Vert quadrotorTechnical field
The present invention relates to a kind of aircraft, particularly relate to a kind of quadrotor.
Background technology
Four rotors that vert are a kind of future aircrafts attempting the vertical takeoff and landing/hovering of comprehensive quadrotor and Fixed Wing AirVehicle high-performance cruise advantage.When taking off/land, four rotor shaft keep vertical, and the lift produced upwards makes aircraft to overcome gravity, makes aircraft landing reposefully; When cruising, four rotor shaft are parallel with fuselage axis, produce pulling force forward, and wing produces lift and overcomes gravity, and aircraft is flown at high speed; Transition period, rotor shaft verts 90 ° lentamente, simultaneously each rotor revolve speed is provided to remain aircraft attitude stabilization by control algorithm, meanwhile, the horizontal velocity of aircraft is also increasing gradually, makes aircraft transition reposefully.
But the integral layout of the quadrotor that verts is good scheme never, if such as rotor is disembarked, body is far, the structural strength of wing is just difficult to the requirement meeting heavy－duty, if body is excessively near but rotor is disembarked, the length of wing can be caused again too small, and the lift that wing produces still is difficult to the requirement meeting heavy－duty.Another problem arranges two due to each before and after four rotors, the slip-stream that two rotors in front produce can become becoming a mandarin of two rotors in rear, this will make the efficiency degradation of rear rotor, and due to the uncertainty of slip-stream, the pulling force that rear rotor is produced does not wait and then causes unstability.The existing solution for slip-stream has:
1. rotor shaft is not at same plane
CN103072688A discloses one and can to vert quadrotor, make the level height of first, second fixed wing of front fuselage lower than the level height of rear end the 3rd, the 4th fixed wing, going out gas body and just substantially staggering rear end rotor of such front fuselage rotor, weakens coupling.Although do the problem of interference before and after solving a little like this, because the diff-H of aircraft front and back end rotor can not be too large, rear end rotor in this way can not be made to avoid the wake zone of front end rotor completely, still there is very large risk.
2. " ten " font layout
CN103693194A proposes in cruising phase, by the fuselage tail end at empennage place around fuselage axis to half-twist, such front wing becomes " ten " font with rear wing, certain like this can eliminate front wing produce slip-stream on the impact of rear wing, but by very complicated and heavy for the mechanical mechanism general needed for fuselage tail end half-twist, be also difficult to now realize.
Summary of the invention
The technical problem to be solved in the present invention is to provide the firm quadrotor that verts of a kind of operation stabilization, structure.
One of the present invention is verted quadrotor, comprising: fuselage, is provided with front wing and rear wing in the both sides of described fuselage, and be respectively arranged with motor in the outer end of each front wing and rear wing, the output shaft of each motor is fixed with rotor; Each described motor and corresponding front wing or rear wing are that axle connects; Also be provided with main wing in the both sides of fuselage, described main wing is arranged between described front wing, rear wing, and front wing length, rear wing length are all less than main wing length.
One of the present invention is verted quadrotor, and wherein main wing length equals the length of fuselage; Front wing length, rear wing length are 0.2 ~ 0.33 times of main wing length.
One of the present invention is verted quadrotor, and the motor be wherein positioned on the left of fuselage is symmetrical about fuselage with the motor be positioned on the right side of fuselage.
One of the present invention is verted quadrotor, and wherein each described motor is 0 ~ 90 ° around the rotation angle of corresponding front wing or rear wing outer end.
One of the present invention is verted quadrotor, wherein outside the trailing edge of described main wing, is provided with aileron.
A kind of quadrotor difference with the prior art of verting of the present invention is that the present invention is provided with main wing in the both sides of fuselage.In flight course, owing to there being main wing to produce lift, front wing and the rear wing length of therefore installing rotor can be less, thus ensure that the firm degree of front wing, rear wing and rotor.In addition, because main wing is arranged between front wing, rear wing, and main wing length is greater than the length of front wing, rear wing, and therefore main wing will suppress spiral vortex greatly, the slip-stream that the rotor weakening front produces, and makes the manipulation of aircraft more stable.
Below in conjunction with accompanying drawing, the one of the present invention quadrotor that verts is further described.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of quadrotor under motor is in vertical state that vert of the present invention;
Fig. 2 is a kind of structural representation of quadrotor under motor is in heeling condition that vert of the present invention;
Fig. 3 is a kind of structural representation of quadrotor under motor is in horizontality that vert of the present invention.
Detailed description of the invention
Conveniently understand, needed once to illustrate " wing length " before launching the present invention to illustrate.In this area, wing length refers to the distance between the wing left and right wing tip of aircraft, and therefore the main wing span refers to the distance between two main wing wing tips, and front wing length refers to the distance between two front wing wing tips, and rear wing length refers to the distance between two rear wing wing tips.
As shown in Figures 1 to 3, one of the present invention is verted quadrotor, and comprising: fuselage 1, the bilateral symmetry in fuselage 1 is provided with front wing 21 (22), rear wing 23 (24) and main wing 41 (42).Main wing is between front wing and rear wing, and main wing length is equal with fuselage length, and front wing length, rear wing length are 0.2 ~ 0.33 times of main wing length, is especially best with 0.3 times; Outside the trailing edge of main wing 41 (42), aileron 51 (52) is installed in addition.In the outer end of front wing 21,22 and rear wing 23,24, axial restraint has motor respectively, the output shaft of each motor is fixed with rotor 31,32,33,34, the rotation angle of each motor around corresponding front wing or rear wing outer end is 0 ~ 90 °, wherein 0 ° time motor be in horizontality, when 90 °, motor is in vertical state.In flight course, owing to there being main wing to produce lift, front wing and the rear wing length of therefore installing rotor can be less, thus ensure that the firm degree of front wing, rear wing and rotor.In addition, because main wing is arranged between front wing, rear wing, and main wing length is greater than the length of front wing, rear wing, and therefore main wing will suppress spiral vortex greatly, weakens the slip-stream that front rotor produces, makes the manipulation of aircraft more stable.
The present invention is a kind of, and the quadrotor that verts is as follows at the working process of vertical takeoff and landing stage, transition period and cruising phase:
In the vertical takeoff and landing stage: as Fig. 1, when aircraft needs vertical uplift (decline), the rotating speed simultaneously increasing (reduction) four rotors carrys out the overall lift of change of flight device.When aircraft needs driftage, increase the rotating speed of (reduction) rotor 21,23, the rotating speed simultaneously reducing (or increase) rotor 22,24 destroys the balance of reactive torque; When aircraft needs to advance or retreat, increase the rotating speed of (reduction) rotor 21,22, the rotating speed simultaneously reducing (or increase) rotor 23,24 controls aircraft by the rotating speed controlling rotor and carries out luffing; When aircraft needs side to fly, increase the rotating speed of (reduction) rotor 21,24, reduce the rotating speed of (increase) rotor 22,23 simultaneously.By this series of motion, aircraft can be made to take off from narrow place then go to open space to go to next stage, for like this equally during landing.
Transition phase: as Fig. 2, after departing, by each motor little by little from vertical transitions for tilting, dynamically upgrade the rotating speed of four rotors, rotating speed distribution principle is as follows: 1. resultant lift component balance aircraft self gravitation in the vertical direction simultaneously; 2. rotor 21,22 rotating speed is equal, and rotor 23,24 rotating speed is equal; 3. the lift that the rotating speed of the lift that produces of the rotating speed of rotor 21,22 and rotor 23,24 produces can maintain the pitch attitude of aircraft.
Cruise section: as Fig. 3, operation now and the class of operation of conventional fixed-wing aircraft seemingly, such as, increase or reduce by the rotating speed increased or reduce four rotors simultaneously the speed that aircraft cruises.The rotating speed uniquely simultaneously reducing (increase) rotor 22,23 unlike the rotating speed of, the driftage of aircraft relies on to be increased (or reduction) rotor 21,24 realizes, and can save the installation of yaw rudder like this.
Above-described embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determines.