阅读说明：本技术 飞行器和飞行器控制方法 (Aircraft and aircraft control method ) 是由 敬鹏生 胡海 刘静 刘迎建 于 2019-09-20 设计创作，主要内容包括：本申请涉及一种一种飞行器和飞行器控制方法,飞行器包括机体、控制器和电磁舵机,机体包括尾翼和尾舵,尾舵通过电磁舵机与尾翼连接,控制器与电磁舵机电连接,控制器用于生成飞行控制指令,并根据飞行控制指令控制电磁舵机的通断电状态,电磁舵机用于根据通断电状态对机体的尾舵进行状态调整,从而实现对飞行器的飞行轨迹控制及飞行速度调节。(The application relates to an aircraft and an aircraft control method, the aircraft comprises an aircraft body, a controller and an electromagnetic steering engine, the aircraft body comprises an empennage and a tail rudder, the tail rudder is connected with the empennage through the electromagnetic steering engine, the controller is electrically connected with the electromagnetic steering engine, the controller is used for generating a flight control instruction and controlling the power-on and power-off states of the electromagnetic steering engine according to the flight control instruction, and the electromagnetic steering engine is used for carrying out state adjustment on the tail rudder of the aircraft body according to the power-on and power-off states, so that the flight trajectory control and the flight speed adjustment of the aircraft are.)

1. The aircraft is characterized by comprising an aircraft body, a controller and an electromagnetic steering engine; the machine body comprises an empennage and a tail rudder, and the tail rudder is connected with the empennage through the electromagnetic steering engine; the controller is electrically connected with the electromagnetic steering engine;

the controller is used for generating a flight control instruction and controlling the power-on and power-off state of the electromagnetic steering engine according to the flight control instruction;

and the electromagnetic steering engine is used for carrying out state adjustment on the tail rudder of the aircraft body according to the power-on and power-off state so as to realize control on the aircraft.

2. The aircraft of claim 1, further comprising at least one sensor;

the at least one sensor is connected with the controller and used for collecting flight data and sending the flight data to the controller, so that the controller generates the flight control instruction according to the flight data.

3. The aircraft of claim 1, wherein when the flight control command controls the electromagnetic steering engine to be in a powered state, the electromagnetic steering engine performs positive and negative 90-degree rotation adjustment on the state of the tail rudder.

4. The aircraft of claim 2 or 3, wherein the electromagnetic steering engine comprises a first electromagnetic steering engine and a second electromagnetic steering engine; the tail rudder comprises a first tail rudder and a second tail rudder; the first tail vane is connected with the tail wing through the first electromagnetic steering engine, and the second tail vane is connected with the tail wing through the second electromagnetic steering engine.

5. The aircraft of claim 4, wherein when the flight control command is to power on the first electromagnetic steering engine and power off the second electromagnetic steering engine,

the controller is used for controlling the power-on state of the first electromagnetic steering engine to be a power-on state according to the flight control instruction and controlling the power-on state of the second electromagnetic steering engine to be a power-off state according to the flight control instruction; wherein the content of the first and second substances,

when the first electromagnetic steering engine is in the electrified state, the first electromagnetic steering engine drives the first tail rudder to move upwards or downwards;

when the second electromagnetic steering engine is in the power-off state, the second tail rudder is kept in a horizontal state.

6. The aircraft of claim 4, wherein when the flight control command is to de-energize the first electromagnetic steering engine and energize the second electromagnetic steering engine,

the controller is used for controlling the power-on and power-off state of the first electromagnetic steering engine to be a power-off state according to the flight control instruction and controlling the power-on and power-off state of the second electromagnetic steering engine to be a power-on state according to the flight control instruction; wherein the content of the first and second substances,

when the first electromagnetic steering engine is in the power-off state, the first tail rudder is kept in a horizontal state;

when the second electromagnetic steering engine is in the electrified state, the second electromagnetic steering engine drives the second tail rudder to move upwards or downwards.

7. The aircraft of claim 4, wherein when the flight control command is to simultaneously energize the first electromagnetic steering engine and the second electromagnetic steering engine,

the controller is used for controlling the power-on and power-off states of the first electromagnetic steering engine and the second electromagnetic steering engine to be power-on states according to the flight control instruction; wherein the content of the first and second substances,

when the first electromagnetic steering engine is in the electrified state, the first electromagnetic steering engine drives the first tail rudder to move upwards or downwards;

when the second electromagnetic steering engine is in the electrified state, the second electromagnetic steering engine drives the second tail rudder to move upwards or downwards.

8. The aircraft of claim 4, wherein when the flight control command is to power down the first electromagnetic steering engine and the second electromagnetic steering engine,

the controller is used for controlling the power-on and power-off states of the first electromagnetic steering engine and the second electromagnetic steering engine to be power-off states according to the flight control instruction;

when the first electromagnetic steering engine is in the power-off state, the first tail rudder is kept in a horizontal state;

when the second electromagnetic steering engine is in the power-off state, the second tail rudder is kept in a horizontal state.

9. An aircraft control method, characterized in that the control method is used for controlling the flight state of an aircraft, wherein the aircraft comprises an airframe and a tail wing; an electromagnetic steering engine and a tail rudder are connected behind the tail wing, and the tail rudder is connected with the tail wing through the electromagnetic steering engine; the method comprises the following steps:

acquiring a flight control instruction; the flight control instruction is a control instruction generated according to the flight state of the aircraft;

and controlling the power-on and power-off state of the electromagnetic steering engine according to the flight control instruction so as to enable the electromagnetic steering engine to adjust the state of the tail rudder of the aircraft according to the power-on and power-off state and realize the control of the aircraft.

10. The method of claim 9, wherein the electromagnetic steering engine comprises a first electromagnetic steering engine and a second electromagnetic steering engine; the tail rudder comprises a first tail rudder and a second tail rudder; the first tail vane is connected with the tail wing through the first electromagnetic steering engine, and the second tail vane is connected with the tail wing through the second electromagnetic steering engine;

the basis flight control command control the break-make electricity state of electromagnetism steering wheel to make the electromagnetism steering wheel according to break-make electricity state is to the tail rudder of aircraft carries out state adjustment, include:

when the flight control instruction is to electrify the first electromagnetic steering engine and power off the second electromagnetic steering engine, controlling the on-off state of the first electromagnetic steering engine to be an electrified state according to the flight control instruction, and controlling the on-off state of the second electromagnetic steering engine to be a power off state according to the flight control instruction, so that the first electromagnetic steering engine drives the first tail vane to move upwards or downwards in the electrified state, and the second electromagnetic steering engine keeps a horizontal state in the power off state.

11. The method according to claim 9, wherein the controlling the power-on and power-off state of the electromagnetic steering engine according to the flight control command to enable the electromagnetic steering engine to perform state adjustment on a tail rudder of the aircraft according to the power-on and power-off state comprises:

when the flight control instruction is to power off the first electromagnetic steering engine and power on the second electromagnetic steering engine, controlling the power on/off state of the first electromagnetic steering engine to be a power off state according to the flight control instruction, and controlling the power on/off state of the second electromagnetic steering engine to be a power on state according to the flight control instruction, so that the first tail vane is kept in a horizontal state when the first electromagnetic steering engine is in the power off state, and the second electromagnetic steering engine drives the second tail vane to move upwards or downwards when the second electromagnetic steering engine is in the power on state.

12. The method according to claim 9, wherein the controlling the power-on and power-off state of the electromagnetic steering engine according to the flight control command to enable the electromagnetic steering engine to perform state adjustment on a tail rudder of the aircraft according to the power-on and power-off state comprises:

when the flight control instruction is to electrify the first electromagnetic steering engine and the second electromagnetic steering engine at the same time, controlling the power-on/off state of the first electromagnetic steering engine and the second electromagnetic steering engine to be an electrified state according to the flight control instruction, so that the first electromagnetic steering engine drives the first tail rudder to move upwards or downwards in the electrified state, and the second electromagnetic steering engine drives the second tail rudder to move upwards or downwards in the electrified state.

13. The method according to claim 9, wherein the controlling the power-on and power-off state of the electromagnetic steering engine according to the flight control command to enable the electromagnetic steering engine to perform state adjustment on a tail rudder of the aircraft according to the power-on and power-off state comprises:

when the flight control instruction is to power off the first electromagnetic steering engine and the second electromagnetic steering engine, controlling the power-on/off state of the first electromagnetic steering engine and the second electromagnetic steering engine to be a power-off state according to the flight control instruction, so that the first tail rudder is kept in a horizontal state when the first electromagnetic steering engine is in the power-off state, and the first tail rudder is kept in a horizontal state when the second electromagnetic steering engine is in the power-off state.

Technical Field

The application relates to the field of bionic robots, in particular to an aircraft and an aircraft control method.

Background

The bionic flapping wing aircraft has a development history of more than 30 years, but is limited by the technical difficulties of low load capacity, poor autonomous flight capacity and the like brought by a flapping wing flight mode, and the commercialized bionic flapping wing aircraft has great difficulty in walking. The flight attitude of the existing bionic flapping wing air vehicle is very unstable, and even if a remote controller is matched with the existing bionic flapping wing air vehicle, the existing bionic flapping wing air vehicle can only realize simple up-and-down flight and cannot realize complex flight track control and flight speed regulation.

Disclosure of Invention

Therefore, it is necessary to provide an aircraft and an aircraft control method capable of implementing complex flight trajectory control and flight speed adjustment, aiming at the technical problem that the existing bionic flapping wing aircraft cannot implement complex flight trajectory control and flight speed adjustment.

An aircraft comprises an aircraft body, a controller and an electromagnetic steering engine; the machine body comprises an empennage and a tail rudder, and the tail rudder is connected with the empennage through the electromagnetic steering engine; the controller is electrically connected with the electromagnetic steering engine;

the controller is used for generating a flight control instruction and controlling the power-on and power-off state of the electromagnetic steering engine according to the flight control instruction;

and the electromagnetic steering engine is used for carrying out state adjustment on the tail rudder of the aircraft body according to the power-on and power-off state so as to realize control on the aircraft.

In one embodiment, the aircraft further comprises at least one sensor;

the at least one sensor is connected with the controller and used for collecting flight data and sending the flight data to the controller, so that the controller generates the flight control instruction according to the flight data.

In one embodiment, when the flight control command controls the electromagnetic steering engine to be in a power-on state, the electromagnetic steering engine performs rotation adjustment of plus or minus 90 degrees on the state of the tail rudder. In one embodiment, the electromagnetic steering engine comprises a first electromagnetic steering engine and a second electromagnetic steering engine; the tail rudder comprises a first tail rudder and a second tail rudder; the first tail vane is connected with the tail wing through the first electromagnetic steering engine, and the second tail vane is connected with the tail wing through the second electromagnetic steering engine.

In one embodiment, when the flight control command is to power on the first electromagnetic steering engine and power off the second electromagnetic steering engine,

the controller is used for controlling the power-on state of the first electromagnetic steering engine to be a power-on state according to the flight control instruction and controlling the power-on state of the second electromagnetic steering engine to be a power-off state according to the flight control instruction; wherein the content of the first and second substances,

when the first electromagnetic steering engine is in the electrified state, the first electromagnetic steering engine drives the first tail rudder to move upwards or downwards;

when the second electromagnetic steering engine is in the power-off state, the second tail rudder is kept in a horizontal state.

Energized state in one embodiment, when the flight control command is to de-energize the first electromagnetic steering engine and energize the second electromagnetic steering engine,

the controller is used for controlling the power-on and power-off state of the first electromagnetic steering engine to be a power-off state according to the flight control instruction and controlling the power-on and power-off state of the second electromagnetic steering engine to be a power-on state according to the flight control instruction; wherein the content of the first and second substances,

when the first electromagnetic steering engine is in the power-off state, the first tail rudder is kept in a horizontal state;

when the second electromagnetic steering engine is in the electrified state, the second electromagnetic steering engine drives the second tail rudder to move upwards or downwards.

Energized state the energized state in one embodiment, when the flight control command is to energize the first electromagnetic steering engine and the second electromagnetic steering engine simultaneously,

the controller is used for controlling the power-on and power-off states of the first electromagnetic steering engine and the second electromagnetic steering engine to be power-on states according to the flight control instruction; wherein the content of the first and second substances,

when the first electromagnetic steering engine is in the electrified state, the first electromagnetic steering engine drives the first tail rudder to move upwards or downwards;

when the second electromagnetic steering engine is in the electrified state, the second electromagnetic steering engine drives the second tail rudder to move upwards or downwards.

Energized state in one embodiment, when the flight control command is to de-energize the first electromagnetic steering engine and the second electromagnetic steering engine,

the controller is used for controlling the power-on and power-off states of the first electromagnetic steering engine and the second electromagnetic steering engine to be power-off states according to the flight control instruction;

when the first electromagnetic steering engine is in the power-off state, the first tail rudder is kept in a horizontal state;

when the second electromagnetic steering engine is in the power-off state, the second tail rudder is kept in a horizontal state.

An aircraft control method for controlling a flight state of an aircraft, the aircraft comprising an airframe and an empennage; an electromagnetic steering engine and a tail rudder are connected behind the tail wing, and the tail rudder is connected with the tail wing through the electromagnetic steering engine; the method comprises the following steps:

acquiring a flight control instruction; the flight control instruction is a control instruction generated according to the flight state of the aircraft;

and controlling the power-on and power-off state of the electromagnetic steering engine according to the flight control instruction so as to enable the electromagnetic steering engine to adjust the state of the tail rudder of the aircraft according to the power-on and power-off state and realize the control of the aircraft.

In one embodiment, the electromagnetic steering engine comprises a first electromagnetic steering engine and a second electromagnetic steering engine; the tail rudder comprises a first tail rudder and a second tail rudder; the first tail vane is connected with the tail wing through the first electromagnetic steering engine, and the second tail vane is connected with the tail wing through the second electromagnetic steering engine;

the basis flight control command control the break-make electricity state of electromagnetism steering wheel to make the electromagnetism steering wheel according to break-make electricity state is to the tail rudder of aircraft carries out state adjustment, include:

when the flight control instruction is to electrify the first electromagnetic steering engine and power off the second electromagnetic steering engine, controlling the on-off state of the first electromagnetic steering engine to be an electrified state according to the flight control instruction, and controlling the on-off state of the second electromagnetic steering engine to be a power off state according to the flight control instruction, so that the first electromagnetic steering engine drives the first tail vane to move upwards or downwards in the electrified state, and the second electromagnetic steering engine keeps a horizontal state in the power off state.

In one embodiment, the controlling the power-on/off state of the electromagnetic steering engine according to the flight control instruction so that the electromagnetic steering engine performs state adjustment on the tail rudder of the aircraft according to the power-on/off state includes:

when the flight control instruction is to power off the first electromagnetic steering engine and power on the second electromagnetic steering engine, controlling the power on/off state of the first electromagnetic steering engine to be a power off state according to the flight control instruction, and controlling the power on/off state of the second electromagnetic steering engine to be a power on state according to the flight control instruction, so that the first tail vane is kept in a horizontal state when the first electromagnetic steering engine is in the power off state, and the second electromagnetic steering engine drives the second tail vane to move upwards or downwards when the second electromagnetic steering engine is in the power on state.

In one embodiment, the controlling the power-on/off state of the electromagnetic steering engine according to the flight control instruction so that the electromagnetic steering engine performs state adjustment on the tail rudder of the aircraft according to the power-on/off state includes:

when the flight control instruction is to electrify the first electromagnetic steering engine and the second electromagnetic steering engine at the same time, controlling the power-on/off state of the first electromagnetic steering engine and the second electromagnetic steering engine to be an electrified state according to the flight control instruction, so that the first electromagnetic steering engine drives the first tail rudder to move upwards or downwards in the electrified state, and the second electromagnetic steering engine drives the second tail rudder to move upwards or downwards in the electrified state.

In one embodiment, the controlling the power-on/off state of the electromagnetic steering engine according to the flight control instruction so that the electromagnetic steering engine performs state adjustment on the tail rudder of the aircraft according to the power-on/off state includes:

when the flight control instruction is to power off the first electromagnetic steering engine and the second electromagnetic steering engine, controlling the power-on/off state of the first electromagnetic steering engine and the second electromagnetic steering engine to be a power-off state according to the flight control instruction, so that the first tail rudder is kept in a horizontal state when the first electromagnetic steering engine is in the power-off state, and the first tail rudder is kept in a horizontal state when the second electromagnetic steering engine is in the power-off state.

According to the aircraft and the aircraft control method, the aircraft comprises an aircraft body, a controller and an electromagnetic steering engine, the aircraft body comprises an empennage and a tail rudder, the tail rudder is connected with the empennage through the electromagnetic steering engine, the controller is electrically connected with the electromagnetic steering engine, the controller is used for generating a flight control instruction and controlling the power-on and power-off states of the electromagnetic steering engine according to the flight control instruction, and the electromagnetic steering engine is used for carrying out state adjustment on the tail rudder of the aircraft body according to the power-on and power-off states so as to control the aircraft. When the electromagnetic steering engine is powered on, the tail rudder can be driven to move upwards or downwards, and the state (upwards or downwards moving or horizontal) of the tail rudder can influence the flight speed and the flight direction of the aircraft, so that the electromagnetic steering engine can adjust the state of the tail rudder of the aircraft body according to the power-on and power-off state, and the flight trajectory control and the flight speed adjustment of the aircraft are realized.

Drawings

FIG. 1 is a block diagram of an aircraft in one embodiment;

FIG. 2 is a block diagram of an electromagnetic steering engine in one embodiment;

FIG. 3 is a block diagram of an electromagnetic steering engine in one embodiment;

FIG. 4 is a diagram of the relative positions of the permanent magnet and the self-adhesive coil when the self-adhesive coil is not energized in one embodiment;

FIG. 5 is a diagram illustrating the relative positions of the permanent magnet and the self-adhesive coil when a forward current is applied to the self-adhesive coil in one embodiment;

FIG. 6 is a diagram of the relative positions of the permanent magnet and the self-adhesive coil when a reverse current is applied to the self-adhesive coil in one embodiment;

FIG. 7 is a block diagram of an electromagnetic steering engine in one embodiment;

FIG. 8 is a diagram of the position of an electromagnetic steering engine with a limiting mechanism 30 in one embodiment when energized;

FIG. 9 is a diagram of the position of an electromagnetic steering engine with a limiting mechanism 30 in one embodiment when not energized;

FIG. 10 is a block diagram of an aircraft in one embodiment;

FIG. 11 is a position diagram of a tail rudder of an aircraft in one embodiment;

FIG. 12 is a position diagram of a tail rudder of an aircraft in one embodiment;

FIG. 13 is a flow diagram of an aircraft control method in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, as shown in fig. 1, there is provided an aircraft comprising an airframe 100, a controller 200, and an electromagnetic steering engine 300; the machine body 100 comprises an empennage 101 and a tail rudder 102, and the tail rudder 102 is connected with the empennage 101 through the electromagnetic steering engine 300; the controller 200 is electrically connected with the electromagnetic steering engine 300;

the controller 200 is configured to generate a flight control instruction and control the power on/off state of the electromagnetic steering engine 300 according to the flight control instruction;

the electromagnetic steering engine 300 is configured to perform state adjustment on the tail vane 102 of the aircraft body 100 according to the power on/off state, so as to control the aircraft.

The flight control command in the embodiment of the invention at least comprises a command for controlling the power-on/power-off state of the electromagnetic steering engine 10, and comprises powering on the electromagnetic steering engine 300 and powering off the electromagnetic steering engine 300.

The controller in the embodiment of the present invention is a device that changes the wiring of the main circuit or the control circuit according to a predetermined sequence to control the power on/off state of the electromagnetic steering engine 300.

In the embodiment of the invention, when the electromagnetic steering engine 300 is powered on, the tail vane 102 can be driven to move upwards or downwards, when the electromagnetic steering engine 300 is powered off, the tail vane 102 is kept horizontal under the influence of wind power in a natural flight state, and the state (moving upwards, moving downwards or horizontal) of the tail vane 102 can influence the flight speed and the flight direction of the aircraft, so that the electromagnetic steering engine can adjust the state of the tail vane of the aircraft body according to the power-on and power-off state to realize the control of the aircraft.

In one embodiment, an electromagnetic steering engine is provided, comprising: the driving coil comprises a driving coil 10, a permanent magnet 11, a coil fixing frame 12 and a permanent magnet fixing frame 13;

the permanent magnet 11 is arranged in a through hole of the permanent magnet fixing frame 13, and the driving coil 10 is arranged in a through hole of the coil fixing frame 12; the permanent magnet 11 is outside the driving coil 10; the permanent magnet fixing frame 13 is rotationally connected with the coil fixing frame 12 through a rotating shaft;

when the permanent magnet 11 rotates, the permanent magnet fixing frame 13 is driven to rotate synchronously.

In the embodiment of the invention, because the permanent magnet 11 is positioned outside the driving coil 10, after the driving coil 10 is electrified, the driving coil 10 can generate an electromagnetic field, the electromagnetic field generated by the driving coil 10 and the magnetic field generated by the permanent magnet 11 are driven to rotate based on the principle that like poles repel and unlike poles attract, so that the permanent magnet 11 rotates at a larger angle, and the large-angle transformation of the electromagnetic steering engine is realized, and the electromagnetic steering engine is applied to an aircraft and can improve the stability of a flying state by controlling the angular rotation of the permanent magnet 11 on the electromagnetic steering engine.

Furthermore, above-mentioned electromagnetic steering engine can also install and drive the tail rudder and realize the corner of plus or minus 90 degrees on the tail rudder of aircraft to under the state of corner, can also provide bigger electromagnetic force, change with the stable flight state of further assurance.

It should be noted that the permanent magnet 11 does not necessarily have to rotate 90 degrees, but may be 89 degrees, 85 degrees, etc. according to the influence of the surrounding environment on the aircraft, and the angle may be finely adjusted according to the influence of the surrounding environment.

Alternatively, in one embodiment, the drive coil 10 may be a self-adhesive coil.

Optionally, in an embodiment, as shown in fig. 3, the permanent magnet fixing frame 13 includes a fixing member 14, and the through hole is disposed in the middle of the fixing member 14 and is used for accommodating the permanent magnet 11. In addition, permanent magnet mount 13 still includes tail vane support piece 15, tail vane support piece 15 with permanent magnet 11 joint, permanent magnet 11 passes through tail vane support piece 15 drives permanent magnet mount 13 synchronous revolution.

Optionally, in an embodiment, the permanent magnet fixing frame 13 includes a fixing member 14, and the through hole is disposed in the middle of the fixing member 14 and is used for accommodating the permanent magnet 11. In addition, permanent magnet mount 13 still includes tail vane support piece 15, the pivot with 11 joints of permanent magnet, tail vane support piece 15 with pivot formula as an organic whole, permanent magnet 11 passes through the pivot drive tail vane support piece 15's rotation, in order to pass through tail vane support piece 15 drives permanent magnet mount 13 synchronous rotation.

Further, the tail rudder support 15 may be connected to the fixing member 14 so as to be capable of rotating in synchronization with the fixing member 14. The tail vane support 15 can be connected to the fixing member 14 in various ways, for example, a clamping block adapted to the shape of the outer surface of the fixing member 14 is disposed on one side of the tail vane support 15 close to the fixing member 14, and the clamping block is connected to the fixing member 14 in a clamping manner, so that the tail vane support 15 and the fixing member 14 rotate synchronously. Or a bulge is arranged on one side of the tail rudder supporting piece 15 close to the fixing piece 14, and a groove matched with the bulge is arranged on one side of the fixing piece 14 close to the tail rudder supporting piece 15; or the screw connection between the tail rudder support 15 and the fixing member 14, etc., and is not particularly limited herein.

In the embodiment of the present invention, a through hole is provided in the middle of the fixing member 14, and the permanent magnet 11 is mounted in the through hole. Because the permanent magnet holder 13 and the coil holder 12 are connected by a rotating shaft, the permanent magnet holder 13 can rotate around the rotating shaft under the driving of the driving coil 10.

Optionally, in one embodiment, when the driving coil 10 is not powered on, the axial direction 20 of the permanent magnet 11 is perpendicular to the axial direction of the driving coil 10; when current is supplied to the driving coil 10, the permanent magnet 11 can rotate to a first position, wherein the first position is a position where an included angle between an axial direction 20 of the permanent magnet 11 and an axial direction 21 of the driving coil 10 is smaller than a preset threshold value.

In the embodiment of the present invention, the permanent magnet 11 does not necessarily have to rotate 90 degrees, but may be 89 degrees, 85 degrees, etc. according to the influence of the surrounding environment on the aircraft, and the angle can be finely adjusted according to the influence of the surrounding environment. When the permanent magnet 11 rotates 90 degrees, the included angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 0 degree; when the permanent magnet 11 rotates 89 degrees, the included angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 1 degree; when the permanent magnet 11 rotates 85 degrees, the included angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 5 degrees.

Optionally, the preset threshold is 90 degrees. When current is supplied to the drive coil 10, the permanent magnet 11 can rotate to a first position, and an included angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the drive coil 10 is 0-90 degrees at the first position.

Optionally, in an embodiment, when the permanent magnet 11 is in the first position, an included angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 0 degree.

In the embodiment of the present invention, when the permanent magnet is in the first position, the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 0 degree, without being affected by the environment and the like.

In the embodiment of the invention, when the driving coil 10 is not electrified, the driving coil 10 does not generate an electromagnetic field, so that no electromagnetic force acts on the permanent magnet 11, and the permanent magnet 11 and the permanent magnet fixing frame 13 can freely rotate around the rotating shaft. Fig. 4 shows the relative positions of the permanent magnet 11 and the driving coil 10 when the driving coil 10 is not energized, and the axial direction 20 from the N pole to the S pole of the permanent magnet 11 is perpendicular to the axial direction 21 of the driving coil 10. The permanent magnet 11 may be an axisymmetrical structure, and the two ends of the permanent magnet 11 along the symmetry axis direction are respectively an N pole and an S pole. When the permanent magnet 11 is at the initial position, the direction from the magnetic pole N to the magnetic pole S of the permanent magnet 11, i.e. the axial direction 20 of the permanent magnet 11, is substantially parallel to the plane of the driving coil 10. In the embodiment of the present invention, the permanent magnet 11 may have a cylindrical structure.

In the embodiment of the present invention, as shown in fig. 5, the driving coil 10 includes two leads, the two leads are led out from a hole (for example, a hole at the rear end) on the coil fixing frame 12, and when a current (for example, a forward current) is applied to the two leads, the permanent magnet 11 can rotate from the initial position to the first position, where the first position is a position where an included angle between an axial direction 20 of the permanent magnet 11 and an axial direction 21 of the driving coil 10 is smaller than a preset threshold value, that is, the axial direction of the permanent magnet 11 forms an included angle with a plane in the driving coil 10. In this embodiment, an included angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is taken as an example, and the included angle may be greater than or equal to 0 degree and smaller than 90 degrees, and may be specifically set as needed. Wherein, when the included angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 0 degree, that is, the axial direction of the permanent magnet 11 is substantially perpendicular to the plane where the coils in the driving coil 10 are located, the attraction force generated by the driving coil 10 and the permanent magnet 11 is larger.

It is to be understood that the forward current is not specified to be in a particular direction, but merely to distinguish from the reverse current hereinafter. For example, the driving coil 10 includes two leads, i.e., a first lead and a second lead, and if a direction in which a current flows from the first lead to the second lead is referred to as a forward current, a direction of a corresponding backward current is referred to as a direction in which a current flows from the second lead to the first lead; if the direction of the current flowing from the second lead to the first lead is referred to as a forward current, the direction of the corresponding backward current is the direction of the current flowing from the first lead to the second lead.

Optionally, in an embodiment, after the permanent magnet 11 rotates to the first position, when a reverse current is applied to the driving coil 10, the permanent magnet 11 and the permanent magnet fixing frame 13 rotate 180 degrees from the first position to the second position.

In the embodiment of the present invention, as in the above-mentioned embodiments, when a forward current is applied to the driving coil 10 (assuming that a direction in which a current flows from the first lead to the second lead is referred to as a forward current), the permanent magnet 11 rotates to a position where an angle between an axial direction 20 of the permanent magnet 11 and an axial direction 21 of the driving coil 10 is 0 degrees, and then, when a reverse current is applied to the driving coil 10 (at this time, a direction in which a current flows from the second lead to the first lead is referred to as a reverse current), a direction of a magnetic field generated by the driving coil 10 is reversed, and at this time, directions of an electromagnetic field generated by the driving coil 10 and a magnetic field of the permanent magnet 11 are opposite, and under the principle that like poles repel and opposite poles attract each other, the permanent magnet 11 rotates by 180 degrees from a direction in which the first position (a position where an angle between the axial direction 20 of the permanent magnet 11 and, therefore, the permanent magnet 11 and the permanent magnet fixing frame 13 rotate to the second position (the included angle between the second position and the first position is 180 degrees), as shown in fig. 6, the permanent magnet 11 and the permanent magnet fixing frame 13 rotate by 180 degrees, and the included angle between the axial direction of the permanent magnet 11 and the axial direction of the driving coil 10 after rotation is still smaller than the position of the preset threshold value, so that the direction of the electromagnetic steering engine is reversed.

Optionally, in an embodiment, when the current stops flowing, the permanent magnet 11 and the permanent magnet fixing frame 13 rotate freely around the rotating shaft.

In the embodiment of the invention, no matter the forward current is supplied to the driving coil 10 (the permanent magnet 11 rotates to the first position) or the reverse current is supplied to the driving coil 10 (the permanent magnet 11 rotates to the second position), when the current supply is stopped, the electromagnetic field generated by the driving coil 10 disappears, the permanent magnet 11 and the permanent magnet fixing frame 13 return to the unstressed state, and the permanent magnet 11 and the permanent magnet fixing frame 13 can rotate freely around the rotating shaft.

In one embodiment, as shown in fig. 7, the electromagnetic steering engine further includes, in addition to the driving coil 10, the permanent magnet 11, the coil fixing bracket 12, and the permanent magnet fixing bracket 13 described in the above embodiments: a limiting mechanism 30; the limiting mechanism 30 is positioned on the coil fixing frame 12; the limiting mechanism 30 is used for limiting the permanent magnet fixing frame 13 to switch states between a horizontal position and a vertical position.

In the embodiment of the invention, when only the permanent magnet fixing frame 13 is required to provide two states, a limiting mechanism 30 can be added on one side of the coil fixing frame 12 of the electromagnetic steering engine, so that the permanent magnet fixing frame 13 is limited to be switched between a horizontal position and a vertical position.

Fig. 8 shows a positional relationship when the electromagnetic steering engine with the position limiting mechanism 30 is energized, and fig. 9 shows a positional relationship when the electromagnetic steering engine with the position limiting mechanism 30 is not energized.

Optionally, in the embodiment of the present invention, the controller may further communicate with a remote controller wirelessly, a user operates a key on the remote controller to generate a flight control instruction, the remote controller sends the flight control instruction to the controller through wireless communication, the controller controls the power on/off state of the electromagnetic steering engine according to the flight control instruction, and then the electromagnetic steering engine performs state adjustment on the tail vane of the body according to the power on/off state.

Optionally, in one embodiment, the aircraft further comprises at least one sensor;

the at least one sensor is connected with the controller and used for collecting flight data and sending the flight data to the controller, so that the controller generates the flight control instruction according to the flight data.

In the embodiment of the invention, at least one sensor collects flight data in real time and can be arranged at any position of the aircraft. The flight data can be flight speed, obstacle information and the like, and is sent to the controller, and then the controller generates a flight control instruction according to the flight data.

Optionally, as shown in fig. 10, in an embodiment, the electromagnetic steering engine 300 includes a first electromagnetic steering engine 301 and a second electromagnetic steering engine 302; the tail rudder 102 comprises a first tail rudder 1021 and a second tail rudder 1022; the first tail rudder 1021 is connected with the tail wing 101 through the first electromagnetic steering engine 301, and the second tail rudder 1022 is connected with the tail wing 101 through the second electromagnetic steering engine 302.

When the first electromagnetic steering engine 301 is supplied with current, the first electromagnetic steering engine 301 drives the first horizontal tail rudder 1021 to move upwards or downwards, and when the second electromagnetic steering engine 302 is supplied with current, the second electromagnetic steering engine 302 drives the second horizontal tail rudder 1022 to move upwards or downwards.

In one embodiment, when a forward current is applied to the first electromagnetic steering engine 301, the first electromagnetic steering engine 301 drives the first horizontal tail rudder 1021 to move upwards; when a reverse current is introduced into the first electromagnetic steering engine 301, the first electromagnetic steering engine 301 drives the first horizontal tail rudder 1021 to move downwards; similarly, when the second electromagnetic steering engine 302 is supplied with a forward current or a reverse current, the second electromagnetic steering engine 302 drives the second horizontal tail vane 1022 to move upward or downward. It should be noted that, the correspondence relationship between the forward or reverse current applied to the driving coil 10 and the upward or downward movement of the tail rudder can be set by itself, which is not limited in the present invention.

The adjustment of the flight direction or the flight speed of the aircraft can be specifically divided into four cases by powering on the first electromagnetic steering engine 301 or the second electromagnetic steering engine 302, wherein the adjustment principle of the flight direction or the flight speed of the aircraft is the same as that of the upward or downward movement of the first horizontal tail rudder 1021 and the second horizontal tail rudder 1022, so the upward or downward movement of the first horizontal tail rudder 1021 and the second horizontal tail rudder 1022 is not described herein, and the upward movement of the first horizontal tail rudder 411 and the second horizontal tail rudder 412 is taken as an example in the corresponding drawings, and the following four cases are described separately.

Firstly, as shown in fig. 10, when the flight control instruction is to energize the first electromagnetic steering engine 301 (as shown in the figure, the tail rudder on the right side of the fuselage) and de-energize the second electromagnetic steering engine 302 (as shown in the figure, the tail rudder on the left side of the fuselage), the controller is configured to control the on/off state of the first electromagnetic steering engine 301 to be an energized state according to the flight control instruction and control the on/off state of the second electromagnetic steering engine 302 to be a de-energized state according to the flight control instruction; when the first electromagnetic steering engine 301 is in the power-on state, the first electromagnetic steering engine 301 drives the first tail rudder 1021 to move upwards or downwards; when the second electromagnetic steering engine 302 is in the power-off state, the second tail rudder 1022 keeps a horizontal state.

In the embodiment of the invention, when obstacles exist in the front and the left, at least one sensor can acquire the data and send the acquired data to the controller, the controller analyzes the received data to generate a flight control command, and the flight control command is to electrify the first electromagnetic steering engine 301 and to cut off the second electromagnetic steering engine 302. When only the first electromagnetic steering engine 301 is powered on, the first electromagnetic steering engine 301 drives the first tail rudder 1021 to move upwards or downwards, and the second tail rudder 1022 is still in a horizontal state, so that the first tail rudder 1021 has large resistance, the second tail rudder 1022 has small resistance, and the aircraft turns to the right side (turns to the side with large resistance) in the flying process, thereby adjusting the flying direction.

Secondly, when the flight control instruction is to power off the first electromagnetic steering engine 301 and power on the second electromagnetic steering engine 302, the controller is used for controlling the power on/off state of the first electromagnetic steering engine 301 to be a power off state according to the flight control instruction and controlling the power on/off state of the second electromagnetic steering engine 302 to be a power on state according to the flight control instruction; when the first electromagnetic steering engine 301 is in the power-off state, the first tail rudder 1021 keeps a horizontal state; when the second electromagnetic steering engine 302 is in the power-on state, the second electromagnetic steering engine 302 drives the second tail rudder 1022 to move upward or downward.

In the embodiment of the invention, when obstacles exist in the front and the right, at least one sensor collects the data and sends the collected data to the controller, the controller analyzes the received data to generate a flight control command, and the flight control command is to power off the first electromagnetic steering engine 301 and power on the second electromagnetic steering engine 302. When only the second electromagnetic steering engine 302 is powered on, the second electromagnetic steering engine 302 drives the second tail rudder 1022 to move upwards or downwards, and the first tail rudder 1021 is still in a horizontal state, so that the resistance on the second tail rudder 1022 is large, the resistance on the first tail rudder 1021 is small, and the aircraft turns to the left side in the flying process, thereby adjusting the flying direction.

Thirdly, as shown in fig. 12, when the flight control instruction is to simultaneously energize the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302, the controller is configured to control the on/off state of the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302 to be an energized state according to the flight control instruction; when the first electromagnetic steering engine 301 is in the power-on state, the first electromagnetic steering engine 301 drives the first tail rudder 1021 to move upwards or downwards; when the second electromagnetic steering engine 302 is in the power-on state, the second electromagnetic steering engine 302 drives the second tail rudder 1022 to move upward or downward.

In the embodiment of the invention, when the flight data acquired by at least one sensor is the speed of the aircraft, the at least one sensor transmits the acquired data to the controller, the controller analyzes the received data, and if the speed is greater than a preset threshold (indicating that the speed is too high and needs to be reduced), a flight control instruction is generated, wherein the flight control instruction is to electrify the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302. When the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302 are both powered on, the first tail rudder 1021 and the second tail rudder 1022 are both in an upward moving state, or both in a downward moving state, or one of the first tail rudder 1021 and the second tail rudder 1022 moves upward and the other moves downward, the flying resistance of the aircraft is large in the three states, the flying speed is reduced, the flying speed is adjusted to be reduced, and the problem that the existing aircraft cannot adjust the speed is solved.

Fourthly, as shown in fig. 11, when the flight control instruction is to simultaneously power off the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302, the controller controls the power on/off state of the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302 to be a power off state according to the flight control instruction; when the first electromagnetic steering engine 301 is in the power-off state, the first tail rudder 1021 maintains a horizontal state, and when the second electromagnetic steering engine 302 is in the power-off state, the second tail rudder 1022 maintains a horizontal state.

In the embodiment of the invention, when the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302 are both powered on, the first tail rudder 1021 and the second tail rudder 1022 are both in an upward movement state or in a downward movement state, or one of the first horizontal tail rudder 411 and the second horizontal tail rudder 412 is moved upward and the other is moved downward, under the three states, the sensor sends acquired data to the controller, the controller analyzes the received data, and generates a flight control command if the situation that the vehicle does not need to turn or fly at a very slow speed is found, wherein the flight control command is to power off the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302. When first electromagnetism steering wheel 301 and second electromagnetism steering wheel 302 all do not have the circular telegram, first tail rudder 1021 and second tail rudder 1022 are all in the horizontality, and under this horizontality, the aircraft flight's resistance is less, and the flying speed is very fast to adjustment flying speed has solved the problem that current aircraft can not speed regulation.

Optionally, in one embodiment, the tail is a horizontal tail.

In the embodiment of the invention, the tail wing is a horizontal tail wing, and the electromagnetic steering engine is horizontally arranged on the horizontal tail wing of the body, so that the electromagnetic steering engine does not need to be arranged in the vertical direction, the vertical tail wing can be omitted, and the structure and the flight attitude of the aircraft are closer to those of a bionic bird.

Optionally, in an embodiment, the permanent magnet 11 of the electromagnetic steering engine is located inside or outside the self-adhesive coil of the electromagnetic steering engine.

In the embodiment of the invention, when the permanent magnet 11 of the electromagnetic steering engine is positioned in the self-adhesive coil of the electromagnetic steering engine, the rotation angle of the electromagnetic steering engine is small, and the conversion from the horizontal state to the vertical state cannot be realized. When the permanent magnet of the electromagnetic steering engine is positioned outside the self-adhesive coil of the electromagnetic steering engine, the steering angle cannot be limited, the turning angle of plus or minus 90 degrees of the electromagnetic steering engine is realized, and the adjustment of a tail vane in a larger angle is realized.

In one embodiment, as shown in fig. 13, a flow chart of an aircraft control method in one embodiment includes:

step S1301, acquiring a flight control instruction; the flight control instruction is a control instruction generated according to the flight state of the aircraft;

step S1302, controlling the power-on and power-off state of the electromagnetic steering engine 300 according to the flight control instruction, so that the electromagnetic steering engine 300 adjusts the state of the tail rudder 102 of the aircraft according to the power-on and power-off state, and controls the aircraft.

Optionally, in an embodiment, the electromagnetic steering engine 300 includes a first electromagnetic steering engine 301 and a second electromagnetic steering engine 302; the tail rudder comprises a first tail rudder 1021 and a second tail rudder 1022; the first tail rudder 1021 is connected with the tail wing 101 through the first electromagnetic steering engine 301, and the second tail rudder is connected with the tail wing 101 through the second electromagnetic steering engine 302;

step S1302, controlling a power-on/off state of the electromagnetic steering engine 300 according to the flight control instruction, so that the electromagnetic steering engine 300 performs state adjustment on the tail rudder 102 of the aircraft according to the power-on/off state, includes:

when the flight control instruction is to electrify the first electromagnetic steering engine 301 and to cut off the power of the second electromagnetic steering engine 302, the on-off state of the first electromagnetic steering engine 301 is controlled to be an electrified state according to the flight control instruction, and the on-off state of the second electromagnetic steering engine 302 is controlled to be a power-off state according to the flight control instruction, so that the first electromagnetic steering engine 301 drives the first tail vane 1021 to move upwards or downwards in the electrified state, and the second electromagnetic steering engine 302 keeps the second tail vane 1022 in a horizontal state in the power-off state.

Optionally, in an embodiment, in step S1302, controlling the power on/off state of the electromagnetic steering engine 300 according to the flight control instruction, so that the electromagnetic steering engine 300 performs state adjustment on the tail vane 102 of the aircraft according to the power on/off state, further includes:

when the flight control instruction is to power off the first electromagnetic steering engine 301 and power on the second electromagnetic steering engine 302, controlling the power on/off state of the first electromagnetic steering engine 301 to be a power off state according to the flight control instruction, and controlling the power on/off state of the second electromagnetic steering engine 302 to be a power on state according to the flight control instruction, so that the first electromagnetic steering engine 301 is in the power off state, the first tail vane 1021 is kept in a horizontal state, and the second electromagnetic steering engine 302 drives the second tail vane 1022 to move upwards or downwards in the power on state.

Optionally, in an embodiment, in step S1302, controlling the power on/off state of the electromagnetic steering engine 300 according to the flight control instruction, so that the electromagnetic steering engine 300 performs state adjustment on the tail vane 102 of the aircraft according to the power on/off state, further includes:

when the flight control instruction is to simultaneously energize the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302, the on-off state of the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302 is controlled to be an energized state according to the flight control instruction, so that the first electromagnetic steering engine 301 drives the first tail vane 1021 to move upwards or downwards in the energized state, and the second electromagnetic steering engine 302 drives the second tail vane 1022 to move upwards or downwards in the energized state. The method specifically comprises the following steps: the first and second horizontal tail rudders 1021, 1022 are both in an upward moving state, or both in a downward moving state, or one of the first and second horizontal tail rudders 1021, 412 is moved upward and the other is moved downward.

Optionally, in an embodiment, in step S1302, controlling the power on/off state of the electromagnetic steering engine 300 according to the flight control instruction, so that the electromagnetic steering engine 300 performs state adjustment on the tail vane 102 of the aircraft according to the power on/off state, further includes:

when the flight control instruction is to power off the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302, controlling the power on/off state of the first electromagnetic steering engine 301 and the second electromagnetic steering engine 302 to be a power off state according to the flight control instruction, so that the first tail vane 1021 is kept in a horizontal state when the first electromagnetic steering engine 301 is in the power off state, and the second tail vane 1022 is kept in a horizontal state when the second electromagnetic steering engine 302 is in the power off state.

In the embodiments of the present invention, the description about the aircraft control method refers to the description of the aircraft in each of the above embodiments, and the description thereof is omitted here.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.