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CN-122009478-A - Semi-automatic control system and semi-automatic vertical take-off and landing electric manned aircraft

CN122009478ACN 122009478 ACN122009478 ACN 122009478ACN-122009478-A

Abstract

The invention discloses a semi-automatic control system and a semi-automatic vertical take-off and landing electric manned aircraft applying the same, and belongs to the field of electric manned aircraft. The system comprises a flight controller, a height and course hybrid control rod, a front-back and left-right deflection hybrid control rod, a flight control integrated sensor for assisting in controlling the height course, and a damping reset structure for controlling the flight state of the control rod. The aircraft comprises the system, the vertical rods, the power rotors and the like, the multi-power rotors are coaxially arranged on the vertical rods and turn to offset the reactive torque, the vertical rods are hinged with the frame through universal hinges and can only deflect back and forth, left and right, the front part of the frame is provided with a counterweight, the battery pack is arranged at a low position and can be split into the counterweight, and the autorotation rotors and the electric variable-pitch front propeller can also be arranged. The invention combines semi-automatic flight control and manual mechanical control, reduces the driving threshold, has strong anti-overturning performance, compact structure and stable riding, and is suitable for civil low-empty-carrier flight.

Inventors

  • WANG ZHICHENG

Assignees

  • 仿森智能科技(佛山)有限公司

Dates

Publication Date
20260512
Application Date
20260402

Claims (12)

  1. 1. The semiautomatic steering system is characterized by comprising a flight controller, a height and heading hybrid steering rod (8), a front-back left-right deflection hybrid steering rod (6), wherein the flight controller is electrically connected with an aircraft power system, the height and heading hybrid steering rod (8), a height sensor and an electronic compass are integrated with the flight controller, the front-back left-right deflection hybrid steering rod (6) is connected with the aircraft power system, the aircraft power system is hinged with an aircraft frame (4), the front-back left-right deflection hybrid steering rod (6) is controlled to enable the resultant force direction of lifting force of the aircraft power system to deflect front, back, left and right relative to the frame (4) and enable the aircraft power system not to rotate in a horizontal plane relative to the frame (4), the height and heading hybrid steering rod (8) is used for controlling lifting and yaw of the aircraft, and the front-back left-right deflection hybrid steering rod (6) is used for controlling front flying, back flying, left flying and right flying of the aircraft.
  2. 2. Semi-autonomous system according to claim 1, characterized in that said fore-aft left-right yaw mixed lever (6) is connected in a uniform and substantially coaxial manner with the resultant force direction of the lift forces of the aircraft power system.
  3. 3. The semiautomatic steering system according to claim 1, wherein the height and heading hybrid steering rod (8) is provided with a damping stop structure in a front-rear direction, and can stop at any position in the front-rear direction when not operated, and the height and heading hybrid steering rod (8) is provided with a centering reset structure in a left-right direction, and is returned to a left-right direction centering position when not operated.
  4. 4. The semiautomatic vertical take-off and landing electric manned aircraft is characterized by comprising an aircraft main body and the semiautomatic control system according to any one of claims 1-3, wherein the aircraft main body comprises a vertical rod (2), a plurality of sets of power rotors, a rack (4), a battery pack (7), a counterweight (43), a steering position (42) and a landing gear (41), the vertical rod (2) is vertically arranged, the plurality of sets of power rotors are coaxially arranged in the vertical rod (2) up and down in parallel, the vertical rod (2) is hinged with the rack (4) through a universal hinge (3), the vertical rod (2) can only deflect forwards, backwards, leftwards and rightwards relative to the rack (4) and cannot rotate in a horizontal plane relative to the rack (4), the rack (4) is arranged on the landing gear (41), the steering position (42) is arranged in the rack (4), the counterweight (43) is arranged in the front of the rack (4), the hanging bracket (5) is fixedly connected with the vertical rod (2), the hanging bracket (5) is arranged below the vertical rod (2), and the battery pack (7) is fixedly arranged below the vertical rod (2) through the hanging bracket (5).
  5. 5. The semi-automatic vertical take-off and landing electric manned aircraft of claim 4 wherein the aircraft body further includes a autorotor (15), the autorotor (15) being mounted on the upright (2) by deep groove ball bearings, free to rotate about the upright (2), the plane of rotation of the autorotor (15) being perpendicular to the axis of the upright (2).
  6. 6. The semiautomatic vertical take-off and landing electric manned aircraft as claimed in claim 4 or 5, wherein each set of power rotors comprises a motor (122), an electronic speed regulator (123) and power rotary wings (121), and at least two sets of power rotors are opposite in steering direction to counteract reactive torque, the motor (122) is sleeved on the upright rod (2), the upright rod (2) is of a hollow structure, and a power supply circuit of the motor (122) is arranged in the hollow structure of the upright rod (2).
  7. 7. The semiautomatic vertical take-off and landing electric manned aircraft according to claim 4 or 5, wherein the universal hinge (3) comprises a front and rear rotating shaft (31) and a longitudinal pin (33), two ends of the front and rear rotating shaft (31) are mounted on the frame (4) through universal hinge bearings (32), the upright rod (2) is inserted through a large hole (311) of the front and rear rotating shaft (31) and movably mounted through the longitudinal pin (33), and the upright rod (2) can deflect around the longitudinal pin (33) left and right and then deflect back and forth along with the front and rear rotating shaft (31).
  8. 8. The semi-automatic vertical take-off and landing electric piloted vehicle of claim 4 or 5, comprising at least one of the following structures, in order to buffer the impact forces: the structure one is that an elastic bracket is arranged below the battery pack (7); And a second structure is that an elastic cushion is arranged between the universal hinge (3) and the frame (4).
  9. 9. Semi-automatic vertical take-off and landing electric unmanned aerial vehicle according to claim 4 or 5, wherein the front-back, left-right yaw mixing lever (6) of the semi-automatic steering system is mounted on the pylon (5) and arranged coaxially with the upright (2), and the altitude and heading mixing lever (8) is mounted on the frame (4) in front of the steering position (42).
  10. 10. The semi-automatic vertical take-off and landing electric piloted vehicle of claim 4 or 5, wherein the vehicle body further comprises an electric pitch-changing front paddle (10), the electric pitch-changing front paddle (10) being mounted to the front end of the frame (4).
  11. 11. The semiautomatic vertical take-off and landing electric manned aircraft according to claim 4 or 5, characterized in that the aircraft body further comprises a display screen (9), the display screen (9) is mounted at the front part of the frame (4), the flight controller is integrated with an attitude sensor and a position sensor, the attitude sensor and the position sensor are electrically connected with the display screen (9), and are powered by the battery pack (7), and the display screen (9) is used for displaying attitude, altitude and position information of the aircraft.
  12. 12. The semiautomatic vertical take-off and landing electric manned aircraft according to claim 4 or 5, characterized in that the counterweight (43) is adapted according to the model, the counterweight (43) of the single man machine is a battery (7), the counterweight (43) of the double man machine is a passenger position, the counterweight (43) is used for balancing the centre of gravity of the aircraft, so that the upright (2) is located substantially on the plumb line passing through the centre of gravity.

Description

Semi-automatic control system and semi-automatic vertical take-off and landing electric manned aircraft Technical Field The invention relates to the technical field of electric piloted aircrafts, in particular to a semi-automatic control system and a semi-automatic vertical take-off and landing electric piloted aircrafts applying the same. Background The traditional helicopter adopts a pure mechanical control system, has high requirements on the operation proficiency of a driver, is easy to cause safety accidents due to misoperation, and the traditional eVTOL adopts a full-automatic flight control system, so that the traditional helicopter lacks of manual intervention flexibility, has poor adaptability to complex scenes and has no driving experience. Meanwhile, the existing vertical take-off and landing aircraft generally has the problems of complex control logic, weak anti-interference capability, poor take-off and landing stability and the like, and the four-axis four-rotor unmanned aerial vehicle power rotor is easy to incline and crash when invalid, so that the requirements on safety and usability of civil manned flight are difficult to meet. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a semiautomatic control system and a semiautomatic vertical take-off and landing electric manned aircraft, which solve the problems of high control difficulty and insufficient safety of the traditional aircraft, realize the combination of semiautomatic auxiliary flight and manual accurate control, greatly reduce the driving threshold, and improve the safety, stability and control experience of the flight. In order to achieve the above purpose, the present invention provides the following technical solutions: A semiautomatic control system comprises a flight controller, a height and course hybrid control rod, a front-back left-right deflection hybrid control rod, wherein the flight controller is electrically connected with a power system of an aircraft and the height and course hybrid control rod, the flight controller is provided with a height sensor and an electronic compass and is used for controlling the flying height and the course of the aircraft, the front-back left-right deflection hybrid control rod is connected with the power system of the aircraft, the power system of the aircraft is hinged with a frame of the aircraft, the front-back left-right deflection hybrid control rod is controlled to enable the resultant force direction of lifting force of the power system of the aircraft to deflect forwards, backwards, leftwards and rightwards relative to the frame, and the power system of the aircraft cannot rotate in a horizontal plane relative to the frame. The control logic of the height and heading hybrid control rod is that forward pushing increases the lift force of the power system to achieve ascending, backward pulling reduces the lift force to achieve descending, left and right deflection enables the power system to generate differential torque to drive the rack to synchronously rotate horizontally to achieve yaw, and forward, backward, left and right deflection of the hybrid control rod is that forward pushing enables the lift force direction of the power system to deflect backwards to achieve backward flying, backward pulling enables the lift force direction of the power system to deflect forwards to achieve forward flying, leftward pushing enables the lift force direction of the power system to deflect rightwards to achieve rightward flying, and rightward pushing enables the lift force direction of the power system to deflect leftwards to achieve leftward flying. Further, for more effort-saving handling, the forward-backward-leftward-rightward-deflection hybrid lever is connected with the aircraft power system in a substantially coaxial manner in a resultant force direction of lift forces. Furthermore, a damping stop structure is arranged in the front-back direction of the altitude and course mixed control rod, the altitude and course mixed control rod can be stopped at any position in the front-back direction when no operation is performed, the aircraft is convenient to hover, a centering reset structure is arranged in the left-right direction of the altitude and course mixed control rod, and the altitude and course mixed control rod is stable in course when no operation is performed. The height sensor adopts an air pressure sensor. The invention discloses a semi-automatic vertical take-off and landing electric manned aircraft, which comprises an aircraft main body and a semi-automatic control system, wherein the aircraft main body comprises a vertical rod, a power rotor wing, a rack, a battery pack, a counterweight, a steering position and a landing gear. The vertical rod is vertically arranged, a plurality of sets of power rotary wings are coaxially arranged on the vertical rod in an up-down parallel mode, each set of power rotary wings comprises a motor, an ele