CN115871922B - Multi-oar tilting aircraft and flight control method thereof - Google Patents
Multi-oar tilting aircraft and flight control method thereofInfo
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- CN115871922B CN115871922B CN202211459780.7A CN202211459780A CN115871922B CN 115871922 B CN115871922 B CN 115871922B CN 202211459780 A CN202211459780 A CN 202211459780A CN 115871922 B CN115871922 B CN 115871922B
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Abstract
The invention provides a multi-oar tilting aircraft and a flight control method thereof, wherein the aircraft comprises an aircraft body, a left tilting wing fixed on the left side of the aircraft body, at least one left front power oar and at least one left rear power oar respectively fixed on two opposite sides of the left tilting wing, a right tilting wing fixed on the right side of the aircraft body, at least one right front power oar and at least one right rear power oar respectively fixed on two opposite sides of the right tilting wing, and a tail fin group fixed on the tail of the aircraft body, wherein the tail fin group comprises a vertical tail fin, a horizontal tail fin and a horizontal tail fin, and the left front power oar, the left rear power oar, the right front power oar and the right rear power oar realize flight power and attitude control of vertical take-off and landing and cruising of the aircraft. The invention can obtain vertical take-off and landing, high-speed cruising, stable transition between vertical hovering and high-speed cruising, and has the advantage of very high use economy.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a multi-paddle tilting aircraft and a flight control method thereof.
Background
Under the condition of global road traffic congestion, the generation of the aircraft under the requirement of developing modern civil microminiature manned aircraft into the air is urgent, and the aircraft has the characteristics of stronger maneuverability, driving by common people and no need of specific sites such as multiple safety redundancies of airports.
The existing aircraft cannot realize hovering or maintain stable different aircraft postures in a low-speed state, and the aircraft is tilted by a rotor wing or a paddle, so that the aircraft cannot tilt a wingspan, and even the aircraft tilts the wingspan, the aircraft is also an integral tilting wingspan.
It is necessary to design a new aircraft.
Disclosure of Invention
The invention aims to provide a multi-paddle tilting aircraft which is separated from left and right and can independently tilt and can obtain vertical take-off, landing and high-speed cruising, and a flight control method thereof.
The invention provides a multi-oar tilting aircraft, which comprises an aircraft body, a left tilting wing fixed on the left side of the aircraft body, at least one left front power oar and at least one left rear power oar fixed on the opposite sides of the left tilting wing respectively, a right tilting wing fixed on the right side of the aircraft body, at least one right front power oar and at least one right rear power oar fixed on the opposite sides of the right tilting wing respectively, and an empennage group fixed on the tail of the aircraft body, wherein the empennage group comprises a vertical empennage, a horizontal empennage and a horizontal tail oar, and the left front power oar, the left rear power oar, the right front power oar and the right rear power oar realize the flight power and attitude control of the vertical take-off, landing and cruising of the aircraft.
Further, the front left power paddle and the front right power paddle adopt positive paddles, the rear left power paddle and the rear right power paddle adopt counter paddles, or the front left power paddle and the front right power paddle adopt counter paddles, and the rear left power paddle and the rear right power paddle adopt positive paddles.
Further, the front left power paddle and the rear left power paddle adopt positive paddles, the front right power paddle and the rear right power paddle adopt negative paddles, or the front left power paddle and the rear left power paddle adopt negative paddles, the front right power paddle and the rear right power paddle adopt positive paddles.
Further, the horizontal tail comprises a left horizontal tail fixed on the left side of the tail of the main body of the airplane body and a right horizontal tail fixed on the right side of the tail of the main body of the airplane body, and the vertical tail is positioned between the left horizontal tail and the right horizontal tail.
Further, the left tilting wing and the right tilting wing are respectively connected with the server through shafts.
Further, the folding wing device also comprises an angle position sensor which is arranged in the left folding wing, the right folding wing, the left tilting wing and the right tilting wing.
Further, the left front power paddle and the left rear power paddle are respectively provided with two, the right front power paddle and the right rear power paddle are respectively provided with two, or the left front power paddle and the left rear power paddle are respectively provided with four, and the right front power paddle and the right rear power paddle are respectively provided with four.
Further, the folding device further comprises a left folding wing which is fixed on the outer side of the left tilting wing and can be folded relative to the left tilting wing, and a right folding wing which is fixed on the outer side of the right tilting wing and can be folded relative to the right tilting wing.
The invention also provides a flight control method of the multi-oar tilting aircraft, which comprises the following steps:
When the aircraft is lifted vertically, the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle are all kept in a state of being vertical to the ground with the left tilting wing and the right tilting wing, the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle rotate to generate lift force to lift the aircraft, and when the aircraft is lifted, the left tilting wing and the right tilting wing synchronously tilt forwards and backwards to enable the aircraft to advance or retreat, and when the aircraft is tilted asynchronously, the aircraft is rotated;
When the aircraft is in a cruising state, the left tilting wing and the right tilting wing deflect to be parallel to the ground, the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle become tension paddles of the aircraft, lift force at the moment is provided by the left tilting wing and the right tilting wing, the lift force is changed when the left tilting wing and the right tilting wing synchronously deflect, rolling is realized when the left tilting wing and the right tilting wing asynchronously deflect, the horizontal tail paddle controls the course gesture of the aircraft, and the vertical tail wing controls the course of the aircraft.
Further, when the aircraft is vertically taking off and landing, the lift difference between the front left power paddle and the rear left power paddle and the lift difference between the front right power paddle and the rear right power paddle achieve roll of the aircraft.
The invention can obtain vertical take-off and landing, high-speed cruising, stable transition between vertical hovering and high-speed cruising, and has the advantage of very high use economy.
The above, as well as additional objectives, advantages, and features of the present invention will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present invention when read in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:
FIG. 1 is a schematic structural view of a multi-bladed tilting aircraft for use in an embodiment of the invention;
fig. 2 is a schematic illustration of one of the folding wings of a multi-bladed tilting aircraft for use in an embodiment of the invention.
Detailed Description
The invention relates to a multi-paddle tilting aircraft, wherein the power source of the multi-paddle tilting aircraft is a rechargeable battery or fuel oil.
As shown in fig. 1 and 2, a multi-bladed tilting aircraft includes a main body 10, a left tilting wing 20 fixed on the left side of the main body 10, at least one left front power blade 21 and at least one left rear power blade 22 fixed on opposite sides of the left tilting wing 20, a left folding wing 23 fixed on the outer side of the left tilting wing 20 and foldable with respect to the left tilting wing 20, a right tilting wing 30 fixed on the right side of the main body 10, at least one right front power blade 31 and at least one right rear power blade 32 fixed on opposite sides of the right tilting wing 30, a right folding wing 33 fixed on the outer side of the right tilting wing 30 and foldable with respect to the right tilting wing 30, and a tail wing set fixed on the tail of the main body 10, wherein the left front power blade 21, the left rear power blade 22, the right front power blade 31 and the right rear power blade 32 achieve power and attitude control of the aircraft for vertical take-off and cruise.
Wherein the tail group includes a left horizontal tail 40 fixed to the left side of the tail of the body 10, a right horizontal tail 50 fixed to the right side of the tail of the body 10, a vertical tail 60 fixed to the tail of the body 10 and located between the left horizontal tail 40 and the right horizontal tail 50, a horizontal tail rotor 70 fixed to the tail of the body 10, and a plurality of tail blades 71 fixed to the horizontal tail rotor 70.
The horizontal tail rotor 70 is horizontally arranged at the tail of the aircraft, and the pitch of the tail rotor blade 71 is adjustable in the same positive and negative direction so as to realize adjustable positive and negative tension. The tail blade 71 is 2 blades or more, for example, 3 blades, 4 blades, 5 blades, or the like.
The left horizontal rear wing 40, the right horizontal rear wing 50, and the vertical rear wing 60 may be deflected as a whole or deflected using a part of the control surface.
The horizontal tail rotor 70 rotates at a constant speed, the pitch of the tail rotor blades 71 and the left horizontal tail rotor 40 and the right horizontal tail rotor 50 synchronously act to generate lifting pulling force for controlling the attitude of the aircraft, and the left horizontal tail rotor 40 and the right horizontal tail rotor 50 are arranged left and right so as to avoid the air passage of the horizontal tail rotor 70.
The vertical tail 60 may deflect during cruising of the aircraft for correcting heading.
The left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32 are all used as power paddles, the left front power paddle 21 and the left rear power paddle 22 are respectively fixed on two opposite sides of the left tilting wing 20, the right front power paddle 31 and the right rear power paddle 32 are respectively fixed on two opposite sides of the right tilting wing 30, and the left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32 can be ducts or open paddles.
The front left power paddle 21 and the front right power paddle 31 adopt forward paddles, the rear left power paddle 22 and the rear right power paddle 32 adopt reverse paddles, or the front left power paddle 21 and the front right power paddle 31 adopt reverse paddles, and the rear left power paddle 22 and the rear right power paddle 32 adopt forward paddles, so that reverse torque can be counteracted, or the front left power paddle 21 and the rear left power paddle 22 adopt forward paddles, the front right power paddle 31 and the rear right power paddle 32 adopt reverse paddles, or the front left power paddle 21 and the rear left power paddle 22 adopt reverse paddles, and the front right power paddle 31 and the rear right power paddle 32 adopt forward paddles, so that reverse torque can be counteracted.
The thrust difference between the left front power paddle 21 and the left rear power paddle 22 and the thrust difference between the right front power paddle 31 and the right rear power paddle 32 realize roll flight when the aircraft vertically takes off and land. The thrust difference between the front left power paddle 21 and the front right power paddle 31, the thrust difference between the rear left power paddle 22 and the rear right power paddle 32, the left horizontal tail wing 40, the right horizontal tail wing 50, and the horizontal tail wing 70 together achieve the horizontal attitude control of the aircraft.
The number of paddles provided on the left tilting wing 20 and the right tilting wing 30 is not limited to two, and four paddles may be provided on each of the left tilting wing 20 and the right tilting wing 30, and any pair of left and right paddles may be added to the present invention.
Namely, the left front power paddle 21 and the left rear power paddle 22 are both provided with two, the right front power paddle 31 and the right rear power paddle 32 are both provided with two, or the left front power paddle 21 and the left rear power paddle 22 are both provided with four, and the right front power paddle 31 and the right rear power paddle 32 are both provided with four.
The left tilting wing 20 and the left folding wing 23 constitute a left span of the aircraft, the right tilting wing 30 and the right folding wing 33 constitute a right span of the aircraft, and the left span and the right span of the aircraft are not only tilted but also folded.
The folding wings of the aircraft are not only used for stowing but also for cruise saving.
The left and right folding wings 23 and 33 are mounted on the outer sides of the left and right tilting wings 20 and 30, respectively, and tilt in synchronization with the corresponding tilting wings, and fold backward at the time of storage or high-speed cruising to reduce a storage space or wind resistance.
The folding wings are not an essential option in the present invention, nor are they folded nor affect the technical effect of implementing the present invention.
The aircraft of the present invention further includes a server (not shown) to which the left and right tilting wings 20 and 30 are connected by shafts, respectively, and the left and right tilting wings 20 and 30 can be rotated by 360 ° in the axial direction by a servo mechanism to achieve synchronous deflection of the left and right tilting wings 20 and 30, the front left and right power paddles 21 and 22, and the front right and right power paddles 31 and 32 for vertical take-off and landing of the aircraft and cruise control.
The server may be a motor server or a hydraulic server.
When the left and right tilting wings 20 and 30 are deflected asynchronously, they are used for heading correction at vertical take-off and landing, and for aircraft roll at cruising.
The aircraft of the present invention further includes angular position sensors provided in the left folding wing 23, the right folding wing 33, the left tilting wing 20, and the right tilting wing 30 so that the server can accurately obtain the tilting or folding angle.
The flight control method of the aircraft of the present invention is as follows (specifically taking four power paddles (specifically, a front left power paddle 21, a rear left power paddle 22, a front right power paddle 31 and a rear right power paddle 32) and a tail power paddle as examples):
When the aircraft vertically takes off and land, the 4 power paddles (specifically, the left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32) are kept in a state of being vertical to the ground with the left tilting wing 20 and the right tilting wing 30, the 4 power paddles rotate at a high speed to generate lift force to float the aircraft, when the aircraft floats, the left tilting wing 20 and the right tilting wing 30 synchronously tilt the aircraft forwards and backwards, the aircraft can rotate when tilting asynchronously, and the lift force difference between the left front power paddle 21 and the left rear power paddle 22 and the lift force difference between the right front power paddle 31 and the right rear power paddle 32 can realize the roll of the aircraft. The lift difference between the front left power paddle 21 and the rear left power paddle 22, the lift difference between the front right power paddle 31 and the rear right power paddle 32, and the horizontal tail rotor 70 cooperate to change the attitude of the aircraft in the air, and the attitude of the aircraft can be stably maintained in a special state, such as the aircraft facing downwards or upwards, no matter what flight state the aircraft is in.
When the aircraft is in a cruising state, the left tilting wing 20 and the right tilting wing 30 deflect to be parallel to the ground, 4 power paddles become tension paddles of the aircraft, at the moment, lift force is provided by the left tilting wing 20 and the right tilting wing 30, the lift force is changed when the left tilting wing 20 and the right tilting wing 30 deflect synchronously, rolling is realized when the left tilting wing 20 and the right tilting wing 30 deflect asynchronously, the horizontal tail paddles 70 control the heading gesture of the aircraft, and the vertical tail wings 60 control the heading of the aircraft.
Regarding the horizontal tail rotor 70, its function includes two aspects, first, active airflow control aircraft attitude at hover and low speed cruising, and second, active provision of additional upward or downward thrust to maintain center of gravity balance when the aircraft encounters fore-aft center of gravity shifts.
With respect to the folding wing, as the tilting wing used in the invention is designed to be wider due to the stability suitable for low speed, larger resistance can be generated when the aircraft cruises at high speed, and wind resistance can be reduced by the sweepback of the folding wing, so that higher flying efficiency is realized, and when the aircraft is stored in a hangar, the folding wing is retracted to a larger angle, and smaller occupied area can be realized.
In the cruise state, the invention allows one or more power systems to fail, and a pilot can realize unpowered gliding by overriding the wingspan and the horizontal and vertical tail wings, thereby greatly increasing the flight safety in the case of abnormality.
The invention realizes the possibility of maintaining various different postures of the aircraft under any flight state, namely vertical take-off and landing, horizontal hovering, middle of left and right span tilting, horizontal cruising state, head hovering upwards, head hovering downwards, head cruising upwards and head cruising downwards.
The lift force generated by the power paddle can be realized in a mode of changing the rotating speed, and also can be realized in a mode of changing the pitch at a constant speed.
The horizontal tail rotor of the invention has positive and negative adjustable pitch, and cooperates with the tilting wings, so that the possibility of maintaining various different postures of the aircraft in any flight state is realized, any existing aircraft cannot maintain stable different aircraft postures in any hovering or low-speed state, the horizontal tail rotor is separated left and right and is tilting independently, and various different actions are carried out according to flight conditions, the wing span of the aircraft can not only tilt but also fold, the vertical take-off and landing device can obtain vertical cruising, the transition between vertical hovering and high-speed cruising is stable, and the horizontal tail rotor has the advantage of very high use economy.
By now it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described herein in detail, many other variations or modifications of the invention consistent with the principles of the invention may be directly ascertained or inferred from the present disclosure without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.
Claims (6)
1. A multi-oar tilting aircraft comprises a main body (10), and is characterized by further comprising a left tilting wing (20) fixed on the left side of the main body (10), at least one front left power oar (21) and at least one rear left power oar (22) respectively fixed on two opposite sides of the left tilting wing (20), a right tilting wing (30) fixed on the right side of the main body (10), at least one front right power oar (31) and at least one rear right power oar (32) respectively fixed on two opposite sides of the right tilting wing (30), and a tail fin group fixed on the tail of the main body (10), wherein the tail fin group comprises a vertical tail fin (70), a horizontal tail fin and a horizontal tail fin (60), and the front left power oar (21), the rear left power oar (22), the front right power oar (31) and the rear right power oar (32) change power difference to realize flying power and attitude control of the aircraft for vertical landing and cruising;
The left front power paddle (21) and the right front power paddle (31) adopt positive paddles, the left rear power paddle (22) and the right rear power paddle (32) adopt counter paddles, or the left front power paddle (21) and the right front power paddle (31) adopt counter paddles, the left rear power paddle (22) and the right rear power paddle (32) adopt positive paddles, or
The left front power paddle (21) and the left rear power paddle (22) adopt positive paddles, the right front power paddle (31) and the right rear power paddle (32) adopt negative paddles, or the left front power paddle (21) and the left rear power paddle (22) adopt negative paddles, the right front power paddle (31) and the right rear power paddle (32) adopt positive paddles;
The horizontal tail comprises a left horizontal tail wing (40) fixed on the left side of the tail of the main body (10) of the aircraft body and a right horizontal tail wing (50) fixed on the right side of the tail of the main body (10), wherein a horizontal tail rotor (60) is positioned between the left horizontal tail wing (40) and the right horizontal tail wing (50), a vertical tail wing (70) is fixed on the tail of the main body of the aircraft body, a plurality of tail blades (71) are fixed on the vertical tail wing (70), the pitch of the tail blades (71) is positively and negatively adjustable so as to realize adjustable positive and negative tensile force, the left horizontal tail wing (40), the right horizontal tail wing (50) and the vertical tail wing (70) can deflect integrally or deflect by using partial control surfaces, and the horizontal tail rotor (60) rotates at a fixed speed, and the pitch of the tail rotor (71) synchronously acts with the left horizontal tail wing (40) and the right horizontal tail wing (50) to generate lifting tensile force for controlling the attitude of the aircraft;
the left tilting wing (20), the right tilting wing (30), the left front power paddle (21), the left rear power paddle (22), the right front power paddle (31) and the right rear power paddle (32) deflect synchronously, and the thrust difference between the left front power paddle (21) and the left rear power paddle (22) and the thrust difference between the right front power paddle (31) and the right rear power paddle (32) are used for assisting the vertical take-off and landing and cruise control of the aircraft, the relative angle between the tilting wing and the ground of the aircraft is fixed, the positive and negative thrust of the horizontal tail paddle (60) changes the pitching of the aircraft body, and the upward or downward 90 degrees of the aircraft nose is realized;
When the left tilting wing (20) and the right tilting wing (30) are deflected asynchronously, and the thrust difference between the left front power paddle (21) and the left rear power paddle (22) and the thrust difference between the right front power paddle (31) and the right rear power paddle (32) are used for assisting course correction during vertical take-off and landing and assisting aircraft roll during cruising.
2. The multi-bladed tilting aircraft according to claim 1, characterized in that it further comprises a server to which the left tilting wing (20) and the right tilting wing (30) are connected by means of shafts, respectively.
3. The multi-paddle tilting aircraft according to claim 1, wherein the front left power paddle (21) and the rear left power paddle (22) are each provided with two, the front right power paddle (31) and the rear right power paddle (32) are each provided with two, or the front left power paddle (21) and the rear left power paddle (22) are each provided with four, and the front right power paddle (31) and the rear right power paddle (32) are each provided with four.
4. The multi-bladed tilting aircraft according to claim 1, characterized in that it further comprises a left folding wing (23) fixed outside the left tilting wing (20) and foldable with respect to the left tilting wing (20) and a right folding wing (33) fixed outside the right tilting wing (30) and foldable with respect to the right tilting wing (30).
5. The multi-bladed tilting aircraft of claim 4, further comprising angular position sensors located within the left folding wing (23), right folding wing (33), left tilting wing (20) and right tilting wing (30).
6. A method for controlling the flight of a multi-bladed tilting aircraft according to any one of claims 1 to 5, characterized in that it comprises the following specific steps:
The left front power paddle (21), the left rear power paddle (22), the right front power paddle (31) and the right rear power paddle (32) are kept perpendicular to the ground with the left tilting wing (20) and the right tilting wing (30), the left front power paddle (21), the left rear power paddle (22), the right front power paddle (31) and the right rear power paddle (32) rotate to generate lift force to float the aircraft, when the aircraft floats, the left tilting wing (20) and the right tilting wing (30) synchronously tilt forward and backward to enable the aircraft to advance or retract, and when the aircraft tilts asynchronously, the lift force difference between the left front power paddle (21) and the left rear power paddle (22) and the lift force difference between the right front power paddle (31) and the right rear power paddle (32) assist in rolling of the aircraft;
When the aircraft is in a cruising state, the left tilting wing (20) and the right tilting wing (30) deflect to be parallel to the ground, the left front power paddle (21), the left rear power paddle (22), the right front power paddle (31) and the right rear power paddle (32) become tension paddles of the aircraft, lift force at the moment is provided by the left tilting wing (20) and the right tilting wing (30), lift force is changed when the left tilting wing (20) and the right tilting wing (30) synchronously deflect, roll is realized when the left tilting wing (20) and the right tilting wing (30) asynchronously deflect, the vertical tail wing (70) controls the course gesture of the aircraft, and the horizontal tail paddle (60) controls the pitching of the aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211459780.7A CN115871922B (en) | 2022-11-16 | 2022-11-16 | Multi-oar tilting aircraft and flight control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211459780.7A CN115871922B (en) | 2022-11-16 | 2022-11-16 | Multi-oar tilting aircraft and flight control method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN115871922A CN115871922A (en) | 2023-03-31 |
| CN115871922B true CN115871922B (en) | 2025-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211459780.7A Active CN115871922B (en) | 2022-11-16 | 2022-11-16 | Multi-oar tilting aircraft and flight control method thereof |
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| CN205034338U (en) * | 2015-09-06 | 2016-02-17 | 湖北航天飞行器研究所 | Tilted four -rotor aircraft |
| CN206552261U (en) * | 2017-03-18 | 2017-10-13 | 北京天宇新超航空科技有限公司 | A kind of tilting rotor wing unmanned aerial vehicle |
| CN108238232A (en) * | 2016-12-27 | 2018-07-03 | 韩国科学技术院 | Aircraft capable of taking off and landing vertically, flying vertically and horizontally and generating energy in air |
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| CN115027667A (en) * | 2022-07-04 | 2022-09-09 | 哈尔滨工业大学 | Bionic deformable wing unmanned aerial vehicle capable of vertically taking off and landing and flight attitude control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140008498A1 (en) * | 2010-09-17 | 2014-01-09 | Johannes Reiter | Tilt Wing Rotor VTOL |
| CN106672223A (en) * | 2016-05-24 | 2017-05-17 | 周光翔 | Hybrid tilt rotor aircraft with four coaxial contra-rotating propellers |
| US12006030B2 (en) * | 2020-04-24 | 2024-06-11 | United States Of America As Represented By The Administrator Of Nasa | Distributed electric propulsion modular wing aircraft with blown wing and extreme flaps for VTOL and/or STOL flight |
| CN112298427B (en) * | 2020-11-24 | 2024-07-02 | 成都倒立摆科技有限公司 | Independent suspension balance car |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205034338U (en) * | 2015-09-06 | 2016-02-17 | 湖北航天飞行器研究所 | Tilted four -rotor aircraft |
| CN108238232A (en) * | 2016-12-27 | 2018-07-03 | 韩国科学技术院 | Aircraft capable of taking off and landing vertically, flying vertically and horizontally and generating energy in air |
| CN206552261U (en) * | 2017-03-18 | 2017-10-13 | 北京天宇新超航空科技有限公司 | A kind of tilting rotor wing unmanned aerial vehicle |
| CN109263920A (en) * | 2018-10-30 | 2019-01-25 | 佛山市神风航空科技有限公司 | A kind of abnormal shape aircraft |
| CN115027667A (en) * | 2022-07-04 | 2022-09-09 | 哈尔滨工业大学 | Bionic deformable wing unmanned aerial vehicle capable of vertically taking off and landing and flight attitude control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115871922A (en) | 2023-03-31 |
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