The invention belongs to the technical field of small aircrafts, and provides a deformable four-rotor aircraft with deformable arms. The deformable four-rotor aircraft with the deformable arms comprises a fuselage module, two deformable modules and two rotor modules, the deformable module comprises two support arms which are connected in sequence; each supporting arm rotates and deforms around the fulcrum on the vertical surface; the rotor rotating shaft is vertically connected with the supporting arm; the two rotors serve as power devices and are located at the two ends of a rotor rotating shaft correspondingly. The rotating shaft directions of the four rotors point to the upper part of the fuselage module, the rotating directions of the adjacent rotors are opposite, and the rotating directions of the diagonal rotors are the same; aiming at the special structure of the aircraft, a general four-rotor control driving method is combined, a control driving method of the aircraft is provided, and the control distribution rate of the aircraft is deduced. Unlike common multi-rotor drones of fixed geometry, the aircraft can modify its shape to traverse narrow spaces.
本发明属于小型飞行器技术领域,提出了一种具有可变形臂的可变形四旋翼飞行器。具有可变形臂的可变形四旋翼飞行器包括机身模块、两个可变形模块和两个旋翼模块;可变形模块包括两个依次相连的支撑臂;各支撑臂在竖直面绕其支点旋转变形;旋翼旋转轴与支撑臂垂直相接;两个旋翼作为动力装置,分别位于旋翼旋转轴的两端;四个旋翼的旋转轴方向指向机身模块上方,相邻的旋翼旋转方向相反,互为对角的旋翼旋转方向相同;针对该飞行器的特殊结构,结合一般的四旋翼的控制驱动方法,提出该飞行器的控制驱动方法,推导得出该飞行器的控制分配率。不同于固定几何形状的普通多旋翼无人机,该飞行器能够修改其形状以穿越狭窄空间。
Deformable four-rotor aircraft with deformable arms
一种具有可变形臂的可变形四旋翼飞行器
2023-03-03
Patent
Electronic Resource
Chinese
High-error-tolerance-rate deformable four-rotor aircraft and control method
European Patent Office | 2021
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