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提出了一种新结构的六转子无人飞行器的概念,该飞行器可以在空间任意方向飞行,甚至可以在地面上滚动前进。分析了其可能的三种构型并给出了各自的运动方程,给出了三轴解耦时该飞行器的配置方式及转子空间位置。由于该飞行器具有小尺寸外形、低重量和飞行速度慢的特点,根据转子速度、弦长和飞行模态,计算得该飞行器的雷诺数变化范围为1×104到12.8×104。以选用的Eppler 387翼型作为分析对象,采用正投影混合网格方法对其在低雷诺数下的气动性能进行研究,得到了雷诺数分别为1×104,2×104,3×104和6×104下对应不同迎角的升力系数、阻力系数和升阻比,并对雷诺数为6×104下的升力系数仿真结果同试验结果进行了对比,二者具有较好的一致性。制作了六转子微型飞行器样机,实现了垂直起降及慢速前飞。
A new structure of the concept of a six-rotor UAV is proposed. The aircraft can fly in any direction in space and can even roll forward on the ground. Three possible configurations of the aircraft are analyzed and their respective equations of motion are given. The configuration of the aircraft and its rotor position are given. Due to its small size, low weight and slow flight speed, the aircraft’s Reynolds number varies from 1 × 104 to 12.8 × 104 depending on rotor speed, chord and flight mode. Taking the selected Eppler 387 airfoil as the analysis object, the aerodynamic performance of the Eppler 387 airfoil at low Reynolds number was investigated by using the orthographic hybrid mesh method. The Reynolds numbers were obtained as 1 × 104, 2 × 104, 3 × 104 and 6 × 104 under different angles of attack for the lift coefficient, drag coefficient and drag ratio, and the Reynolds number of 6 × 104 under the lift coefficient simulation results with the test results were compared, the two have good consistency. A prototype of a six-rotor micro-aircraft was produced to achieve vertical take-off and landing and slow forward flight.