Long-endurance amphibious unmanned aerial vehicle and attitude control method thereof

A drone and long-endurance technology, applied in three-dimensional position/channel control, control/adjustment system, non-electric variable control, etc., can solve the problems of adding drones, low work efficiency, and limited power, and achieve broaden The effect of application, long standby time, and small power loss

Pending Publication Date: 2022-06-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the existing amphibious drones lack effective research on the design of water entry and exit schemes, and lack of schemes that can take into account both air flight performance and underwater navigation performance. Due to the physical differences between the two working media, those working in the two media There is a huge difference in power devices. The air blades are generally slender and solid, while the water blades are wider. If you carry two kinds of power devices at the same time, you need to be equipped with two sets of power devices, which will increase the load of the drone virtually, and there will always be one The working efficiency of the set device is extremely low in the idle state, and the underwater blades cannot fly, so if the air blades are used alone to achieve amphibiousness, the resistance of the air blades in the water is relatively large, and it is easy to damage the motor and other equipment. The power generated by the leaf under water is limited, the propulsion efficiency is low, and the attitude adjustment is relatively difficult

Method used

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  • Long-endurance amphibious unmanned aerial vehicle and attitude control method thereof
  • Long-endurance amphibious unmanned aerial vehicle and attitude control method thereof
  • Long-endurance amphibious unmanned aerial vehicle and attitude control method thereof

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Embodiment 1

As shown in the accompanying drawings, the embodiment is a long-endurance amphibious unmanned aerial vehicle, and the unmanned aerial vehicle comprises a fuselage, a power system, and a control system; wherein,

The control system includes a fixed frame, the fixed frame runs through the entire interior of the fuselage, and a buoyancy adjustment device and a center of gravity adjustment device are installed in the fixed frame to control the balance of the drone;

The power system includes a propeller and a pulling motor to provide power output for the drone.

[0019] Further, the buoyancy adjustment device includes a plurality of buoys, a second stepper motor, a threaded piston rod and a worm, the buoys are placed side by side, and the buoyant controls the volume of the buoy cavity by inhaling and discharging water; the threaded piston rod One end is sealed with the buoy, and the other end is distributed with threads. The worm is connected to the output shaft of the second stepp...

Embodiment 2

Based on the above-mentioned long-endurance amphibious unmanned aerial vehicle, the present application also provides an attitude control method thereof, and the attitude control method includes two modes:

In the flight mode, in the flight mode, the position of the center of gravity of the aircraft is changed by adjusting the front and rear movement of the counterweight to realize the pitching motion; the drone includes at least two pulling motors, which are supplied with unequal currents through the power supply The pull motor is driven to achieve differential control, which further drives the rotation of the blades on both sides to generate unequal pulling force. This unequal pulling force will form a moment that deflects around the span of the wing, and the additional pull generated by the increase in the pulling force of the pulling motor The anti-torque is offset by controlling the ailerons to deflect upward or downward to generate a rolling moment, thereby realizing the y...

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Abstract

The invention discloses a long-endurance amphibious unmanned aerial vehicle and an attitude control method thereof, and the long-endurance amphibious unmanned aerial vehicle can glide underwater for a long time and take off and land on the water surface and has huge potential in the aspects of ocean rescue, survey and reconnaissance and the like. According to the unmanned aerial vehicle, the layout design of a single hull and a single wing on a cantilever is adopted, an elevator and a rudder are omitted, the yaw attitude of the unmanned aerial vehicle is controlled through the differential speed of motors, the pitch attitude is controlled through the offset of the gravity center, and the attitude control stability of the unmanned aerial vehicle is ensured. The unmanned aerial vehicle has a submerging working mode and a flying working mode, in the submerging working mode, the unmanned aerial vehicle is driven in a net buoyancy mode, unpowered gliding is carried out underwater, the power loss is small, and the standby time is long. The unmanned aerial vehicle completes switching of working modes on the water surface, mode switching is efficient and stable, and the unmanned aerial vehicle has important innovative significance on underwater biological monitoring, resource exploration and sea area safety maintenance.

Description

technical field [0001] The invention relates to the technical field of sea and air amphibious unmanned aerial vehicles, in particular to a long-endurance amphibious unmanned aerial vehicle based on motor differential speed and gravity offset attitude control and an innovative design concept thereof. Background technique [0002] Sea and air amphibious drones refer to drones that can fly in the air as well as in water, organically combining the advantages of aircraft and submarines. In the field of UAV research, amphibious UAVs are an important research direction. The wider space makes UAVs more possibilities, and has great potential in marine rescue, survey and reconnaissance, etc. The technical key of the amphibious UAV is to meet the normal operation in the air and underwater, and at the same time, it can stably switch between the two modes of air flight and underwater navigation. At present, the existing amphibious UAVs lack effective research on the design of water entr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 詹祺徐仁鞠世琦罗凯旋王潇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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