阅读说明：本技术 一种流线型机身的两轴倾斜翼飞行器及控制方法 (Two-shaft inclined wing aircraft with streamlined fuselage and control method ) 是由 张镭 南海骄 周子锐 于 2021-02-24 设计创作，主要内容包括：本发明涉及一种流线型机身的两轴倾斜翼飞行器及控制方法,包括机身以及与机身活动连接的旋翼机构,机身包括机身本体、上盖和起落架,机身本体的内部空腔设置有电源模块,旋翼机构用于带动机身飞行,旋翼机构包括顺时针螺旋桨和逆时针螺旋桨,顺时针螺旋桨和逆时针螺旋桨分设于机身两侧,旋翼机构与机身之间设置有角度调节机构,角度调节机构用于驱动旋翼机构进行角度调节,角度调节机构与旋翼机构设置有控制系统。本发明通过结合流线型机身设计,利用机身在飞行过程中产生的升力提高负载容量,较大的机身空间装备更多的电源,有效地延长了续航时间和航线里程,同时通过角度调节机构和驱动旋翼机构实现多种飞行需求。(The invention relates to a two-shaft oblique wing aircraft with a streamline fuselage and a control method thereof, and the two-shaft oblique wing aircraft comprises the fuselage and a rotor wing mechanism movably connected with the fuselage, wherein the fuselage comprises a fuselage body, an upper cover and an undercarriage, a power supply module is arranged in an inner cavity of the fuselage body, the rotor wing mechanism is used for driving the fuselage to fly, the rotor wing mechanism comprises a clockwise propeller and an anticlockwise propeller, the clockwise propeller and the anticlockwise propeller are respectively arranged on two sides of the fuselage, an angle adjusting mechanism is arranged between the rotor wing mechanism and the fuselage and used for driving the rotor wing mechanism to adjust the angle, and the angle adjusting mechanism and the rotor wing mechanism are. The invention combines the design of a streamline fuselage, utilizes the lift force generated by the fuselage in the flight process to improve the load capacity, equips more power sources in a larger fuselage space, effectively prolongs the endurance time and the route mileage, and simultaneously realizes various flight requirements through the angle adjusting mechanism and the driving rotor wing mechanism.)

1. The two-shaft inclined wing aircraft with the streamline fuselage is characterized by comprising the fuselage (1) and a rotor wing mechanism (2) movably connected with the fuselage (1), wherein the fuselage (1) is of a streamline structure with a hollow interior, the fuselage (1) comprises a fuselage body (101), an upper cover (102) and an undercarriage (103), the upper cover (102) is an arc-shaped plate body, the upper cover (102) is in arc transition with the fuselage body (101) and is connected with the fuselage body (101) in a buckling manner, and a power module (4) is arranged in an inner cavity of the fuselage body (101);

the rotor wing mechanism (2) is used for driving the aircraft body (1) to fly, the rotor wing mechanism (2) comprises a clockwise propeller (201) and an anticlockwise propeller (202), the clockwise propeller (201) and the anticlockwise propeller (202) are respectively arranged on two sides of the aircraft body (1), and an angle adjusting mechanism (5) is arranged between the rotor wing mechanism (2) and the aircraft body (1);

angle adjustment mechanism (5) are used for driving rotor mechanism (2) and carry out angle modulation, and angle adjustment mechanism (5) are provided with control system with rotor mechanism (2), control system includes main control unit (3), power module (4), drive unit (10) and sensing detecting element (6).

2. The two-shaft inclined wing aircraft with the streamlined fuselage of claim 1, wherein the clockwise propeller (201) and the counterclockwise propeller (202) are both provided with a first motor (7), a motor fixing frame (8) and a blade fixer (9), and the lower ends thereof are equally divided into motor shafts fixedly connected with the first motor (7), the first motor (7) is fixed with the motor fixing frame (8), the motor fixing frame (8) is a triangular prism-shaped structure with one side open and the inside hollow, and the blade fixer (9) is arranged at the end parts of the clockwise propeller (201) and the counterclockwise propeller (202) and used for fixing the blades of the clockwise propeller (201) and the counterclockwise propeller (202).

3. The two-shaft oblique wing aircraft with the streamlined fuselage, according to claim 2, characterized in that the angle adjusting mechanism (5) is disposed at two ends of the fuselage (1) corresponding to the two motor fixing frames (8), the angle adjusting mechanism (5) comprises an encoder (503) and a second motor (502), the second motor (502) is connected to a speed reducer (501), and a motor shaft of the second motor (502) is connected to a back plate of the motor fixing frame (8) through the speed reducer (501).

4. The two-axis tiltrotor aircraft with a streamlined fuselage according to claim 3, wherein the main control unit (3) comprises an embedded control chip, the main control unit (3) is communicatively connected with the sensing detection unit (6), the sensing detection unit (6) is a multi-axis MEMS sensor, the sensing detection unit (6) is used for acquiring flight parameters of the fuselage (1), the sensing detection unit (6) comprises a gyroscope angle sensor, an angular velocity sensor, an acceleration sensor, a magnetic field sensor and an air pressure detection sensor, the input end of the driving unit (10) is connected with the control end of the main control unit (3), and the output end of the driving unit is respectively connected with the first motor (7) and the second motor (502);

the main control unit (3) outputs control signals according to the flight parameters and respectively adjusts the first motor (7) and the second motor (502) through the driving unit (10);

the main control unit (3) is in communication connection with an input unit (11).

5. The two-shaft oblique wing aircraft with the streamlined fuselage according to claim 1, wherein the drive unit (10) comprises an over-temperature and over-current protection circuit and a drive circuit, an output end of the over-temperature and over-current protection circuit is connected with a signal acquisition end of the main control unit (3), and the main control unit (3) performs over-temperature and over-current protection on the angle adjusting mechanism (5) and the rotor mechanism (2) through the drive circuit according to an output signal of the over-current protection circuit.

6. Two-axis tiltrotor aircraft with a streamlined fuselage according to claim 1, characterized in that said power module (4) comprises a plurality of batteries, connected in parallel with each other;

the plurality of batteries are fixed on the bottom surface of the inner cavity of the machine body (101) and symmetrically and uniformly distributed around a middle axis plane parallel to the side surface of the machine body (101), and the power module (4) is used for enabling the gravity center of the machine body (1) to be located between the equivalent action points of the lift force F and the power F and close to the equivalent action point of the lift force F.

7. The method for controlling the two-axis tilt wing aircraft with the streamlined fuselage, which is based on the two-axis tilt wing aircraft with the streamlined fuselage of claims 1 to 6, is characterized in that the method comprises the following steps:

step 1: giving a flight behavior, acquiring flight parameters by the main control unit (3) to calculate the position and the attitude of the fuselage (1), and adjusting the inclination angle of the rotor wing mechanism (2) and the rotating speed of the rotor wing mechanism (2) according to the calculated data;

step 2: real-time flight parameters of the airplane body (1) are obtained based on the sensing detection unit (6), and the position and the posture of the airplane body (1) are corrected by adopting a closed-loop control model.

8. The method of claim 7, wherein the flight behavior comprises takeoff, landing, pitch, yaw, hover, and cruise behaviors;

the flight parameters comprise attitude information, speed information and acceleration information of the aircraft body (1) obtained through a gyroscope angle sensor, an angular velocity sensor and an acceleration sensor;

the world position information of the machine body (1) is obtained through a magnetic field sensor;

the flying height information of the fuselage (1) is obtained through the air pressure detection sensor.

9. The method for controlling a two-axis tiltrotor aircraft with a streamlined fuselage of claim 7, wherein said step 1 further comprises a learning phase:

dividing the flight attitude of the fuselage (1) into a plurality of flight behaviors, and recording the flight adjustment of the fuselage (1) under different initial attitudes by the main control unit (3);

given flight behaviors, the main control unit (3) adjusts the attitude of the airplane body (1) according to training experience.

Technical Field

The invention relates to the technical field of aircrafts, in particular to a two-shaft inclined wing aircraft with a streamline fuselage and a control method.

Background

With the rapid development of unmanned aircraft technology, small aircraft is widely used in military and civil fields, the use of aircraft for cruising and shooting gradually enters people's lives, agricultural operation and express service become emerging topics, and the aircraft plays an increasingly important role in many industrial fields.

The current aircraft mainly divide into fixed wing aircraft and rotor craft, and fixed wing aircraft flying speed is fast, and flight time is long, provides ascending lift through upper and lower airfoil pressure difference and maintains flying height, generally realizes attitude control through adjustment airfoil angle, realizes turning to through the difference in the rotational speed of controlling the fixed wing, nevertheless because to opening and stopping the occasion and require high, can't hover and turn to shortcoming such as not nimble enough, the fixed wing aircraft accepted the scope and receives the restriction.

The rotor craft provides lift through the rotor, maintains the fuselage stability through balanced antitorque force, through the adjustment flight gesture, forms the side and closes the power of making a concerted effort and realize horizontal flight. The rotor craft can be divided into a single-rotor wing type and a multi-rotor wing type in terms of the number of rotors, and compared with a fixed-wing craft, the rotor craft has low requirements on take-off and landing site conditions;

however, the horizontal flight speed of the rotor craft is limited, the application of the rotor craft in many practical requirements is limited due to the problems of short flight time and the like, compared with a single-rotor craft, the multi-rotor craft is relatively simple in transmission structure and more convenient to control, but the increase of the self weight is realized by adding more rotors, the energy consumption is increased, and the overall flight efficiency is reduced.

A two-wing aircraft, as disclosed in patent document CN105197230A, is provided with a two-rotor structure, and a four-rotor aircraft control system and control method disclosed in patent document CN106919179A, adopt a four-rotor structure, these aircraft mostly use the combination of a rotor aircraft and a fixed-wing aircraft, the rotor angle is fixed, and in addition, the take-off and landing advantages of the rotor aircraft, further improvement is obtained on stable flight, however, this kind of setting will increase energy consumption, shorten the flight time, and lead to the overall flight efficiency to decline.

In view of the above problems of the current aircraft, it is highly desirable to provide a new aircraft. The aircraft has the advantages of high speed, small requirement on a take-off and landing site, hovering capability and the like, solves the problems of small load and short navigation time, and meets increasingly complex flight requirements.

Disclosure of Invention

The invention provides a two-shaft inclined wing aircraft with a streamline fuselage and a control method thereof, aiming at solving the problem of low flying efficiency of the existing rotor aircraft.

The invention provides a two-shaft oblique wing aircraft with a streamline fuselage, which comprises:

the aircraft comprises an aircraft body and a rotor wing mechanism movably connected with the aircraft body, wherein the aircraft body is of a hollow streamline structure, the aircraft body comprises an aircraft body, an upper cover and an undercarriage, the upper cover is an arc-shaped plate body, the upper cover is in arc transition with the aircraft body and is buckled and connected with the aircraft body, and a power module is arranged in an internal cavity of the aircraft body;

the rotor wing mechanism is used for driving the aircraft body to fly and comprises a clockwise propeller and an anticlockwise propeller, the clockwise propeller and the anticlockwise propeller are respectively arranged on two sides of the aircraft body, and an angle adjusting mechanism is arranged between the rotor wing mechanism and the aircraft body;

the angle adjusting mechanism is used for driving the rotor wing mechanism to adjust the angle, the angle adjusting mechanism and the rotor wing mechanism are provided with a control system, and the control system comprises a main control unit, a power supply module, a driving unit and a sensing detection unit.

Further, clockwise screw and anticlockwise screw all are provided with first motor, motor mount and paddle fixer, and the lower extreme equally divide do not with the motor shaft fixed connection of first motor, first motor is fixed with the motor mount, the motor mount is the uncovered, inside hollow triangular prism column structure in one side, the paddle fixer sets up in clockwise screw and anticlockwise screw's tip for it is fixed clockwise screw and anticlockwise screw's paddle.

Further, angle adjustment mechanism corresponds two the fuselage both ends are located to the motor mount branch, and angle adjustment mechanism includes encoder, second motor, the second motor is connected with the reduction gear, and the motor shaft of second motor passes through the backplate of reduction gear connection motor mount.

Furthermore, the main control unit comprises an embedded control chip, the main control unit is in communication connection with a sensing detection unit, the sensing detection unit is a multi-axis MEMS sensor and is used for acquiring flight parameters of the airplane body, the sensing detection unit comprises a gyroscope angle sensor, an angular velocity sensor, an acceleration sensor, a magnetic field sensor and a pneumatic pressure detection sensor, the input end of the driving unit is connected with the control end of the main control unit, and the output end of the driving unit is respectively connected with the first motor and the second motor;

the main control unit outputs control signals according to the flight parameters and respectively adjusts the first motor and the second motor through the driving unit;

the main control unit is in communication connection with an input unit.

Furthermore, the drive unit comprises an over-temperature and over-current protection circuit and a drive circuit, the output end of the over-temperature and over-current protection circuit is connected with the signal acquisition end of the main control unit, and the main control unit carries out over-temperature and over-current protection on the angle adjusting mechanism and the rotor wing mechanism through the drive circuit according to the output signal of the over-current protection circuit.

Further, the power module comprises a plurality of batteries which are connected in parallel;

the plurality of batteries are fixed on the bottom surface of the inner cavity of the machine body and symmetrically and uniformly distributed around a middle axial plane parallel to the side surface of the machine body, and the power supply module is used for enabling the gravity center of the machine body to be located between equivalent action points of the lifting force F and the power F and close to the equivalent action points of the lifting force F.

The invention provides a control method of a two-axis inclined wing aircraft with a streamline fuselage, which comprises the following steps:

step 1: giving a flight behavior, resolving the position attitude of the aircraft body by the main control unit according to the flight parameters, and adjusting the inclination angle of the rotor wing mechanism and the rotating speed of the rotor wing mechanism according to the resolved data;

step 2: real-time flight parameters of the airframe are obtained based on the sensing detection unit, and the position and the attitude of the airframe are corrected by adopting a closed-loop control model.

Further, the flight behaviors include takeoff, landing, pitch, yaw, hover, and cruise behaviors;

the flight parameters comprise attitude information, speed information and acceleration information of the aircraft body obtained through a gyroscope angle sensor, an angular velocity sensor and an acceleration sensor;

obtaining world position information of the fuselage through a magnetic field sensor;

and obtaining the flight height information of the airplane body through the air pressure detection sensor.

Further, the step 1 further comprises a learning phase:

dividing the flight attitude of the fuselage into a plurality of flight behaviors, and recording the flight adjustment of the fuselage under different initial attitudes by a main control unit;

given flight behavior, the main control unit adjusts the attitude of the fuselage according to training experience.

Through the technical scheme, the invention has the beneficial effects that:

1. the aircraft is provided with an aircraft body and a rotor wing mechanism movably connected with the aircraft body, wherein the aircraft body is of a streamline structure with a hollow interior and an opening on one side, the aircraft body comprises an aircraft body, an upper cover and an undercarriage, the upper cover is an arc-shaped plate body, the upper cover is in arc transition with the aircraft body and is buckled and connected with the aircraft body, and a power module is arranged in an inner cavity of the aircraft body;

when a flight task is carried out, the complete airfoil with the large streamline structure provides sufficient lift force for flight operation, so that the load bearing load is increased, and the load carrying capacity of the aircraft is improved; in addition, the fuselage has a larger internal space than the structure with the 4 rotors and is provided with a power module, so that the cruising ability is improved.

2. The rotor wing mechanism comprises a clockwise propeller and an anticlockwise propeller, wherein the clockwise propeller and the anticlockwise propeller are respectively arranged on two sides of a machine body, and an angle adjusting mechanism is arranged between the rotor wing mechanism and the machine body;

during flying, the torsion moment generated by the rotor wings can be mutually offset in the flying process of the forward and anticlockwise propellers, so that other balancing devices do not need to be loaded, the double rotor wings are adopted to provide power, the mechanical structure is simplified compared with a single rotor wing and four rotor wings, the requirements on parts are reduced, and the rotor wing efficiency is ensured;

the characteristics of the fixed wing and the rotor craft are synthesized, the requirement on the landing site is lowered, and the flying speed in the horizontal direction is high.

Drawings

FIG. 1 is one of the schematic structural views of a two-axis tilt-wing aircraft with a streamlined fuselage according to the present invention;

FIG. 2 is a second schematic structural view of a two-axis tilt-wing aircraft with a streamlined fuselage according to the present invention;

FIG. 3 is a third schematic structural view of a two-axis tilt-wing aircraft with a streamlined fuselage according to the present invention;

FIG. 4 is a fourth schematic structural view of a two-axis tilt-wing aircraft with a streamlined fuselage according to the present invention;

FIG. 5 is a schematic control diagram of a two-axis tilt-wing aircraft having a streamlined fuselage in accordance with the present invention;

FIG. 6 is a schematic force diagram of a two-axis tilt wing aircraft with a streamlined fuselage according to the present invention;

FIG. 7 is a flow chart of a control method of the two-axis tilt wing aircraft with a streamlined fuselage according to the present invention.

Reference numerals: the aircraft comprises a main body, a rotor wing mechanism, a main control unit, a power supply module, an angle adjusting mechanism, a sensing detection unit, a first motor, a motor fixing frame, a blade fixing device, a driving unit, an input unit, a body 101, an upper cover 102, an undercarriage 103, a clockwise propeller 201, an anticlockwise propeller 202, a speed reducer 501, a second motor 502 and an encoder 503, wherein the main control unit 3, the power supply module 4, the angle adjusting mechanism 5, the sensing detection unit 6, the first motor 7, the motor fixing frame 8, the blade fixing device 9, the driving unit 10, the input unit 11, the body 101.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

As shown in fig. 1, a two-axis oblique wing aircraft with a streamlined fuselage comprises a fuselage 1 and a rotor mechanism 2 movably connected with the fuselage 1, wherein the fuselage 1 is of a hollow streamlined structure, the fuselage 1 comprises a fuselage body 101, an upper cover 102 and an undercarriage 103, the upper cover 102 is an arc-shaped plate body, the upper cover 102 is in arc transition with the fuselage body 101 and is connected with the fuselage body 101 in a buckling manner, and a power module 4 is arranged in an internal cavity of the fuselage body 101;

the rotor wing mechanism 2 is used for driving the aircraft body 1 to fly, the rotor wing mechanism 2 comprises a clockwise propeller 201 and an anticlockwise propeller 202, the clockwise propeller 201 and the anticlockwise propeller 202 are respectively arranged on two sides of the aircraft body 1, and an angle adjusting mechanism 5 is arranged between the rotor wing mechanism 2 and the aircraft body 1;

angle adjustment mechanism 5 is used for driving rotor mechanism 2 and carries out angle modulation, and angle adjustment mechanism 5 is provided with control system with rotor mechanism 2, control system includes main control unit 3, power module 4, drive unit 10 and sensing detecting element 6.

The aircraft body 1 adopts a streamline structure, and the torque moments generated by the clockwise propeller 201 and the anticlockwise propeller 202 can be mutually offset in the flying process, so that other balancing devices do not need to be loaded, the double rotors are adopted to provide power, the mechanical structure is simplified compared with a single rotor and four rotors, the requirements on parts are reduced, and the rotor efficiency is ensured;

the control system accurately adjusts the inclination angle of the rotor wing mechanism 2 and the rotating speed of the rotor wing mechanism 2, so that the flight process is smoother, and the multi-flight requirements of take-off, landing, pitching, yawing, hovering and cruising are met.

Example 2

On the basis of the above embodiment 1, the embodiment of the present invention is different from the above embodiment in that the present invention optimizes the rotor mechanism 2 and the angle adjusting mechanism 5, specifically:

as shown in fig. 2 and 3, the clockwise propeller 201 and the counterclockwise propeller 202 are respectively provided with a first motor 7, a motor fixing frame 8 and a blade fixer 9, the lower ends of the first motor 7 are respectively and fixedly connected with a motor shaft of the first motor 7, the first motor 7 is fixed with the motor fixing frame 8, the motor fixing frame 8 is of a triangular prism-shaped structure with one side open and the inside hollow, and the blade fixer 9 is arranged at the end parts of the clockwise propeller 201 and the counterclockwise propeller 202 and used for fixing blades of the clockwise propeller 201 and the counterclockwise propeller 202.

In this embodiment, the first motor 7 is a dc brushless motor.

As an implementation mode, as shown in fig. 4, the angle adjusting mechanism 5 is separately disposed at two ends of the machine body 1 corresponding to the two motor fixing frames 8, the angle adjusting mechanism 5 includes an encoder 503 and a second motor 502, the second motor 502 is connected to a speed reducer 501, and a motor shaft of the second motor 502 is connected to a back plate of the motor fixing frame 8 through the speed reducer 501.

In this embodiment, the second motor 502 is a servo motor, and in order to improve the driving effect of the rotor mechanism 2, the second motor 502 is connected to an encoder 503 and a reducer 501;

during operation, the angle adjustment that the motor fixing frame 8 drives the clockwise propeller 201 and the anticlockwise propeller 202 is realized by adjusting the second motor 502, so that the flying posture is adjusted to meet the flying requirement.

Example 3

On the basis of the above embodiment 2, as shown in fig. 5, in order to simplify the circuit structure and facilitate the posture adjustment, the control system is optimized in this embodiment, specifically:

the main control unit 3 comprises an embedded control chip, the main control unit 3 is in communication connection with a sensing detection unit 6, the sensing detection unit 6 is a multi-axis MEMS sensor, the sensing detection unit 6 is used for acquiring flight parameters of the aircraft body 1, the sensing detection unit 6 comprises a gyroscope angle sensor, an angular velocity sensor, an acceleration sensor, a magnetic field sensor and a pneumatic pressure detection sensor, the input end of the driving unit 10 is connected with the control end of the main control unit 3, and the output end of the driving unit is respectively connected with the first motor 7 and the second motor 502;

the main control unit 3 outputs control signals according to the flight parameters to respectively adjust the first motor 7 and the second motor 502 through the driving unit 10;

the main control unit 3 is communicatively connected with an input unit 11.

In this embodiment, the input unit 11 is a handheld terminal device, and the input unit 11 communicates with the main control unit 3 through a bluetooth module or a mobile network module.

As an implementation manner, the driving unit 10 includes an over-temperature and over-current protection circuit and a driving circuit, an output end of the over-temperature and over-current protection circuit is connected to a signal acquisition end of the main control unit 3, and the main control unit 3 performs over-temperature and over-current protection on the angle adjusting mechanism 5 and the rotor mechanism 2 through the driving circuit according to an output signal of the over-current protection circuit.

During operation, the input unit 11 is used for setting flight behaviors, the main control unit 3 outputs four paths of PWM signals to respectively adjust the first motor 7 and the second motor 502 through the driving unit 10, the sensing detection unit 6 is used for acquiring current flight parameters of the airplane body 1, the flight parameters comprise attitude information, speed information and acceleration information of the airplane body 1 acquired through a gyroscope angle sensor, an angular velocity sensor and an acceleration sensor, world position information of the airplane body 1 is acquired through a magnetic field sensor, and flight height information of the airplane body 1 is acquired through an air pressure detection sensor;

the main control unit 3 calculates the flight parameters through feedback of the sensing detection unit 6 to obtain a deviation value, the main control unit 3 adjusts the amplitude of the PWM signal output by the corresponding pin through the deviation value, and the driving unit 10 controls the rotating speeds of the two rotor wing mechanisms 2 and the deflection angles of the two angle adjusting mechanisms 5 respectively, so that the overall resultant force direction of the fuselage 1 is changed, and the posture of the fuselage 1 is adjusted.

Example 4

Based on embodiment 1, as shown in fig. 2, in order to improve cruising ability, in this embodiment, the power module 4 is optimized, specifically:

the power module 4 comprises a plurality of batteries which are connected in parallel;

the plurality of batteries are fixed on the bottom surface of the inner cavity of the machine body 101 and are symmetrically and uniformly distributed around a central axis plane parallel to the side surface of the machine body 101.

In the present embodiment, in order to ensure the stability of the fuselage 1, fig. 6 shows that G is the overall gravity of the aircraft, F is the power provided by the propeller, and F is the pressure difference existing between the upper and lower wing surfaces of the aircraft, so as to generate the lift force obliquely upward. By analyzing the resultant force, the data of acceleration, speed and the like of the change of the position and the attitude of the aircraft can be calculated.

By adjusting the position of the power module 4, the gravity center of the airframe 1 is located between the equivalent action points of the lift force F and the power F and is close to the equivalent action point of the lift force F, so that when the airframe 1 flies to meet the speed, the lift force F and the gravity G tend to be balanced.

Example 5

Corresponding to the above two-axis oblique wing aircraft with a streamlined fuselage, as shown in fig. 7, a second aspect of the present invention provides a control method for a two-axis oblique wing aircraft with a streamlined fuselage, where the control method includes:

step 1: giving a flight behavior, resolving the position and the attitude of the fuselage 1 by the main control unit 3 according to the flight parameters, and adjusting the inclination angle of the rotor wing mechanism 2 and the rotating speed of the rotor wing mechanism 2 according to the resolved data;

step 2: real-time flight parameters of the airframe 1 are obtained based on the sensing detection unit 6, and the position and the attitude of the airframe 1 are corrected by adopting a closed-loop control model.

As an implementable embodiment, the flight behaviors include takeoff, landing, pitch, yaw, hover, and cruise behaviors;

the flight parameters comprise attitude information, speed information and acceleration information of the fuselage 1 obtained through a gyroscope angle sensor, an angular velocity sensor and an acceleration sensor;

obtaining world position information of the machine body 1 through a magnetic field sensor;

the flying height information of the body 1 is obtained by the air pressure detection sensor.

As an implementation manner, the step 1 further includes a learning phase:

dividing the flight attitude of the fuselage 1 into a plurality of flight behaviors, and recording the flight adjustment of the fuselage 1 under different initial attitudes by the main control unit 3;

given flight behavior, the main control unit 3 adjusts the attitude of the fuselage 1 according to training experience.

According to the method, by giving the flight behavior, the airframe 1 can execute correct actions according to training experience, and the position posture corresponding to the given flight behavior is achieved. The manual operation difficulty is reduced, and the anti-interference capability is improved.

For further explanation of the method, takeoff, landing, pitch, yaw, hover and cruise behaviors are analyzed in connection with fig. 6:

taking off: as shown in fig. 6, when the aircraft body 1 takes off, the lift force f increases with the rotation of the rotor wing mechanism 2, the position of the aircraft body 1 increases, the aircraft body 101 forms an included angle α with the ground, the angle β of the rotor wing mechanism 2 is changed by the angle adjusting mechanism 5, and when the sum of the angle α and the angle β is equal to 90 °, the direction of the rotor wing mechanism 2 is vertically upward;

when the angle alpha is 90 degrees and the angle beta is 0 degrees, the airframe 1 and the rotor wing mechanism 2 are in the same straight line and the direction is vertical upwards, and the airframe 1 flies in the vertical direction;

the body 1 reaches the set height by adjusting the rotating speed of the first motor 7.

Landing: the vertical height of the airplane body 1 is reduced by analogy with the takeoff behavior, and the difference from the takeoff behavior is that when the tail part of the undercarriage 103 lands, the angle beta is adjusted to be a negative value through the angle adjusting mechanism 5, and the gravity center of the airplane body 1 deviates to the front side;

the angle alpha is reduced from 90 degrees, the angle beta is adjusted to enable the sum of the angle alpha and the angle beta to be 90 degrees, the direction of the rotor wing mechanism 2 is vertical upwards, the rotating speed of the rotor wing mechanism 2 is slowly reduced, and finally the airframe 1 is stably landed.

Pitching: when the fuselage 1 is fixed at a certain height, the fuselage 1 is in a stable flying speed state, and the rotor wing mechanism 2 is adjusted through the angle adjusting mechanism 5, so that the angle beta is adjusted, the change of the angle alpha is realized, and the pitching adjustment of the fuselage 1 is realized.

Yawing: when the rotating speeds of the clockwise propeller 201 and the anticlockwise propeller 202 are respectively adjusted to enable a rotating speed difference to exist between the clockwise propeller 201 and the anticlockwise propeller 202, the yawing flight behavior is realized by utilizing the component force of the integral resultant force in the horizontal direction.

Hovering: when the fuselage 1 needs to perform hovering behavior, the inclination angle α of the fuselage 1 is obtained through the sensing unit 6, and the rotor mechanism 2 is always vertically upward by adjusting the inclination angle β of the rotor mechanism 2. Because of no power in the horizontal direction, the lift force f is 0, the angle alpha is gradually increased to 90 degrees under the action of the gravity G, the angle beta is 0 degree, and at the moment, the airframe 1 is balanced by the integral gravity and the lift force provided by the rotor wing mechanism 2, so that the airframe 1 is suspended in the vertical direction;

the upper and lower wing surfaces of the machine body 1 are opposite to the horizontal direction and are easy to be disturbed by airflow in the horizontal direction, acceleration in the horizontal direction of the machine body 1 is obtained through the sensing detection unit 6, an angle beta is adjusted, component force in the horizontal direction is balanced, and accordingly hovering of the machine body 1 in the horizontal direction is achieved.

Cruising: the rotating speed of the rotor wing mechanism 2 is changed, the power F is improved, the component force of the power F in the horizontal direction enables the speed of the machine body 1 in the horizontal direction to be increased, and then the lifting force generated by the wing surface is improved; the streamline characteristic of the fuselage 1 is combined, the lifting force F is utilized to balance the gravity G, and then the included angle beta of the rotor wing mechanism 2 is reduced, namely the component force of the power F in the vertical direction is reduced, and the component force in the horizontal direction is improved, so that the horizontal flying speed and the navigation mileage of the fuselage 1 are improved.

The above-described embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the invention, so that equivalent changes or modifications in the structure, features and principles described in the present invention should be included in the claims of the present invention.