CN-122009549-A - High-immunity mooring multi-rotor unmanned aerial vehicle

CN122009549ACN 122009549 ACN122009549 ACN 122009549ACN-122009549-A

Abstract

The invention discloses a high-immunity tethered multi-rotor unmanned aerial vehicle, relates to the technical field of unmanned aerial vehicles, and aims to remarkably improve wind resistance through designing multi-rotor wind-resistant pneumatic layout by adopting an unconventional composite wing thought, and enhance yaw control precision and response speed. The lightning protection device and the unmanned aerial vehicle structure are integrally designed, comprehensive performance and anti-interference performance of the tethered unmanned aerial vehicle under a complex meteorological environment are improved, omnibearing lightning protection is realized, and system integration level and structural reliability are improved. The limitation of the tethered multi-rotor unmanned aerial vehicle in use under extreme wind conditions and thunder and lightning weather is solved, and the all-weather stable and reliable work of the tethered multi-rotor unmanned aerial vehicle is ensured.

Inventors

LIU RONGHAO
WANG KAI
ZHU SONGBAI
WANG SHIYONG
ZHANG BAIBAO
LI XIANG
GUO QUANXING
WEI WENBIN
LI MAO
LI DONG

Assignees

中国兵器装备集团自动化研究所有限公司

Dates

Publication Date: 20260512
Application Date: 20260320

Claims (10)

1. A high immunity tethered multi-rotor unmanned aerial vehicle, comprising: The fixed wing body comprises a simulated hawk outline and a simulated fixed wing; the multi-rotor power assembly adopts a four-axis eight-oar non-coaxial multi-rotor layout, eight motors and a plane of a horn are respectively in a first installation angle, each motor can be independently controlled, and the plane of the horn and the plane of the fixed wing are in a second installation angle; The wind speed measuring module is used for measuring wind speed and wind direction in real time; the flight control system is respectively connected with the wind speed measurement module, the satellite navigation module and the airborne IMU sensor and is used for dynamically distributing the control quantity of the eight rotors and the fixed wing ailerons according to the wind speed estimated value and the attitude information of the unmanned aerial vehicle so as to realize cooperative control of the unmanned aerial vehicle; The lightning protection system comprises lightning receptors distributed at the positions of a nose, a back, wings and a landing gear and a lightning protection structure arranged at the position of a rotor motor, wherein the lightning receptors are connected with the lightning protection structure through a charge conveying device to form a lightning discharge passage, and a Faraday cage is formed to shield internal electronic equipment.
2. The high immunity tethered multi-rotor unmanned aerial vehicle of claim 1, wherein the second mounting angle is 20 ° to 30 °.
3. The high immunity tethered multi-rotor unmanned aerial vehicle of claim 1, wherein the first mounting angle causes the motor thrust direction to tilt relative to the plane of the horn, directly producing a force component in the yaw direction in crosswind conditions to promote yaw response speed.
4. The high-immunity tethered multi-rotor unmanned aerial vehicle of claim 1, wherein the flight control system comprises: The extended state observer is used for fusing the satellite ground speed, the IMU acceleration and the angular speed with wind speed data of the wind speed measuring module and estimating the mean wind speed and the proportion correction factor in real time; and the control distribution module is used for establishing a control distribution matrix based on the aerodynamic model and the rotor dynamics model and reasonably distributing the total moment demand to the eight rotors and the left ailerons and the right ailerons.
5. The high-immunity tethered multi-rotor drone of claim 4, wherein the expression of the control allocation matrix is: wherein: For the moment of the rotor wing, And Is the deflection angle of the left control surface and the right control surface, Is a dynamic pressure, which is a dynamic pressure, For the reference area of the wing, 、、 Is a dimensionless aerodynamic coefficient.
6. The high immunity tethered multi-rotor unmanned aerial vehicle of claim 1, wherein the flight control system performs the following cooperative control strategy based on wind speed magnitude: When the wind speed is lower than a set threshold value, controlling the gesture by using the rotor thrust difference, wherein the aileron is only used for fine adjustment; When the wind speed reaches or exceeds a set threshold, the aileron actively adjusts rudder deflection to generate additional roll moment, and the aileron cooperates with the rotor to resist wind disturbance.
7. The high immunity tethered multi-rotor unmanned aerial vehicle of claim 1, wherein the lightning protection structure at the rotor motor comprises: an insulating pad arranged between the rotor wing and the motor base; The pressure equalizing seat is arranged above the motor protective cover, and the inclination angle of the pressure equalizing seat is consistent with the first installation angle; the guide strip is arranged at the top of the equalizing seat, is connected with the charge conveying device and is subjected to gold plating treatment on the surface.
8. The high immunity tethered multi-rotor unmanned aerial vehicle of claim 1, wherein the lightning receptor provided at the landing gear is a leg lightning receptor for intercepting direct lightning strikes from below the unmanned aerial vehicle.
9. The high immunity tethered multi-rotor unmanned aerial vehicle of claim 1, wherein the charge transport device is disposed along an interior or surface of the fuselage and is electrically isolated from the tethered cable, preventing lightning current from being conducted along the tethered cable to a ground power supply.
10. The high-immunity tethered multi-rotor unmanned aerial vehicle of claim 1, wherein the hawk-like stationary wing is provided with left and right ailerons, the ailerons cooperate with the rotor to assist in maintaining stable attitude in a strong wind environment.

Description

High-immunity mooring multi-rotor unmanned aerial vehicle Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a high-disturbance-rejection tethered multi-rotor unmanned aerial vehicle with high wind resistance and pneumatic layout and lightning protection rain technology. Background The tethered multi-rotor unmanned aerial vehicle is a novel unmanned aerial vehicle which is continuously powered from a ground power supply through a tethered cable, and solves the bottleneck problem of short endurance time of a traditional electric unmanned aerial vehicle. Because the device has the characteristics of long dead time, strong load capacity, capability of carrying various task loads and the like, the device has important application value in the fields of emergency rescue, emergency lighting, border patrol, sea defense monitoring, land-based warning and the like in recent years. In practical application of tethered multi-rotor unmanned aerial vehicle, weather environment adaptability is a key factor for limiting all-weather operation capability. On one hand, complicated wind field environments such as 7-10 level strong wind, gusts, side wind and the like often appear in mountain regions, offshore regions, islands, frontier regions and disaster sites, and serious challenges are presented to the attitude stability and hover precision of the unmanned aerial vehicle, on the other hand, under thunderstorm weather, the unmanned aerial vehicle is extremely easy to suffer from direct lightning strike or lightning induction as an aerial conductor, and electronic equipment damage, communication interruption and even aircraft crash can be caused. In the prior art, the wind resistance design of the tethered multi-rotor unmanned aerial vehicle mainly depends on the redundant layout of a multi-rotor power system and PID control adjustment of a flight control algorithm. For example, the power redundancy is improved through eight rotor layouts, but the posture is adjusted by depending on rotor speed difference, and the problems of response lag and high energy consumption exist in a strong wind environment. As another example, partial lift is provided by adding fixed wings, but rotor and fixed wings often lack a coordinated control mechanism, and yaw stability is poor in crosswind environments. According to the statistics data of the China weather department and the technical specification of the existing product, the maximum wind resistance level of the existing tethered multi-rotor unmanned aerial vehicle at home and abroad is generally 7, and the operation requirement under the 8-10-level high wind environment is difficult to meet. In addition, in the aspect of lightning protection, the existing tethered unmanned aerial vehicle is mostly not considered in lightning protection design, or a simple lightning rod is only arranged on part of the body. As the tethered unmanned aerial vehicle is connected with the ground through a cable, once struck by lightning, lightning current may be conducted to ground equipment along the tethered cable, causing serious safety accidents. In summary, the existing tethered multi-rotor unmanned aerial vehicle has obvious defects in wind resistance and lightning protection, and is difficult to meet all-weather use requirements in complex weather environments, and the high-disturbance-rejection tethered multi-rotor unmanned aerial vehicle with high wind resistance and omnibearing lightning protection is needed to be provided. Disclosure of Invention In view of the above, the present invention provides a high-immunity tethered multi-rotor unmanned aerial vehicle that overcomes or at least partially solves the above-described problems. The invention provides the following scheme: a high-immunity tethered multi-rotor unmanned aerial vehicle comprising: The fixed wing body comprises a simulated hawk outline and a simulated fixed wing; the multi-rotor power assembly adopts a four-axis eight-oar non-coaxial multi-rotor layout, eight motors and a plane of a horn are respectively in a first installation angle, each motor can be independently controlled, and the plane of the horn and the plane of the fixed wing are in a second installation angle; The wind speed measuring module is used for measuring wind speed and wind direction in real time; the flight control system is respectively connected with the wind speed measurement module, the satellite navigation module and the airborne IMU sensor and is used for dynamically distributing the control quantity of the eight rotors and the fixed wing ailerons according to the wind speed estimated value and the attitude information of the unmanned aerial vehicle so as to realize cooperative control of the unmanned aerial vehicle; The lightning protection system comprises lightning receptors distributed at the positions of a nose, a back, wings and a landing gear and a lightning protection structure arranged at the p