CN-117485556-B - Omnidirectional decoupling annular vector tilt rotor aircraft and control method thereof

CN117485556BCN 117485556 BCN117485556 BCN 117485556BCN-117485556-B

Abstract

The invention discloses a high-efficiency omni-directional decoupling annular vector tilt rotor aircraft and a control method thereof, the aircraft comprises a fuselage, a fuselage driving gear set, four tilting mechanisms, four annular vector tilting rotor power sets, electronic equipment and the like. The aircraft can realize six-degree-of-freedom all-position attitude decoupling flight, wherein the attitude angle is any omnidirectional angle, including a roll angle, a pitch angle and a yaw angle, and can realize hovering and flight of any attitude of the aircraft. The aircraft structurally solves the problem of the limitation of the controllable attitude angle of the traditional aircraft with the variable tilting rotor mechanism, improves the capability of complex space activity of the aircraft, fundamentally solves the problems of power offset and power redundancy, reduces the energy loss, improves the power efficiency, prolongs the endurance time, is suitable for application scenes needing strong anti-interference and aerial physical interaction capability, and has important significance and value in the future.

Inventors

ZHU XINNING
ZHENG XIANGMING
LU KAIJIE
LI HAOZE

Assignees

南京航空航天大学

Dates

Publication Date: 20260505
Application Date: 20231101

Claims (6)

1. An omni-directional decoupling annular vector tilt rotor aircraft is characterized by comprising a fuselage, a fuselage driving gear set, an annular vector tilt rotor power set and electronic equipment fixed on the fuselage; The machine body driving gear set comprises a machine body center driving gear, accelerating gears, steering gears and a steering wheel, wherein the steering gears are fixed at the center of the machine body and drive the steering wheel to rotate through splines; The annular vector tilting rotor power sets are circumferentially and symmetrically distributed relative to the geometric center of the machine body, each annular vector tilting rotor power set comprises a tilting mechanism, a flange ring, screws, nuts, an inner ring, nylon bearings and an outer ring, wherein the tilting mechanism penetrates through the flange ring through a carbon tube to be in interference fit, the flange ring is connected and fastened with two ends of the inner ring, and the inner ring and the outer ring are in interference fit through the nylon bearings and are meshed with acceleration gears at corresponding positions; The tilting mechanism comprises a tilting mechanism shell, a brushless motor, a propeller clamp, a steering engine, a rudder arm, a movable gear, a fixed gear, bearings and a bottom shell, wherein the brushless motor is arranged on a motor base of the tilting mechanism shell and is used for fastening, the propeller is coaxially arranged on the brushless motor, the propeller and the brushless motor are fastened through the propeller clamp, a carbon tube penetrates through two bearings arranged in the center of the tilting mechanism shell, the fixed gear is arranged between the two bearings, the outer surface of the carbon tube is in interference fit with the inner surfaces of the three bearings and is bonded together, the steering engine is arranged in a steering engine groove of the tilting mechanism shell and is used for fastening, the rudder arm is driven to rotate through a spline, the rudder arm is coaxially arranged and is fastened with the movable gear, the movable gear is meshed with the fixed gear, the whole tilting mechanism is driven to tilt around the carbon tube, and the bottom shell is aligned with the tilting mechanism shell and is fixed together, so that a complete streamline type tilting mechanism is formed.
2. The omni-directional decoupling annular vector tilt rotor aircraft of claim 1, wherein the fuselage comprises an upper plate, a lower plate, aluminum posts and landing gear, wherein the upper plate and the lower plate are supported and fixed through the aluminum posts, the landing gear is tightly attached to the lower surface of the lower plate, the aluminum posts penetrate through upper holes of the lower plate to be fastened, and the upper plate, the lower plate, the aluminum posts and the landing gear are assembled to form a fuselage body.
3. The omni-directional decoupling annular vector tilt rotor aircraft of claim 2, wherein the upper and lower plates are milled and cut from carbon fiber plates, and the landing gear is a 3D printed photo-cured material.
4. The omni-directional decoupled annular vector tiltrotor aircraft according to claim 1, wherein the tiltrotor housing, the pinion, the stator, and the bottom shell are 3D printed photo-curable materials.
5. The omni-directional decoupled annular vector tiltrotor aircraft according to claim 1, wherein the electronic device comprises a flight controller for automatically controlling stable flight of the aircraft and outputting processed position and attitude signals, an electronic governor for powering a brushless motor and adjusting rotational speed, a power battery for powering a power system and a control system of the whole aircraft, a power module for measuring voltage and current of the battery and powering the flight controller, a receiver for receiving signals from a remote controller, and an on-board GPS for receiving GPS satellite information and providing positioning and navigation information to the aircraft.
6. The control method of the omni-directional decoupling annular vector tilt rotor aircraft is characterized by comprising six degrees of freedom of motion, namely forward and backward movement, transverse movement, lifting motion, rolling motion, pitching motion and yawing motion, and specifically comprises the following steps: The four rotary wings tilt forwards or backwards around the tilting shaft to change the angle to provide longitudinal horizontal component force, and the rotary wing rotating speed is properly increased to ensure the lift force; After the inner ring rotates by 90 degrees, the four rotary wings tilt left or right around the tilting shaft to change the angle to provide horizontal component force, and the rotary wing rotating speed is increased to ensure lift force; the lifting movement is realized by changing the rotating speeds of four rotors simultaneously and generating acceleration in the vertical direction; The rolling motion, namely after the inner ring rotates 90 degrees, the four rotary wings keep the rotation speed unchanged and tilt around the tilting shaft, and meanwhile, the rotary wings are kept upwards; Pitching motion, namely keeping the rotating speed of the four rotary wings unchanged, tilting around a tilting shaft, and keeping the rotary wing rotor upwards; And yaw motion, namely enabling the inner rings of the four rotors to rotate until the tilting shafts are collinear with the horn, ensuring that only yaw moment is generated by subsequent vector tilting through the mass center of the aircraft, enabling the rotors to tilt around the tilting shafts to provide horizontal moment around the mass center, and increasing the rotating speed to ensure lift force.

Description

Omnidirectional decoupling annular vector tilt rotor aircraft and control method thereof Technical Field The invention relates to the technical field of aviation, in particular to an omni-directional decoupling annular vector tilting rotor craft and a control method thereof. Background In recent years, with development and maturity of unmanned aerial vehicle technology, unmanned aerial vehicle application scenes are continuously expanded, such as a high wind environment task, a narrow and complicated space task, an automatic inspection task, an air operation task, a vertical wall task, a multidirectional task and the like. The diversified application scenes and working environments provide higher requirements for the performance of the unmanned aerial vehicle, wherein the unmanned aerial vehicle is required to have higher anti-interference capability and aerial physical interaction capability besides stable hovering capability. At present, most of the rotors of the conventional multi-rotor unmanned aerial vehicle are arranged in the same horizontal plane, the rotors face the same direction, single-direction thrust is generated, and the multi-rotor unmanned aerial vehicle has the advantages of simple and reliable structure and convenient maintenance, but has strong coupling position and attitude dynamics characteristics, namely, the position change of the aircraft is realized by providing horizontal component force through the inclined fuselage, the fuselage is inclined, the position is not changed, the omni-directional flight cannot be realized, and the maneuverability of the aircraft is greatly limited. To solve the above-mentioned problems, there is a need to design a multi-rotor aircraft with decoupled position and attitude dynamics. Omni-directional aircraft solutions for achieving six degrees of freedom independent steering exist, which can be broadly divided into fixed tilting and variable tilting solutions. Fixed tilting schemes typically arrange symmetrically distributed rotors of different orientations in a vertical plane, thereby creating forces and moments in multiple directions. The rotational speed of each rotor wing is cooperatively controlled, so that resultant force and resultant moment on six degrees of freedom of the fuselage are generated. There are some fixed tilting scheme aircrafts capable of realizing omni-directional flight, such as fixed tilting six-rotor aircrafts, cubic omni-directional eight-rotor aircrafts, rod-shaped eight-rotor aircrafts and the like. The fixed tilting solution actuator is fixed towards the mounted motor, theoretically requiring at least six motors of different orientations for achieving full drive of six degrees of freedom motion. The fixed tilting scheme has simple control logic and stable structure, but has serious power offset problem, lower flight efficiency and shorter endurance time. The variable tilting scheme changes rotor orientation by adding additional actuators, enabling each rotor to produce a vector thrust over a range. And the resultant force and the resultant moment on six degrees of freedom of the fuselage are generated by cooperatively controlling the direction and the rotating speed of the rotor wing. The existing variable tilting schemes are mostly to add tilting rudder machines for the rotor wings on the basis of the traditional four-rotor wing or six-rotor wing aircrafts, such as a variable tilting four-rotor wing aircrafts, a parallel link four-rotor wing aircrafts and a variable tilting six-rotor wing aircrafts. The variable tilting schemes can realize six-degree-of-freedom flexible control, but due to structural limitation, the controllable angle is small, power offset and power redundancy exist, and the mechanical structure is complex. The successful design scheme is that each power unit can realize 360-degree tilting around a horn shaft by tilting six rotor craft Voliro, and 6 motors and 12 actuators of 6 steering engines are used. When the aircraft flies nearby the horizontal attitude, all power groups can completely provide lift force for the aircraft, and the efficiency is high. However, when the body posture is inclined at a large angle, such as 90-degree roll angle hovering, only the front power group and the rear power group can provide vertical thrust, and the problems of power offset, power redundancy, energy loss and duration shortening exist. Disclosure of Invention The invention aims to solve the problems of the prior art, and provides an omnidirectional decoupling annular vector tilt rotor aircraft and a control method thereof, and the provided aircraft can realize six-degree-of-freedom omnidirectional dynamic decoupling, is suitable for application scenes such as strong wind interference flight, narrow space navigation, tilting fuselage shooting, fire control gesture changing spraying, multidirectional spraying tasks, inspection maintenance tasks, vertical wall tasks, air operation tasks, air butt joint tasks and the li