• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a VTOL vehicle (1) with at least two pivotable rotors (3). The rotors (3) can be arranged in a substantially horizontal position, and in each case about a thrust axis (13) parallel to a vertical axis (28) of the VTOL vehicle (1) rotatable, so that the VTOL vehicle (1) in a hover is movable. The rotors (3) can be arranged in a substantially vertical position, and here in each case about its thrust axis (13) parallel to a longitudinal axis (11) of the VTOL vehicle (1) rotatable, so that the VTOL vehicle (1) in a horizontal flight is movable. The VTOL vehicle (1) has on or in the fuselage (7) a movable mass (9) which is movable during the hover so that the total mass center of gravity (6) of the VTOL vehicle (1) at any time on the resulting Thrust axis is located.
    公开号:AT517539A1
    申请号:T50707/2015
    申请日:2015-08-06
    公开日:2017-02-15
    发明作者:Seiwald Christian
    申请人:Seiwald Christian；
    IPC主号:
    专利说明:

    VTOL aircraft with movable mass for control
    The invention relates to a VTOL aircraft with a movable mass according to the preamble of claim 1 and to a method for operating a VTOL aircraft according to claim 17.
    Current rotary wing aircraft, especially VTOL (Vertical Take-Off and Landing) aircraft such as dual-copters or bicopters, tend to be unstable during flight operation. Difficulty is the Llugstabilität of twin-engine VTOL aircraft with two rotors according to the prior art, because the Lluglagenregelung must be compensated for all three axes (six degrees of freedom) of only four control variables (propeller blade position of the two rotors and speed of the two motors). In such VTOL aircraft, the interplay of the inertia tensors of the rotors with the mass moment of inertia of the stationary parts, for example, the fuselage, results in too fast tilting movement of the rotors from their plane of rotation to a counter-pitching moment. This brings with it the danger of rocking oscillations. Therefore, this configuration applies to VTOL aircraft so far very unstable in hover, as well as when changing from hover to level flight, and vice versa.
    A comparable VTOL aircraft is known from document EP 2 551 190 A1. This VTOL aircraft has the instability described above during flight operation, in particular when changing from hover to level flight and when switching from level flight to hover.
    The invention has for its object to provide a VTOL aircraft and a method for operating such a VTOL aircraft, in which the above disadvantages do not occur, and in which the Llugeigenschaften are improved.
    According to the invention, this object is achieved in that the VTOL aircraft has a movable mass on or in the fuselage.
    This provides the advantage that the VTOL aircraft has on or in the fuselage a movable mass that is movable during a substantially horizontal alignment of the rotors such that the total mass center of gravity of the VTOL aircraft is at any point in time on the resulting thrust axis.
    The provision of this movable mass, which is displaceable in an embodiment according to the invention along the longitudinal axis of the VTOL aircraft, has the advantage that the flight stability, in particular during the transition, ie when changing from hover to horizontal flight or when switching from horizontal flight in the hover, and the hover itself, compared to the prior art is improved.
    A fiction, contemporary design of the VTOL aircraft provides a hull, at least two driven rotors, wings on which the rotors are arranged, and a movable mass. In addition, the system is designed to make all rotating parts as light as possible in order to reduce the resulting moments of inertia.
    The rotors are pivotable by actuators. Preferably, the rotors are pivotable at least at a 120 degree angle, wherein the rotors, and thus the rotor blades, horizontally, substantially parallel to the earth's surface or to the VTOL aircraft longitudinal axis during the hover, and vertically in a substantially vertical flight during the horizontal flight. Grade angle to the earth's surface or to the VTOL aircraft longitudinal axis, respectively. In particular embodiments, the rotors, and thus the rotor blades, are also pivotable at a 180-degree angle or a 360-degree angle, and may be inclined in the opposite direction to the direction of deflection.
    In preferred embodiments are in the wings recesses in which the rotors are mounted. This offers the advantage that the occurrence of a, often found in VTOL aircraft in hovering Vortexringes, which is very detrimental to the LlugStabilität prevented.
    In an advantageous embodiment, the wings are laminar and particularly streamlined. This serves to optimize the high-speed flight characteristics, since the laminar profile of the wings can have a high surface load in horizontal flight.
    The movable mass is mounted on a cross member in an embodiment according to the invention. An actuator, which is mechanically connected by a fixed, rigid connection with the cross member, drives the movable mass via a movably mounted
    Drive rod on. The movable mass is preferably an energy store, which is used for example for driving the rotors or the actuator.
    The provision of a digital control system for the rotors and the movable mass, preferably a digital kinematics model, allows the tuning of the position of the movable mass to the current angles of incidence of the rotors. The digital control system allows any number of transition positions of the rotors during transition to be set between the substantially horizontal and substantially vertical positions, and to position the movable mass such that the overall mass center of gravity of the VTOL aircraft during the substantially horizontal position of the rotors and during the transition from the substantially horizontal to the substantially vertical position of the rotors at any time on the resulting thrust axis. In preferred embodiments of the VTOL aircraft, the movable mass is movable along the longitudinal axis of the VTOL aircraft.
    Preferably, the VTOL aircraft has inertial sensors, a GPS receiver, acceleration sensors, and a 3-axis gyroscope. This makes it possible to collect data in real time and to forward this data, for example, to the digital control system.
    With the VTOL aircraft according to the invention, a method for stabilizing the plowing properties of a VTOL aircraft with at least two rotatable rotors can be carried out, wherein the rotors, and thus the rotor blades, are arranged in a substantially horizontal position in a first step, wherein the rotors each rotate about an axis parallel to the vertical axis of the VTOL aircraft and the VTOL aircraft is thereby moved in hover, and wherein the rotors, and thus the rotor blades are arranged in a next step in a second substantially vertical position, wherein the rotors each rotate about an axis parallel to the longitudinal axis of the VTOL aircraft and the VTOL aircraft moves in horizontal flight, wherein during the substantially horizontal position of the rotors mounted in or on the fuselage of the VTOL aircraft, movable mass is moved such that the overall mass of the VTO L-aircraft is at any time on the resulting thrust axis.
    In preferred variants of the VTOL aircraft, a method is performed in which the rotors are placed in a transient position with the rotors, and thus the rotor blades, at 45 degrees in the plug direction in the transitional position
    Compared to its substantially horizontal position are tilted forward or backward, and wherein the movable mass is moved so that the total mass center of gravity of the VTOL aircraft is at any time on the resulting thrust axis.
    In preferred embodiments of the VTOL aircraft according to the invention, a method is carried out in which hover, transition position and horizontal flight are taken in succession.
    In preferred embodiments of the VTOL aircraft according to the invention, a method is carried out in which the rotors, and thus the rotor blades, are pivoted continuously between taking their substantially horizontal position and their substantially vertical position and thereby, in addition to horizontal position, vertical position and Transition position, as many transitional states can take, and wherein the rotors from its substantially horizontal position starting pivoting to its substantially vertical position, and vice versa, and wherein the movable mass is moved so that the total mass center of gravity of the VTOL aircraft at any time the resulting thrust axis is located.
    Further advantageous embodiments of the device according to the invention are explained in more detail below with reference to FIGS.
    FIG. 1A shows a cross-sectional side view of a VTOF hover in accordance with an embodiment of the invention.
    Figure 1B shows a perspective view of a VTOL aircraft in hover according to an embodiment of the invention.
    FIG. 2A shows a cross-sectional side view of a VTOF transient fighter vehicle according to an embodiment of the invention.
    FIG. 2B shows a perspective view of a VTOF transient fighter vehicle according to an embodiment of the invention.
    Figure 3A shows a cross-sectional side view of a VTOF-Fuftfahrzeugs in horizontal flight according to an embodiment of the invention.
    FIG. 3B shows a perspective view of a VTOL aircraft in horizontal flight according to one exemplary embodiment of the invention.
    Figure 4 shows a schematic diagram of a functional arrangement of the control system with individual components according to an embodiment of the invention.
    Figure 1A and Figure 1B show a VTOL aircraft 1 in hover, with two rotors 3, and thus the rotor blades, in their substantially horizontal position. Each rotor 3 is disposed in a recess 4 of the support surface 2 and rotates about a thrust axis 13. On the support surface 2, a rudder 5 is arranged on. A movable mass 9 arranged in the fuselage 7 is located on a resulting thrust axis parallel to the thrust axis 13 of the rotor 3. A center of mass 12 of the movable mass 9 and an overall mass center 6 of the VTOL aircraft 1 are also located on the resulting thrust axis shown in FIG and FIG. 1B coincides with the vertical axis.
    In hover, the rotors 3, and thus the rotor blades, are arranged substantially horizontally, parallel to the earth's surface or to the longitudinal axis 11 of the fuselage 7. This allows a movement of the VTOL vehicle 1 along its vertical axis 28, for which purpose the speed of the rotors 3 is increased synchronously, or if necessary, a change in the orientation of the rotors 3 is made. A (partial) rotation of the VTOL aircraft 1 about its vertical axis 28 is possible by opposing deflection of the rotors 3. By a dynamic mass movement of the movable mass 9 of the total mass center of gravity 6 on the resulting thrust axis, ie the vertical axis 28, directed.
    For equal thrust vectors (or speeds) of the two rotors 3, the system is in equilibrium when the total mass center of gravity 6 is on the resulting thrust axis and thus no inherent moments occur. To get into the hover, lifts the presented here VTOL aircraft 1 by the total amount of thrust vectors is initially increased synchronously over the amount of weight. In this phase, the total mass center of gravity 6 is on the resulting thrust axis. The possibility described in this invention to move the moving mass 9 is used to keep the longitudinal axis 11 horizontal, in the event that the rotor planes are inclined uniformly about an axis parallel to the transverse axis. As a result, these generate, caused by the gyro effect (inertial tensor), a tilting movement opposite pitching motion of the VTOL aircraft 1. Counter equal deflection of the rotors 3 then affects the position of the longitudinal axis 11, if the amounts of the deflections or the inertia tensors a difference exhibit. By shifting the movable mass 9, an occurring torque can be compensated. Since the movable mass 9 is also displaceable away from the resulting thrust axis, a complete controllability is given during all flight conditions.
    The rotation about the longitudinal axis 11 is achieved by differentiating the thrust vectors. The rotation about the vertical axis 28 takes place by differentiated deflection of the rotors, and thus of the thrust vectors, from their vertical position.
    Hovering is a permanent interplay of vectors whose magnitude and direction are known in principle at any time: Longitudinal axis 11:
    Transverse axis:
    Vertical axis 28:
    Where L is the left rotor and R is the right rotor; ω denotes the rotational speed of the respective rotor; α denotes the angle of inclination of the respective rotor with respect to a plane spanned by the longitudinal and transverse axes.
    The movable mass 9 of the inventive embodiment of the VTOL aircraft 1 has the task of preventing the rotation about the transverse axis, especially in the transition from hover to horizontal flight, or vice versa. By the movable mass 9, the total mass center of gravity 6 of the VTOL aircraft 1 is not rigid. The mass displacement along the longitudinal axis 11 not only has a static effect; Also, the acceleration pulse of the movable mass 9 counteracts a disturbance, whereby the path of the movable mass 9 (depending on their ratio to the total weight) can be kept relatively low with consistent use of this acceleration pulse. In addition, the system is in a physically stable state, since permanent buoyancy is generated above the total mass center of gravity 6.
    FIG. 2A and FIG. 2B show the VTOL aircraft 1 in transition, ie the transition from hover into horizontal flight, or from horizontal flight into hover flight. The transition is usually taken only very briefly. Preferably, the rotors 3 are thereby inclined 45 degrees in front of their substantially horizontal position, which corresponds to their transitional position. The rotors 3 rotate in the transition from the hover to the transition position in each case synchronously forward about a thrust axis 13th
    In Figure 2A, the rudder 5 is inclined at the same angle as the rotor 3. Each rotor 3 is arranged in a recess of the support surface 4, wherein it is inclined by about 45 degrees. The motor 14 drives the rotor 3. In addition, the direction of rotation of the rotor 10 is shown. In the hull 7, the movable mass 9 is arranged, which is movable on the longitudinal axis 11 of the VTOL aircraft 1. Preferably, the movable mass 9 is aligned by an actuator. The movable mass 9 is aligned such that the total mass center of gravity 6 of the VTOL aircraft 1 is as continuously as possible on the resulting thrust axis, and there are no static moments in the transition position or during the transition. The center of gravity 12 of the movable mass 9 is not located directly on the resulting thrust axis, which is parallel to the thrust axis 13 of the rotor 3. The attitude of the VTOL aircraft 1 is due to the arrangement of the total mass center of gravity 6 on the resulting thrust axis particularly stable. During the transition, it should be emphasized that due to the stable center of gravity, the dynamic impulse of a correction by means of mass displacement counteracts a deflection about the transverse axis.
    In alternative embodiments, the rotors 3 may also be inclined 45 degrees backwards relative to their substantially horizontal position. Between the hover and horizontal flight, the rotors 3 can theoretically assume an infinite number of positions that are comparable to the transition position and differ primarily by the degree of inclination of the rotors 3 from the transition position.
    Figure 3A and Figure 3B show a VTOL aircraft 1 in horizontal flight with the rotors 3, and thus the rotor blades, in their substantially vertical position. The direction of rotation 10 of the rotors 3, which are arranged in a recess 4 of the support surface 2 and each rotate about a thrust axis 13, is also formed from. The movable mass 9 is arranged below the rotors 3. The total mass center of gravity 6 of the VTOL aircraft 1 is located below the lifting point.
    The VTOL aircraft 1 behaves during normal flight like a "conventional" aircraft. The thrust vectors are here largely controlled synchronously and the movable mass 9 is positioned so that, if possible, a balance of power prevails. The system now has the characteristics and degrees of freedom of a "fixed-wing aircraft" - also in terms of control technology.
    The movable mass 9 is positioned by the digital kinematics model such that the total mass center of gravity 6 of the VTOL aircraft 1 lies on the resulting thrust axis at any time during hovering and transition. Due to the dynamic mass displacement of the movable mass 9 acts on the transverse axis an additional balancing force. This mass displacement is both center of gravity specific and pulse controlled. Preferably, all changes in position of acceleration sensors, inertial sensors and gyroscopes are determined in real time.
    Preferred variants of the VTOL aircraft 1 include a GPS receiver 23, a 3-axis gyroscope 22, an electronic compass 24, or various servos, as described below with reference to the Ligur 4.
    Ligur 4 shows in a schematic drawing an arrangement for controlling a VTOL vehicle 1 according to the invention. A movable mass 9, for example an energy store 15, is connected to a control system 18, preferably a digital kinematics model. The control system 18 is also connected to an ultrasonic proximity sensor 17, a 3-axis gyroscope 22, a GPS receiver 23, an electronic compass 24, an air pressure sensor 25 and a dynamic pressure sensor 27. In addition, the control system 18 with the rotors 3, aileron servos 19 and transverse axis servos 20 is connected. The control system 18 communicates with the motors 14, which drive the rotors 3 and serve the deflection of the rotors 3. In addition, the control system 18 controls via the servos 26, the height position and the lateral deflection of the VTOL vehicle 1. The movable mass 9, or the energy storage 15 is controlled via a servo 16 for actuation of the movable mass 9. The control system 18 is connected via connections 21 to the listed components.
    Inertia tensors of the rotors 3 counteract tilting in the direction of horizontal attitude, which in principle has a negative pitching moment result. This effect is compensated by a corresponding positioning of the movable mass 9. In addition, the system is designed so that all rotating parts are designed as light as possible in order to reduce the moments of inertia and to slow down the sequence of tipping (change from hover to horizontal flight or vice versa). This is in contrast to the possibility of reacting quickly to disturbing forces from each synchronous rotor position, since their moments of inertia equalize when the rotor planes are rotated in the same direction. The remaining portion is adjusted by the actuation of the mass. The system can independently determine which force as a function of the speed to the ambient air has an aerodynamic effect
    Areas on the VTOL vehicle 1 acts, and thus adjust the total mass center of gravity 6 of the VTOL vehicle 1 to the respective attitude (horizontal or hovering).
    In an embodiment according to the invention of the VTOL vehicle 1, the wings 2 for control in horizontal flight conventional rudder surfaces (ailerons, elevator, rudder) on. The rudder surfaces can be moved and controlled independently of the inclination of the wings 2.
    The rotors 3 of the VTOL vehicle 1 according to the invention are operated purely electrically in preferred embodiments or are based on serial or parallel hybrid operating strands. In special embodiments, the rotors 3 are driven by internal combustion engines. In preferred embodiments, propeller blade position of the rotors 3 and / or speed of the motors 14 are adjustable. In particularly preferred embodiments, the angle of attack of the motors 14 is adjustable. In alternative embodiments, the pivotability and inclinability of the rotors 3 is based on brushless DC motors.
    In alternative embodiments, the rotors 3 are attached to, on or under the wings 2, wherein the rotors 3 are not in these embodiments in recesses 4 of the wings 3 can be arranged. In alternative embodiments, the rotors 3 are attached to the ends of the wings 2. In particular embodiments, the rotors 3 are arranged on the hull 7. In alternative embodiments, the rotors 3 are surrounded by a ring structure, wherein the rotors 3 form the wings 2 together with the ring.
    In further alternative embodiments, the hull 7 is displaceable relative to the support surface 2.
    Index: 1 VTOL vehicle 2 Wing 3 Rotor 4 Cutout of the wing 5 Rudder 6 Total center of mass of the VTOL vehicle 7 Fuselage 8 Tail 9 Movable mass 10 Direction of rotation of the rotor 11 Longitudinal axis 12 Mass center of the movable mass 13 Shaft of the rotor 14 Motor 15 Energy storage 16 Servo for actuation of the movable mass 17 Ultrasonic proximity sensor 18 (digital) control system 19 Aileron servo 20 Transverse axis servo 21 Connections 22 3-axis gyroscope 23 GPS receiver 24 Electronic compass 25 Air pressure sensor 26 Servo height / page 27 Dynamic pressure sensor 28 Vertical axis
    权利要求:
    Claims (19)
    [1]
    claims
    A VTOL vehicle (1) having at least two pivotable rotors (3) which can be arranged in a substantially horizontal position for a substantially vertical movement of the VTOL vehicle and about a thrust axis (13) parallel to a vertical axis (28). of the VTOL vehicle (1) are rotatable, and wherein the rotors (3) for a substantially horizontal movement of the VTOL vehicle in each case in a substantially vertical position can be arranged and about a thrust axis (13) parallel to a longitudinal axis (11) of the VTOL vehicle (1) are rotatable, characterized in that the VTOL vehicle (1) on or in the hull (7) has a displaceable mass (9) which is adapted to be displaced so that the total mass center of gravity (6 ) of the VTOL vehicle (1) is at any time on a resulting thrust axis.
    [2]
    2. VTOL vehicle (1) according to claim 1, characterized in that the rotors (3) in transition positions between the horizontal position and the vertical position, in particular forward or backward inclined, can be arranged.
    [3]
    3. VTOL vehicle (1) according to claim 1 or 2, characterized in that the VTOL vehicle (1) comprises a digital control system (18) for the rotors (3) and the movable mass (9), wherein the digital control system (18) the rotors (3) in the horizontal position, the vertical position and the intermediate transition positions and the mass (9) so displaced that the total mass center of gravity (6) of the VTOL vehicle (1) is located on a resulting thrust axis.
    [4]
    4. VTOL vehicle (1) according to claim 3, characterized in that the digital control system (18) is configured as a digital kinematics model.
    [5]
    5. VTOL vehicle (1) according to one of claims 1 to 4, characterized in that the displaceable mass (9) along the longitudinal axis (11) of the VTOL vehicle (1) is displaceable.
    [6]
    6. VTOL vehicle (1) according to one of claims 1 to 5, characterized in that it is designed as an unmanned VTOL vehicle (1).
    [7]
    7. VTOL vehicle (1) according to one of claims 1 to 6, characterized in that it comprises bearing surfaces (2) on which the pivotable rotors (3) are arranged.
    [8]
    8. VTOL vehicle (1) according to claim 7, characterized in that the pivotable rotors (3) in recesses (4) of the support surfaces (2) are arranged.
    [9]
    9. VTOL vehicle (1) according to claim 7 or 8, characterized in that the displaceable mass (9) comprises a relative to the support surface (2) displaceable part of the hull (7) or an energy store (15).
    [10]
    10. VTOL vehicle (1) according to one of claims 7 to 9, characterized in that the support surfaces (2) have a laminar profile.
    [11]
    11. VTOL vehicle (1) according to one of claims 1 to 10, characterized in that the VTOL vehicle (1) has a cross member on which the displaceable mass (9) is mounted.
    [12]
    12. VTOL vehicle (1) according to one of claims 1 to 11, characterized in that the VTOL vehicle (1) has an actuator for displacing the displaceable mass (9).
    [13]
    13. VTOL vehicle (1) according to claim 12, characterized in that the actuator via a rigid connection with a cross member of the VTOL vehicle (1) is mechanically fixed.
    [14]
    14. VTOL vehicle (1) according to any one of claims 12 or 13, characterized in that the drive of the actuator via a movably mounted drive rod with the displaceable mass (9) is connected.
    [15]
    15. VTOL vehicle (1) according to one of claims 1 to 14, characterized in that the rotors (3) by means of motors (14) are pivotable.
    [16]
    16. VTOL vehicle (1) according to one of claims 1 to 15, characterized in that the VTOL vehicle (1) has a GPS receiver (23) and a 3-axis gyroscope (22).
    [17]
    17. A method for stabilizing the flight characteristics of a VTOL vehicle (1) having at least two pivotable rotors (3), wherein the rotors (3) are arranged for a substantially vertical movement of the VTOL vehicle in each case in a substantially horizontal position and a thrust axis (13) parallel to a vertical axis (28) of the VTOL vehicle (1) rotate, and wherein the rotors (3) are arranged for a substantially horizontal movement of the VTOL vehicle in each case in a substantially vertical position and a Rotate thrust axis (13) parallel to a longitudinal axis (11) of the VTOL vehicle (1), characterized in that in or on the hull (7) of the VTOL vehicle (1) mounted, displaceable mass (9) is displaced so that the total mass center of gravity (6) of the VTOL vehicle (1) lies on a resulting thrust axis at all times.
    [18]
    18. The method according to claim 17, characterized in that the rotors (3) in transition positions between the horizontal position and the vertical position, in particular tilted forward or backward, are pivoted.
    [19]
    19. A method according to any one of claims 17 or 18, characterized in that the rotors (3) are continuously pivoted between the substantially horizontal position and the substantially vertical position and thereby assume continuous transition positions, and wherein during the pivoting of the rotors (3 ) the displaceable mass (9) is moved in such a way that the total center of mass (6) of the VTOL vehicle (1) lies on the resulting thrust axis at all times.
    类似技术:
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    同族专利:
    公开号 | 公开日
    WO2017021391A1|2017-02-09|
    AT517539B1|2017-06-15|
    引用文献:
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    法律状态:
    2021-06-15| EK| Proclamation as to paragraph 128 patent law (reinstatement after erroneous invalidation by the patent office)|Effective date: 20210422 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50707/2015A|AT517539B1|2015-08-06|2015-08-06|VTOL aircraft with movable mass for control|ATA50707/2015A| AT517539B1|2015-08-06|2015-08-06|VTOL aircraft with movable mass for control|
    PCT/EP2016/068386| WO2017021391A1|2015-08-06|2016-08-02|Vtol aircraft having a movable mass for control|
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