diagram of the control surface completing the roll maneuver when the control surface is used as the backup control system.

Fig. 5c is a schematic diagram of the yaw control completed by the control surface when the control surface is used as the backup control system.

Fig. 6 is a schematic diagram of using different dihedral angles for the inner and outer wings of the present invention.

in the picture

1. Wing 2. Fuselage 3. Motor 4. Propeller 5. Landing gear

detailed description

This embodiment is a power-operated tail-sitting mixed layout vertical take-off and landing aircraft. The aircraft has four sets of power systems, which are respectively installed on the corresponding positions of the X-shaped wings. While the power systems provide power, through the matching of power differences The roll, pitch and yaw control required to complete the flight mission does not require the participation of the control surface at all, which improves the aerodynamic efficiency and maneuverability of the aircraft during flight; as a backup control system, it can increase the control surface to improve the survival of the aircraft At the same time, the upper and lower parts of the wing adopt different airfoils and the inner and outer wings adopt different dihedral and sweep angles. The method of matching the X-shaped wing with two airfoils is simple and does not require complicated The twisted design of the wing improves the aerodynamic and handling characteristics of the aircraft.

Referring to Fig. 1～Fig. 6, the vertical take-off and landing vehicle of the tail-sitting mixed layout of power control of the present embodiment comprises fuselage 2, wing 1, motor 3, propeller 4, landing gear 5, and fuselage 2 is along the body axis system The streamlined and slender cabin of the X-axis is equipped with an electronic governor, an autopilot, a data link airborne terminal, a mission load, and a power battery. The wing 1 is divided into four parts, which are left-right symmetrical about the XOZ plane of the body axis system. The projection in the XOY plane of the body axis system is X-shaped. It is divided into upper and lower parts. are installed on the fuselage 2 respectively. The motor 3 is arranged on the leading edge of each part of the wing 2, and has the same distance from the body axis OX axis; the propeller 4 is arranged on the pivot of the motor 3, and the wing 1, the motor 3 and the propeller 4 are four. The motor 3 is connected to the electronic governor, the signal line of the electronic governor is connected to the autopilot, and the autopilot is connected to the data link airborne terminal for two-way data connection; the motor 3, the electronic governor, the autopilot, and the data link airborne Both the terminal and the digital image sensor are battery powered.

In this embodiment, each part of the wing is a segmented wing, and the corresponding part of the wing is symmetrical about the XOZ plane of the body axis system, and each section of each part of the wing has a different sweep angle and upper reflection. angle, the sweep angle can be selected from 0 to 30 degrees, the dihedral angle of the root wing can be selected from 0 to 45 degrees, and the dihedral angle of other sections of the wing except the root wing can be selected from -45 to 45 degrees Between them, a gull-like wing layout is formed. The different dihedral angles θ ₁ and θ ₂ of the inner and outer sections of the wing are determined according to the design objectives. The dihedral angle of the root wing is 20 degrees, and the dihedral angle of the outer section is 1 degree. The upper and lower parts in the OX direction of the body axis adopt forward-curved airfoil or reverse-curved airfoil at the same time, or the upper and lower parts respectively adopt forward-curved airfoil and reverse-curved airfoil, and the latter will bring better aerodynamic characteristics and pitch control effects. The lower part of the wing adopts the forward-curved airfoil SD7062, and the upper part of the wing adopts the reverse-curved airfoil S5010; no control surfaces are arranged on the wings.

There are four sets of power systems composed of motor 3 and propeller 4. A set of power systems is installed at the corresponding position of each part of the wing. The four sets of power systems form an X-shaped distribution. The power system of the motor and propeller not only provides power, but also provides the control required by the aircraft. , complete the control during the entire flight through the difference in pulling force; in addition, due to the increase in the area of the wing in the slipstream area, the aerodynamic characteristics of the aircraft are improved.

The power supply mode of the power system is that the propellers of the diagonal power systems turn in the same direction, and the propellers of the adjacent power systems turn in the opposite direction.

Combined with the schematic diagram, the control mode of the control surface when the control surface is used as the backup control system is described. In Fig. 3, the upward direction of the arrow represents the increase of the propeller speed or the increase of the pulling force, and the downward direction of the arrow represents the reduction of the propeller speed or the reduction of the pulling force.

The two sets of motors and propeller power systems on the part of the wing on the XOY plane increase the speed at the same time, and the pulling force increases, or the two sets of motors and the propeller power system on the part of the wing on the XOY plane decrease the speed at the same time, and the pulling force decreases to complete the circle OX Axis bowing and pitching control;

Through the two sets of motors and propeller power systems on the left wing of XOZ, the speed is reduced at the same time, and the pulling force is reduced, or the two sets of motors and propeller power systems on the right wing of the XOZ plane are simultaneously increased, and the pulling force is increased to complete the circle around OZ The left yaw operation of the axis, otherwise, the right yaw operation around the OZ axis is completed;

Through two sets of motors and propeller power systems on the diagonal to simultaneously increase or decrease the speed, the torque increases or decreases, or two sets of motors and propeller power systems on the diagonal simultaneously reduce or increase the speed, the torque decreases or increase, to accomplish a roll maneuver in the opposite direction to the propeller steering at increasing RPM;

Combined with the schematic diagram, the steering control mode when the power system is used as the steering system is described. In Fig. 5, movable control surfaces are arranged on each part of the wing, as a backup control system of the motor power system, to improve the reliability and survivability of the aircraft.

The pitching moment around the OY axis is generated by simultaneously deflecting the movable control surfaces on both sides of the XOZ plane to the same direction of the Z axis of the body axis system;

Two movable control surfaces are left and right symmetrical about the XOZ plane of the body axis system, and the rolling moments around the OX axis are generated by deflecting the movable control surfaces on both sides of the XOZ plane to different directions of the Z axis of the body axis system;

The yaw moment around the OZ axis is generated by the deflection of the two movable control surfaces on one side of the XOZ plane in different directions of the Z axis of the body axis system and the non-deflection of the two movable control surfaces on the other side of the XOZ plane.

The typical tasks of the aircraft are as follows: take off vertically, and after reaching the predetermined mission height, under the control of the autopilot, by adjusting the tension difference of the four sets of power systems, the pitch control is realized, and the hovering flight is transferred to the cruising flight state. After the mission is over, it will turn from cruising to hovering state, and slowly descend the altitude to complete the vertical landing. Four sets of power systems provide power and attitude control at the same time. On the X-shaped wing layout, different sweep angles and dihedral angles are adopted for the inner and outer sections, and different airfoils for the upper and lower parts, so as to improve the flight aerodynamic efficiency and stability of the aircraft. Maneuverability, simple and reliable, compact structure, saving weight.

Claims (3)

1. a power-controlled tail sitting posture mixed layout vertically taking off and landing flyer, including fuselage, wing, motor, propeller, rises Dropping control device, described fuselage is the streamlined elongated nacelle along body axle system X-axis, be internally provided with electron speed regulator, automatic pilot, Data-Link Airborne Terminal, mission payload and electrokinetic cell；Described wing is divided into four parts, about about body axle system XOZ plane Symmetry, in body axle system, XOY plane inner projection is X-type, anti-on upper part root wing, anti-under lower part root wing, pacifies respectively Being contained on fuselage, top and the bottom root wing angle is 10～90 degree；Described motor is arranged on the leading edge of every part wing, with body Axle system OX wheelbase is from identical, and described propeller is arranged on the pivot of motor, and wing, motor, propeller are four, and motor is even Connecing electron speed regulator, the holding wire of electron speed regulator is connected with automatic pilot, and automatic pilot is double with Data-Link Airborne Terminal To connection, battery-powered；It is characterized in that: every part wing be along exhibition to stagewise wing, hop count is whole more than 1 Number, the wing of corresponding part is symmetrical about body axle system XOZ plane, and every section of every part wing has different angle of sweep and upper Dihedral；Two parts up and down on body axle system OX direction use positive curved wing or recurvation aerofoil profile simultaneously, or two parts divide up and down Do not use positive curved wing and recurvation aerofoil profile；Described motor is four groups with the dynamical system of described propeller composition, every part wing Correspondence position one group of dynamical system is installed, four groups of dynamical systems become X-type to be distributed, and motor spiral shell provides dynamic with rotation oar dynamical system Power, simultaneously for providing the manipulation required for aircraft, completes the manipulation during thru-flight by variation in tension.

Power-controlled tail sitting posture mixed layout vertically taking off and landing flyer the most according to claim 1, it is characterised in that: Two groups of motors and propeller dynamical system on XOY plane upper part wing increase rotating speed simultaneously, and pulling force increases, or XOY plane Two groups of motors and propeller dynamical system on lower part wing reduce simultaneously, and pulling force reduces, and completes pitch control of bowing；XOY Two groups of motors and propeller dynamical system on plane upper part wing reduce rotating speed simultaneously, and pulling force reduces, or XOY plane bottom Two groups of motors and propeller dynamical system on the extension set wing increase rotating speed simultaneously, and pulling force increases, and completes new line pitch control；Pass through On the left of XOZ, two groups of motors on wing and propeller dynamical system increase rotating speed simultaneously, and pulling force increases, or machine on the right side of XOZ plane Two groups of motors and propeller dynamical system on the wing reduce rotating speed simultaneously, and pulling force reduces, and completes yaw control to the right；Pass through XOZ Two groups of motors and propeller dynamical system on the wing of left side reduce rotating speed simultaneously, and pulling force reduces, or on the right side of XOZ plane on wing Two groups of motors and propeller dynamical system increase rotating speed simultaneously, pulling force increases, and completes yaw control to the left；By on diagonal Two groups of motors and propeller dynamical system rotating speed is increased or decreased simultaneously, moment of torsion is increased or decreased, or two groups on diagonal Motor and propeller dynamical system are reduced or increased rotating speed simultaneously, and moment of torsion is reduced or increased, the propeller completing with increasing rotating speed Turn to rightabout roll guidance.

Power-controlled tail sitting posture mixed layout vertically taking off and landing flyer the most according to claim 1, it is characterised in that: every Being respectively arranged movable control surface on part wing, as the backup steerable system of motor power system, movable control surface is about body Symmetrical each two of axle system XOZ plane, by the movable control surface in XOZ plane both sides respectively to the different directions of body axle system Z axis Deflection produces the rolling moment around OX axle；Simultaneously inclined to the equidirectional of body axle system Z axis by the movable control surface in XOZ plane both sides Change the line of production and give birth to the pitching moment around OY axle；The different directions towards body axle system Z axis is movably handled by the two panels of XOZ plane side Deflection, the movable control surface of two panels of XOZ plane opposite side do not deflect and produce the yawing around OZ axle.