The invention discloses a high-efficiency omnidirectional decoupling annular vector tilting 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 omni-directional pose decoupling flight, the attitude angle is any omni-directional angle and comprises a roll angle, a pitch angle and a yaw angle, and the aircraft can hover and fly in any attitude. The aircraft structurally solves the problem of controllable attitude angle limitation of a traditional mechanism with a variable tilting rotor, improves the ability of the aircraft to move in a complex space, fundamentally solves the problems of power counteraction and power redundancy, reduces energy loss, improves power efficiency, prolongs the endurance time, and improves the reliability of the aircraft. The method is suitable for application scenes requiring strong anti-interference and air physical interaction capability, and has important significance and value in the future.
本发明公开了一种高效率的全向解耦的环形矢量倾转旋翼飞行器及其控制方法,飞行器包括机身、机身驱动齿轮组、四个倾转机构、四个环形矢量倾转旋翼动力组和电子设备等部分。本发明所述飞行器可以实现六自由度全向位姿解耦飞行,其中的姿态角为全向任意角度,包括滚转角、俯仰角和偏航角,可实现飞行器任意姿态悬停和飞行。本发明所述飞行器从结构上解决了传统带有可变倾转旋翼机构的可控姿态角限制,提升了飞行器复杂空间活动的能力,并从根本上解决了动力抵消和动力冗余的问题,降低了能量损耗,提升了动力效率,延长了续航时间,适用于需要强抗干扰和空中物理交互能力的应用场景,在未来具有重要的意义和价值。
Omnidirectional decoupling annular vector tilt rotor aircraft and control method thereof
全向解耦的环形矢量倾转旋翼飞行器及其控制方法
2024-02-02
Patent
Electronic Resource
Chinese
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