CN107416200B - Electric composite wing aircraft - Google Patents

Abstract

An electric composite wing aircraft relates to the field of unmanned aerial vehicle design and solves the problems that a multi-rotor power system becomes dead weight and loses the performance of the composite wing aircraft or the power of the power system is excessive to cause low efficiency of the power system and the like in a fixed wing cruising stage of the existing composite wing aircraft; the rear rotor wing motors are symmetrically arranged at two ends of a rotating shaft, the rotating shaft is arranged at the tail end of the tail stay bar through a three-way pipe fitting, and the rotor wing plane of the rear rotor wing is provided with a 10-degree dihedral angle; the avionics system supplies power for driving system, and the mechanism that verts includes steering wheel and link mechanism, and the mechanism that verts steering wheel drives link mechanism drive pivot through the steering wheel rocking arm and verts, realizes that the synchronization of rearmounted rotor verts. The invention is applied to various fields including civil aviation and military, and is not only suitable for model airplanes and unmanned planes, but also suitable for manned airplanes.

Description

Electric composite wing aircraft

Technical Field

The invention relates to the field of unmanned aerial vehicle design, in particular to a composite aircraft combining multiple rotor wings and fixed wings.

Background

The application of many rotors in the unmanned aerial vehicle field is far more than fixed wing unmanned aerial vehicle at present. The multi-rotor unmanned aerial vehicle can take off, land and hover vertically, the characteristic or the advantage meets most of requirements on application occasions of the unmanned aerial vehicle in the market, but the multi-rotor always overcomes gravity by means of pulling force provided by the rotors in any state, great limitation is caused to the time of flight and effective load of the multi-rotor unmanned aerial vehicle, the flight time of the multi-rotor unmanned aerial vehicle is up to twenty-thirty minutes, the flight time of the multi-rotor unmanned aerial vehicle is even shortened to several minutes when the multi-rotor unmanned aerial vehicle is heavily loaded, and in addition, the flight speed of the multi-rotor unmanned aerial vehicle is also greatly limited.

The fixed wing aircraft offsets gravity by the lift that the wing produced when flying, and driving system only overcomes the resistance, because fixed wing aircraft is generally can reach about 10 at the lift-drag ratio of cruising, can think under the condition of equal weight, the driving system of fixed wing only need pay the cost of the driving system 1/10 of many rotors to fixed wing aircraft has huge advantage more rotor aircraft in the aspect of time of flight, in addition, fixed wing aircraft's effective load and stability also need be superior to many rotor aircraft generally. But the take-off and landing of fixed wing aircraft have large limitations on the field or require a bulky catapult frame system. It is this shortcoming that has restricted the large-scale popularization and application of fixed wing unmanned aerial vehicle.

According to the advantages and disadvantages of the multi-rotor and the fixed wing, some research and development personnel in the field of aviation find an aircraft with the advantages of the combination of the fixed wing and the multi-rotor, the aircraft is roughly divided into two types, one type is that a multi-rotor system is directly added on a normal fixed wing, the multi-rotor power system and the fixed wing power system are mutually independent, the multi-rotor system works and the fixed wing system does not work when the multi-rotor system works and the fixed wing power system does not work in the cruise stage of the fixed wing, the composite wing has the advantages of the multi-rotor and the fixed wing, but in the cruise stage of the fixed wing, the multi-rotor power system becomes dead weight, and the performance of the composite wing aircraft is greatly lost; the other type of the aircraft integrates the power of a plurality of rotors and the power of a fixed wing, an airborne power system is used as the power of the plurality of rotors and the power of the fixed wing during cruising, the utilization rate of the power system of the aircraft is improved by the aircraft, the dead weight of the fixed wing during cruising is eliminated, but the problem of surplus power is also brought about, the lift force required during vertical take-off and landing of the aircraft is larger than the gravity of the aircraft, the thrust required during cruising of the fixed wing is only 1/10 of the weight of the aircraft, the power system with high thrust works under low thrust for a long time, the utilization rate of the power system is improved, and the efficiency of the power system is extremely low.

Among known fixed-wing vehicles with VTOL, the solution of adding multi-rotor system directly on top of the normal fixed-wing is similar to the "CW-10 Roc" and "CW-20 Roc" drones of Wolfra-Howland Automation technology Limited, which have the disadvantages that the multi-rotor system becomes a dead-man and loses the performance of the fixed-wing vehicle greatly during the cruise phase of the fixed-wing, as mentioned above.

The scheme of the fixed wing with the vertical take-off and landing functions, which combines a multi-rotor power system and a fixed wing power system, comprises a tilting rotor composite aircraft and a tailstock aircraft, the existing scheme comprises a 'V22' osprey, 'Fire Fly 6' tilting rotor electric unmanned aerial vehicle, a 'VD 200' unmanned aerial vehicle of the middle aviation industry institute and the like, and the defects of the aircraft are that power is surplus and the efficiency of the power system is lower during cruising.

In conclusion, the multi-rotor aircraft in the prior art has the advantages of vertical take-off and landing and hovering, but the load and the time of flight are greatly limited, and the wind resistance is not strong.

The fixed wing aircraft has the advantages of heavy load, long endurance and strong wind resistance, but the taking off and landing of the fixed wing aircraft need to depend on a certain runway or need a heavy ejection system.

Some existing aircrafts combining multiple rotors and fixed wings completely become dead weight when a multi-rotor system is in a fixed wing mode for cruising, so that the performance of the fixed wing mode is lost, and some aircrafts have surplus power systems when in a fixed wing mode for flying, so that the efficiency of the power systems is lower during cruising.

Disclosure of Invention

The invention provides a novel electric composite wing aircraft, aiming at solving the problems that a multi-rotor power system becomes dead and heavy and the performance of the composite wing aircraft is lost in the cruise stage of a fixed wing of the conventional composite wing aircraft, or the efficiency of the power system is low due to the excessive power of the power system.

The electric composite wing aircraft comprises a fixed wing assembly, wherein the fixed wing assembly comprises wings, an aircraft body, a tail stay bar, a vertical tail, a horizontal tail and an avionic system; the vertical tails are connected with the machine body through tail support rods, and the horizontal tails are symmetrically arranged above the vertical tails; the aircraft comprises a fuselage, a rotor assembly and a tilting mechanism, wherein the rotor assembly comprises two front rotors, two front rotor motors, two rear rotors and two rear rotor motors; the rear rotor wing motors are symmetrically arranged at two ends of a rotating shaft, the rotating shaft is arranged at the tail end of a tail stay bar through a three-way pipe fitting, and the rotor wing plane of the rear rotor wing is provided with an up-down angle of 10 degrees;

the avionic system comprises a power supply manager and two sets of power supply systems, wherein one set of power supply system supplies power to the front rotor motor, and the other set of power supply system supplies power to the rear rotor motor;

the tilting mechanism comprises a tilting mechanism steering engine and a connecting rod mechanism, the tilting mechanism steering engine is fixed on the vertical tail skin, one end of the connecting rod mechanism is connected with a steering engine rocker arm, and the other end of the connecting rod mechanism is fixedly connected with the rotating shaft; the tilting mechanism steering engine drives the connecting rod mechanism to drive the rotating shaft to tilt through the steering engine rocker arm, and synchronous tilting of the rear rotor wing is achieved.

The invention has the beneficial effects that:

1. according to the electric composite wing aircraft, due to the design of the tilting mechanism, the two rear rotors are used as the power of the rotor system and the power of the fixed wing system, the utilization rate of the power system is high, and the dead weight of the fixed wing aircraft during flying in a fixed wing mode is reduced; the efficiency of the power system in the fixed-wing mode cruise process is the highest by designing the relative gravity center positions of the front rotor wing and the rear rotor wing and the dihedral angle of the rear rotor wing. Therefore, the electric composite wing aircraft not only has the advantages of capability of vertically taking off and landing, hovering and the like of multiple rotors, but also has the advantages of long endurance, large load, high speed, strong wind resistance and the like of the fixed wings.

2. According to the invention, because two sets of power supply systems are adopted, the battery proportion can be distributed according to the actual flight task, the weight of the power supply battery for the front rotor wing is increased, the weight of the power supply battery for the rear rotor wing is reduced, and the multi-rotor wing mode working time of the electric composite wing aircraft can be prolonged by sacrificing the cruise time of the fixed wing mode; the fixed wing cruising working time of the electric composite wing aircraft can be prolonged by sacrificing the working time of a multi-rotor mode by reducing the weight of a power supply battery for the front rotor and increasing the weight of a power supply battery for the rear rotor; the electric composite wing aircraft can meet various task modes.

3. The tilting mechanism is a link mechanism controlled by the steering engine, and is simple in structure and light in weight.

4. The power system of the invention is a motor, and is much lighter than the traditional power system, so the dead weight added by the front rotor power system is less, the service life of the power system is longer and reliable, and the environmental adaptability is stronger.

5. The electric composite wing aircraft can be applied to various fields including civil aviation and military, and is not only suitable for model airplanes and unmanned airplanes, but also suitable for manned airplanes.

Drawings

Fig. 1 is a schematic structural diagram of an electric compound wing aircraft according to the present invention;

FIG. 2 is a top view of the electric compound wing aircraft of the present invention;

FIG. 3 is a schematic structural diagram of the electric compound wing aircraft in multi-rotor mode for vertical take-off and landing according to the present invention;

FIG. 4 is a schematic structural diagram of the electric compound wing aircraft during transition flight according to the present invention;

FIG. 5 is a schematic structural diagram of an electric compound wing aircraft in a fixed wing mode during cruise, according to the present invention;

fig. 6 is a partially enlarged schematic view of the tilting mechanism of the electric compound wing aircraft according to the invention.

In the figure: 1. wing, 2, front rotor, 3, fuselage, 4, inboard aileron, 5, outboard aileron, 6, elevator, 7, rudder, 8, pivot, 9, tilting mechanism steering engine, 10, rear rotor, 11, tail stay bar, 12, front rotor bracing piece, 13, front rotor motor, 14, inboard aileron steering engine, 15, outboard aileron steering engine, 16, horizontal tail, 17, elevator steering engine, 18, vertical tail, 19, rudder steering engine, 20, steering engine rocker arm, 21, tilting mechanism connecting rod, 22, collar connecting rod, 23, tee pipe fitting, 24, rear rotor motor, 25, vertical tail skin.

Detailed Description

First embodiment, the present embodiment is described with reference to fig. 1 to 6, and an electric compound wing aircraft includes a fixed wing assembly, where the fixed wing assembly includes a wing 1, afuselage 3, atail stay 11, avertical tail 18, ahorizontal tail 16, aninboard aileron 4, anoutboard aileron 5, arudder 7, an elevator 6, and an avionics system;

the wings 1 comprise a left wing and a right wing which are symmetrically arranged on two sides of thefuselage 3. Theinboard ailerons 4 comprise a left inboard aileron and a right inboard aileron, which are symmetrically arranged at the inner sides of the left and right wings. The inneraileron steering gear 14 comprises steering gears of left and right inner ailerons, and the left and right inner ailerons drive and control the rolling maneuver in a fixed wing mode through the inneraileron steering gear 14.

Theouter ailerons 5 comprise a left outer aileron and a right outer aileron, which are symmetrically arranged on the outer sides of the left wing and the right wing. The outeraileron steering gear 15 comprises a steering gear for left and right outer ailerons, and the left and right outer ailerons drive and control the rolling maneuver in the fixed wing mode through the outeraileron steering gear 15.

Thevertical tail 18 is connected with themachine body 3 through atail stay bar 11, and therudder 7 drives and controls the yaw maneuvering in the fixed wing mode through arudder steering engine 19.

Thehorizontal tails 16 comprise a left horizontal tail and a right horizontal tail, the left horizontal tail and the right horizontal tail are symmetrically arranged above thevertical tails 18, and thevertical tails 18 are T-shaped tail wings. The elevator 6 comprises a left elevator and a right elevator, theelevator steering engine 17 comprises a left elevator steering engine and a right elevator steering engine, and the elevator 6 drives and controls pitching maneuver in a fixed wing mode through theelevator steering engine 17.

Still includepivot 8, rotor subassembly and the mechanism that verts, the rotor subassembly contains four sets of driving system, and every set of driving system comprises rotor + motor, promptly: twofront rotors 2, afront rotor motor 13 for driving the twofront rotors 2, tworear rotors 10, and arear rotor motor 24 for driving the tworear rotors 10;

leadingrotor 2 includes left leading rotor and the leading rotor in the right side, and leadingrotor motor 13 includes left leading rotor motor and the leading rotor motor in the right side, and left and right leading rotor is by controlling leadingrotor motor 13 drive respectively, and leadingrotor bracing piece 12 includes left leading rotor bracing piece and the leading rotor bracing piece in the right side, controls leadingrotor motor 13 and links firmly on left wing and right wing 1 through left and right leadingrotor bracing piece 12.

Therear rotor 10 includes a left rear rotor and a right rear rotor, and therear rotor motor 24 includes a left rear rotor motor and a right rear rotor motor, and the leftrear rotor 10 is driven by the leftrear rotor motor 24 and the right rear rotor motor. Left and rightrear rotor motors 24 are fixedly mounted at both ends of the rotatingshaft 8.

The rotor plane of thefront rotor 2 is kept horizontal; the rotatingshaft 8 is arranged at the tail end of thetail stay bar 11 through a tee pipe fitting 23, and the rotor plane of therear rotor wing 10 is provided with a dihedral angle of 10 degrees;

the tilting mechanism comprises a tilting mechanism steering engine 9 and a connecting rod mechanism, the tilting mechanism steering engine 9 is fixed on thevertical tail skin 25, one end of the connecting rod mechanism is connected with a steeringengine rocker arm 20, and the other end of the connecting rod mechanism is fixedly connected with the rotatingshaft 8; tilting mechanism steering wheel 9 drives linkmechanism drive pivot 8 through steeringwheel rocking arm 20 and verts, realizes two synchronous verts of puttingrotor 10 in the back.

The avionics system component comprises a power supply manager and two sets of power supply systems, and the two sets of power supply systems respectively supply power to thefront rotor motor 13 and therear rotor motor 24 under the control of the power supply manager.

The fixed wing of the electric composite wing aircraft adopts the layout of an upper single wing and a T-shaped tail wing.

The link mechanism described in the present embodiment includes alink 21 and acollar link 22; the steeringengine rocker arm 20 is fixedly connected to the steering engine 9 of the tilting mechanism and located on one side of thevertical tail 18, the shaftcollar connecting rod 22 is fixed on the rotatingshaft 8 and is in contact alignment with the three-way pipe fitting 23, and the steeringengine rocker arm 20 and the shaftcollar connecting rod 22 are parallel and are connected through the connectingrod 21; the tilting mechanism steering engine 9 enables the rotatingshaft 8 and therear rotor wing 10 to synchronously rotate through a steeringengine rocker arm 20, a connectingrod 21 and a shaftcollar connecting rod 22.

The gravity center position of the electric compound wing aircraft is arranged between thefront rotor wing 2 and therear rotor wing 10, and the ratio of the distances from thefront rotor wing 2 to the gravity center of the aircraft to therear rotor wing 10 is 1:3, the front rotor bears 3/4 of the required thrust during vertical lifting, and the rear rotor provides 1/4 of the required thrust. The center of gravity is far away from the rear rotor, and the efficiency of the power system during cruising can be improved by reducing the maximum thrust of the rear rotor. Make two rearmounted rotors add the biggest thrust together and satisfy accelerating and climbing requirement of aircraft, the biggest thrust of single rearmounted rotor satisfies the requirement of cruising of aircraft, and two rearmounted rotors both regard as the power of rotor system and regard as the power of fixed wing system again, have improved the utilization ratio of driving system, have reduced the dead weight of this type of aircraft when the flight of fixed wing mode.

In the present embodiment, the electric composite wing aircraft is set to the multi-rotor mode during vertical take-off, landing and hovering, the transition from the multi-rotor to the fixed wing is referred to as the transition mode, and the fixed wing mode during climbing and cruise.

In a multi-rotor mode, the power supply manager controls the twofront rotor motors 13 to respectively drive the twofront rotors 2, and the tworear rotor motors 24 respectively drive the tworear rotors 10 to work;

in the transition mode, the tilting mechanism controls the tworear rotors 10 to tilt forwards by 30 degrees synchronously during acceleration, and the horizontal acceleration of the aircraft is maintained to the stall speed in the state;

after the horizontal speed exceeds the stall speed, all the four sets of power systems are closed, therear rotors 10 are continuously tilted forwards to the horizontal through the tilting mechanism in the gliding process of the aircraft, then the tworear rotors 10 are immediately started to accelerate or climb the aircraft, and thefront rotors 2 do not work any more.

After the transition mode is finished, the tilting mechanism drives the tworear rotors 10 to tilt forwards to a horizontal state, and the aircraft enters a fixed wing mode;

in the fixed wing mode, the power manager controls bothrear rotors 10 to operate when the aircraft is in a climbing state, and controls onerear rotor 10 to operate when the aircraft is in a cruise state.

Thefront rotor 2 of the present embodiment is used only in a multi-rotor mode and a transition mode, and needs to provide a larger thrust, so that a larger size of paddle can be used to reduce the power of the front rotor during taking off and landing. The rear rotor wing always works in a multi-rotor wing mode, a transition mode and a fixed wing mode, the thrust required to be provided is small, and the diameter of the propeller of the rear rotor wing is not too large in order to reduce the resistance of the propeller during cruise. Because the maximum thrust difference between thefront rotor 2 and therear rotor 10 is too large, the selected motor model requires two sets of power supply systems.

The rotor plane of the rear rotor (10) is located below the horizontal tail (16), the rotor plane of the front rotor (2) is above the wing (1), the rotor diameter of the rear rotor (10) is smaller than that of the front rotor (2), the wheel base between the rear rotors (10) is smaller than that between the front rotors (2), and the two rear rotors have a dihedral angle of 10 degrees, so that when only one rear rotor (10) works in cruise in a fixed wing mode, the intersection point of the thrust line and the central axis passing through the center of gravity is located at the front 10mm of the gravity center of the aircraft. The yaw moment generated when the single rear rotor is used as cruising power is reduced due to the existence of the dihedral angle, but a lateral force component is generated, and the electric composite wing aircraft always flies at a roll angle of about 1 degree to counteract the lateral force component during normal cruising. When a single rear rotor wing in a fixed wing mode is used as power for cruising, the efficiency of a power system can reach 70% -85%, and the efficiency of the power system is high.

In a second embodiment, the present embodiment is described with reference to fig. 3 to 5, and the present embodiment is a method of operating an electric composite wing aircraft according to the first embodiment:

the aircraft is in many rotors mode when taking off, and power manager control leadingrotor motor 13 and the work of 24 start-ups of rearmounted rotor motor, and the mechanism that verts maintains the vertical upwards of resultant force of tworearmounted rotors 10, and the aircraft begins to take off when ascending pulling force is greater than gravity, and the flight controller of aircraft controls the gesture and the position of electronic compound wing aircraft through the rotational speed of adjusting each rotor.

After the vertical takeoff is performed for a certain height, namely: the multi-rotor mode takes off for about 10s, a transition mode is entered, the tilting mechanism steering engine 9 drives the link mechanism to drive therotating shaft 8 to tilt, so as to drive therear rotor motor 24 and therear rotor 10 to tilt forward by 30 degrees, at the moment, the horizontal pulling force of therear rotor 10 accelerates the horizontal direction of the aircraft, the component of the vertical direction force of the rear rotor is used for keeping the attitude of the aircraft, the vertical pulling force of therear rotor 10 and the pulling force of thefront rotor 2 keep the attitude of the aircraft together, and the horizontal acceleration of the aircraft is kept to stall speed under the state; the flight time of the transition mode is about 15 seconds.

When the horizontal speed of the aircraft exceeds the stall speed, the transition mode is ended; the power manager controls and drives thefront rotor motors 13 of the twofront rotors 2 to stop working, simultaneously controls the tworear rotor motors 24 to stop working firstly in the gliding process of the aircraft, and starts therear rotor motors 24 to work again after the tilting mechanism drives therear rotors 10 to tilt forwards to a horizontal state within 1 second, and then enters a fixed wing mode,

in the fixed wing mode, the tworear rotor motors 24 of the aircraft still work during climbing, and after climbing to the cruising altitude, the power manager controls onerear rotor motor 24 to stop working and the otherrear rotor motor 24 to be used as the power for cruising.

After the electric composite wing aircraft finishes a task and is about to reach a landing point, the electric composite wing aircraft firstly descends to the height of 100 meters, the aircraft pulls an attack angle in a fixed wing mode to decelerate to a stall speed, at the moment, the power manager controls to close the tworear rotor motors 24, the tilting mechanism drives the tworear rotors 10 to tilt backwards to be vertical in 1 second, then the twofront rotor motors 13 and the tworear rotor motors 24 are started simultaneously, at the moment, the electric composite wing aircraft enters a multi-rotor mode and then descends to a specified place in the multi-rotor mode.

The aircraft of this embodiment can be according to the task demand of difference, can be through the proportion relation of the power supply battery of rotor motor around the adjustment under the unchangeable condition of assurance total battery weight to obtain the combination of different many rotors hover time and fixed wing time of endurance.

The aircraft not only reduces the dead weight of a multi-rotor system when the fixed wing patrols the aircraft, but also improves the utilization rate of a power system, and meanwhile, the efficiency of the power system when the fixed wing patrols the aircraft can be improved, so that the aircraft performance reaches the optimum.

Although the foregoing describes specific embodiments of the present invention, it should be noted that modifications can be made by those skilled in the art without departing from the principles of the present invention, such as the aft tilt rotor producing downward thrust in a multi-rotor mode, the aft tilt rotor tilting backward in a transition mode, etc., and such modifications are to be considered within the scope of the present invention.

Claims (6)

1. The electric composite wing aircraft comprises a fixed wing assembly, wherein the fixed wing assembly comprises wings (1), an airframe (13), tail stay bars (11), vertical tails (18), horizontal tails (16) and an avionic system; the vertical tails (18) are connected with the machine body (3) through tail stay bars (11), and the horizontal tails (16) are symmetrically arranged above the vertical tails (18);

the aircraft is characterized by further comprising a rotating shaft (8), a rotor wing assembly and a tilting mechanism, wherein the rotor wing assembly comprises two front rotor wings (2) and two rear rotor wings (10), the front rotor wings (2) and the rear rotor wings (10) are respectively driven by a front rotor wing motor (13) and a rear rotor wing motor (24), the front rotor wing motors (13) are symmetrically and fixedly installed on the wings (1) on two sides of the aircraft body (3) through front rotor wing supporting rods (12), and the rear rotor wing motors (24) are fixedly installed at two ends of the rotating shaft (8);

the rotor plane of the front rotor (2) is kept horizontal; the rotating shaft (8) is installed at the tail end of the tail stay bar (11) through a three-way pipe (23), and a rotor plane of the rear rotor (10) is provided with a dihedral angle of 10 degrees;

the avionic system comprises a power supply manager and two sets of power supply systems, wherein one set of power supply system supplies power to the front rotor motor (13), and the other set of power supply system supplies power to the rear rotor motor (24);

the tilting mechanism comprises a tilting mechanism steering engine (9) and a connecting rod mechanism, the tilting mechanism steering engine (9) is fixed on a vertical tail skin (25), one end of the connecting rod mechanism is connected with a steering engine rocker arm (20), and the other end of the connecting rod mechanism is fixedly connected with a rotating shaft (8); the tilting mechanism steering engine (9) drives the connecting rod mechanism to drive the rotating shaft (8) to tilt through the steering engine rocker arm (20), so that the two rear rotors (10) can tilt synchronously;

the gravity center position of the aircraft is between a front rotor (2) and a rear rotor (10), and the ratio of the gravity center distances from the front rotor (2) to the rear rotor (10) to the aircraft is 1:3;

the link mechanism comprises a link (21) and a collar link (22); the steering engine rocker arm (20) is fixedly connected to a steering engine (9) of the tilting mechanism and located on one side of a vertical tail (18), a shaft collar connecting rod (22) is fixed to a rotating shaft (8) and is in contact alignment with a three-way pipe fitting (23), and the steering engine rocker arm (20) and the shaft collar connecting rod (22) are parallel and are connected through a connecting rod (21); the tilting mechanism steering engine (9) enables the rotating shaft (8) and the rear rotor (10) to synchronously rotate through a steering engine rocker arm (20), a connecting rod (21) and a shaft collar connecting rod (22).

2. The electric compound wing aircraft according to claim 1, characterized in that the fixed wing assembly further comprises an inner aileron (4), an outer aileron (5), an elevator (6) and a rudder (7), wherein the inner aileron (4) is symmetrically installed at the inner side of the wing (1), the outer aileron (5) is symmetrically installed at the outer side of the wing (1), and the inner aileron (4) and the outer aileron (5) are driven and controlled to roll through an inner aileron steering engine (14) and an outer aileron steering engine (15) respectively;

the elevator (6) and the rudder (7) control the pitching and yawing of the wings through an elevator steering engine (17) and a rudder steering engine (19) respectively.

3. The electric compound wing aircraft according to claim 1, characterized in that the rear rotors (10) are located below the horizontal tail (16), the rotor plane of the front rotors (2) is above the wing (1), the rotor diameter of the rear rotors (10) is smaller than the rotor diameter of the front rotors (2), and the wheelbase between the rear rotors (10) is smaller than the wheelbase between the front rotors (2).

4. The electric compound wing aircraft according to claim 1, characterized in that, when the tilting mechanism controls the rear rotor (10) to tilt forward by 90 degrees, the thrust line of the rear rotor (10) is in the same plane with the central axis passing through the center of gravity of the aircraft, and the intersection point of the two lines is 10mm in front of the center of gravity.

5. The electric compound wing aircraft according to claim 1, characterized in that the electric compound wing aircraft is set to a multi-rotor mode during vertical take-off, landing and hovering, a transition mode from multi-rotor to fixed wing, and a fixed wing mode during climbing and cruising.

6. The electric compound wing aircraft according to claim 5, characterized in that, in the multi-rotor mode, the power manager controls the two front rotor motors (13) to drive the two front rotors (2) respectively, and the two rear rotor motors (24) to drive the two rear rotors (10) respectively;

in the transition mode, the tilting mechanism controls the two rear rotors (10) to tilt forwards by 30 degrees synchronously during acceleration, and the horizontal acceleration of the aircraft is maintained to the stall speed in the state;

after the transition mode is finished, the tilting mechanism drives the two rear rotors (10) to tilt forwards to a horizontal state, and the aircraft enters a fixed wing mode;

under the mode of the fixed wing, when the aircraft is in a climbing state, the power supply manager controls two rear rotors (10) to work, and when the aircraft is in a cruising state, the power supply manager controls one rear rotor (10) to work.

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