CN107826237A - A kind of autogyro of automatic Pilot attitude control system and its composition - Google Patents

Abstract

The invention relates to an automatic driving attitude control system, which includes a soft connection action execution system and a control system; the soft connection action execution system includes an air pump, an air storage tank, a proportional control valve and a cylinder connected through a trachea; the control system includes a sequential signal connection An operation terminal, an autopilot, a flight controller and a displacement sensor for detecting cylinder displacement; the flight controller and the proportional control valve are also signally connected. Simultaneously, the invention also discloses an autogyro composed of an automatic driving attitude control system. The invention utilizes the elasticity of the gas in the cylinder so as not to affect the timely switching between automatic driving and manual driving, and utilizes the elasticity of the gas to perform manual driving simultaneously or directly during automatic driving without any automatic driving release order, effectively solving the problem There is a technical problem in the technology that it is impossible to switch to manual driving at the first time during automatic driving, which improves the safety and reliability of the aircraft.

Description

An autopilot attitude control system and autogyro composed of the same

technical field

The invention relates to an aircraft automatic driving control system, which belongs to the technical field of aircraft unmanned driving, and specifically relates to an automatic driving attitude control system; at the same time, the invention also discloses a self-rotating rotor composed of an automatic driving attitude control system machine.

Background technique

Autogyro, known as Autogyro in English, is also often referred to as Gyroplane, Rotorplane or Gyrocopter. It is a rotor that obtains lift by the rotation of the rotor instead of power Aircraft, generally with a propulsion propeller to provide forward propulsion, are similar in this respect to fixed-wing aircraft. The appearance of the autogyro is similar to that of a helicopter, but airflow must pass through its paddle discs to drive its rotors to rotate.

In order to meet the needs of different industries, the existing autogyro is basically equipped with an unmanned automatic driving system for temporary automatic driving. The executive parts of the existing unmanned automatic driving system are generally electric servo mechanisms. When fast manual operation is required to intervene, the self-driving command must be released first or the manual driving right must be forcibly seized. The manual driving cannot be completely involved in the first time, which will bring hidden dangers to flight safety. Moreover, if the electric servo mechanism fails and gets stuck or burned, then It may affect the manual control, and in severe cases, it may cause a flight accident.

Contents of the invention

Based on the above technical problems, the present invention provides an automatic driving attitude control system, thereby solving the technical problems that the previous unmanned automatic driving system cannot directly release the self-driving command at the first time, and there is a time difference or cannot be switched normally when switching from the self-driving mode to the manual mode. Simultaneously, based on the automatic driving attitude control system, the present invention also discloses an autogyro composed of the automatic driving attitude control system. Beneficial effects of manual manipulation.

In order to solve the above technical problems, the technical scheme adopted in the present invention is as follows:

An automatic driving attitude control system, including a soft connection action execution system and a control system;

in,

The soft connection action execution system includes an air pump, an air storage tank, a proportional control valve and an air cylinder that are connected through the air pipe in sequence;

The control system includes an operation terminal, an autopilot, a flight controller, and a displacement sensor for detecting the displacement of the cylinder, which are sequentially connected by signals;

The flight controller is also signal-connected to the proportional control valve.

Based on the above system, the operation terminal is an operation display screen.

Based on the above system, the working pressure of the cylinder is 2.5-5Kpa.

In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: the soft connection action execution system of the present invention realizes the flight attitude control of the aircraft through the cylinder, and utilizes the elasticity of the gas in the cylinder to avoid the problems of the prior art. The electric servo mechanism is easy to get stuck or damaged, so as not to affect the timely switching between automatic driving and manual driving, and using the elasticity of gas, manual driving can be performed simultaneously or directly during automatic driving without any command to cancel the automatic driving, which effectively solves the problem There is a technical problem in the technology that it is impossible to switch to manual driving at the first time during automatic driving, which improves the safety and reliability of the aircraft.

Simultaneously, the present invention also provides an autogyro, comprising a fuselage, a rotor head connected to the frame at the rear end of the fuselage, and a rotor head connected to the rotor head, and a plurality of rotor heads connected to the rotor head are evenly arranged on the frame. Adjusting rods, adjusting plates are arranged in the middle of a plurality of adjusting rods, and the two ends of the adjusting plates are respectively hinged with the adjusting rods and the frame. The above-mentioned automatic driving attitude control system is also arranged in the fuselage. Hinged with the adjustment plate.

Based on the above autogyro, the air pump and the air storage tank are all arranged at the front end of the cabin of the fuselage, and the proportional control valve, the flight controller and the displacement sensor are all arranged in the frame.

Based on the above autogyro, the telescopic rod of the cylinder is hinged in the middle of the adjustment plate.

Based on the above autogyro, there are two adjusting rods in total, both of which are located on both sides of the frame, and two adjusting plates and cylinders between the adjusting rods are also arranged.

The autogyro of the present invention replaces the existing electric servo mechanism through the soft connection action execution system, so that the real-time and free switching between automatic driving and manual driving can be realized at the first time, without any other requirements for switching, and the switching is convenient and fast, which improves the The operability and safety of the autogyro. Secondly, using the soft connection action execution system to replace the existing electric servo mechanism can also prevent the electric servo mechanism from being stuck or damaged and affecting the state switching of the autogyro. Finally, through the control system The dynamic change of the soft connection action execution system can be realized, so that the execution operation of the soft connection action execution system can be precisely controlled, the flight attitude control accuracy of the autogyro when it is unmanned is improved, and the safety and reliability of automatic driving are guaranteed. sex and stability.

Description of drawings

Fig. 1 is a schematic diagram of the system of the present invention;

Fig. 2 is a side view of the autogyro;

Fig. 3 is the rear view of autogyro;

Figure 4 is a perspective view of the autogyro;

The marks in the figure are respectively represented as: 1. Air tank; 2. Air pump; 3. Operation terminal; 4. Air pipe; 5. Rotor head; 6. Rotor; 7. Frame; 8. Cylinder; 1. Proportional control valve; 11. Flight controller; 12. Fuselage; 13. Regulating plate; 14. Regulating rod.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. Embodiments of the present invention include, but are not limited to, the following examples.

Example 1

As shown in Figure 1, an automatic driving attitude control system includes a soft connection action execution system and a control system;

in,

The soft connection action execution system includes an air pump 2, an air storage tank 1, a proportional control valve 10, and an air cylinder 8 connected through the air pipe 4 in sequence;

The control system includes an operation terminal 3, an autopilot, a flight controller 11 and a displacement sensor 9 for detecting the displacement of the cylinder 8, which are sequentially connected by signals;

The flight controller 11 is also signal-connected to the proportional control valve 10 .

In the present embodiment, the air cylinder 8 is connected with the direction control structure of the aircraft, and is used for the flight attitudes such as pitching and rolling of the air aircraft. Air volume distribution, using the expansion and contraction of the cylinder 8 to change the flight attitude of the aircraft. At the same time, the aircraft can also operate the autopilot through the control terminal 3, thereby using the flight controller 11 to receive the data of the displacement sensor 9, and the cylinder 8 detected by the displacement sensor 9 The displacement is converted into data and sent to the autopilot. The autopilot controls the air volume of the proportional control valve 10 through the flight controller 11 according to the displacement of the cylinder 8, thereby adjusting the displacement of the telescopic rod of the cylinder 8 to realize the attitude control of the aircraft.

This embodiment utilizes the principle that gas has a certain degree of elasticity to design a soft connection action execution system composed of a gas medium. The pneumatic mechanism of the cylinder 8 is used to realize the function of the original electric servo mechanism. The cylinder 8 is not easy to be stuck or damaged. When the driving mode needs to be switched At this time, manual operation can be realized directly through the joystick of the aircraft, without waiting or canceling the command operation, the pilot can realize the control of the aircraft at the first time, which improves the safety and reliability of the aircraft.

The operation terminal 3 in this embodiment is an operation display screen. The operation display screen is set at the position of the aircraft close to the driver, so that it can be operated at any time to achieve fast operation.

The working pressure of the cylinder 8 of the present embodiment is 2.5-5Kpa. Because the actuator of the self-driving system is a cylinder, and the air itself is elastic, experiments have proved that when the pressure of the cylinder of the actuator is 2.5-5Kpa, the flight attitude of the aircraft can be completely controlled. At the same time, under this pressure, due to the elasticity of the gas, it can also It does not affect the pilot's effective control of the joystick. The pilot can completely take over the joystick manually and wait for an opportunity to release the autopilot control. Therefore, based on cost, aircraft structure and flight attitude considerations, the working pressure of the cylinder should be kept at 2.5-5Kpa.

Example 2

As shown in Figure 2-3, a kind of autogyro, comprises fuselage 12, is connected with rotor head 5 on the frame 7 of fuselage 12 rear end, and rotor head 5 is connected with rotor 6, and on described frame 7 also uniform Two adjustment rods 14 connected to the rotor head 5 are provided, both of which are located on both sides of the frame 7, and the middle part of the two adjustment rods 14 is provided with an adjustment plate 13, and the two ends of the adjustment plate 13 are respectively hinged with the adjustment rod 14 and the frame 7 , the automatic driving attitude control system described in Embodiment 1 is also provided in the fuselage 12, the telescopic rod of the cylinder 8 is hinged with the adjustment plate 13; the air pump 2 and the air storage tank 1 are all arranged on the The front end of the seat compartment of the body 12, the proportional control valve 10, the flight controller 11 and the displacement sensor 9 are all arranged in the frame 7;

The expansion and contraction of the cylinder 8 of the present embodiment drives the adjustment plate 13 and the adjustment rod 14 to move, thereby driving the rotor head 5 to change the rotation angle of the rotor 6, so as to realize the change of the flying attitude of the autogyro and realize unmanned driving. The air supply and distribution are realized through the air pump 2, the air storage tank 1, and the proportional control valve 10, while the action of the cylinder 8 is controlled in real time by the control system during automatic driving.

This embodiment can realize the real-time and free switching between automatic driving and manual driving at the first time, without any other requirements for switching, convenient and fast switching, improving the operability and safety of the autogyro, and using the soft connection action execution system to replace the existing The electric servo mechanism can also prevent the electric servo mechanism from being stuck or damaged and affect the state switching of the autogyro. Finally, the dynamic change of the soft connection action execution system can be realized through the control system, so that the soft connection action execution system can be precisely controlled. The execution of the operation improves the flight attitude control accuracy of the autogyro when it is unmanned, and ensures the safety, reliability and stability of the autopilot.

The foregoing is an embodiment of the present invention. The foregoing are various preferred embodiments of the present invention. If the preferred implementations in each preferred embodiment are not obviously self-contradictory or based on a certain preferred implementation, each preferred implementation can be used in any superposition and combination. The specific parameters in the embodiments and the embodiments are only for clearly expressing the inventor's invention verification process, and are not used to limit the scope of patent protection of the present invention. The scope of patent protection of the present invention is still subject to its claims. The equivalent structural changes made in the description of the invention and the content of the accompanying drawings should be included in the protection scope of the present invention in the same way.

Claims (7)

1. A self-driving attitude control system, characterized in that: comprising a soft connection action execution system and a control system; in, The soft connection action execution system includes an air pump (2), an air storage tank (1), a proportional control valve (10) and an air cylinder (8) connected sequentially through the air pipe (4); The control system includes an operation terminal (3), an autopilot, a flight controller (11) and a displacement sensor (9) for detecting the displacement of the cylinder (8) sequentially connected by signals; The flight controller (11) is also signal-connected to the proportional control valve (10). 2. The automatic driving attitude control system according to claim 1, characterized in that: the operation terminal (3) is an operation display screen. 3. The automatic driving attitude control system according to claim 1, characterized in that: the working pressure of the cylinder (8) is 2.5-5Kpa. 4. A kind of autogyro, comprises fuselage (12), is connected with rotor head (5) on the frame (7) of fuselage (12) rear end, and rotor head (5) is connected with rotor (6), described The frame (7) is also evenly provided with a plurality of adjusting rods (14) connected with the rotor head (5), and the middle part of a plurality of adjusting rods (14) is provided with an adjusting plate (13), and the two ends of the adjusting plate (13) Respectively hinged with the adjustment rod (14) and the frame (7), it is characterized in that: the automatic driving attitude control system as claimed in claim 1 or 2 or 3 is also provided in the fuselage (12), and the cylinder ( 8) the telescopic rod is hinged with the adjusting plate (13). 5. A kind of autogyro according to claim 4, characterized in that: the air pump (2) and the air storage tank (1) are all arranged at the front end of the cabin of the fuselage (12), and the proportional control valve (10), flight controller (11) and displacement sensor (9) are all arranged in the frame (7). 6. An autogyro according to claim 4, characterized in that: the telescopic rod of the cylinder (8) is hinged at the middle of the adjustment plate (13). 7. A kind of autogyro according to claim 4, characterized in that: two adjusting rods (14) are arranged in total, both are located on both sides of the frame (7), and between the adjusting rods (14) Adjusting plate (13) and cylinder (8) are provided with two equally.