CN103318407A - Standalone control system of coaxial double-rotor unmanned helicopter control system - Google Patents
Standalone control system of coaxial double-rotor unmanned helicopter control system Download PDFInfo
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Abstract
The invention discloses a standalone control system of a coaxial double-rotor unmanned helicopter control system. The standalone control system mainly comprises a rotor system, a control system, and a transmission system, wherein the above three systems are assembled successively from top to bottom; and the control system is connected with a flight control center in a communication connection way. The standalone control system of a coaxial double-rotor unmanned helicopter control system provided by the invention overcomes the problems in the prior art such as complex structure, big difficulties in free operation, low control efficiency, and big resistance or the like; and the standalone control system has the advantages of simple structure, little difficulties in free operation, high control efficiency and small resistance.
Description
Technical field
The present invention relates to the aviation aircraft technical field, particularly, relate to a kind of discrete control system of coaxial rotor depopulated helicopter maneuvering system.
Background technology
At present, there are Russia, the U.S., Italy and Chinese in the country that has in the world the coaxial double-rotary wing depopulated helicopter, has on people's helicopter chaufeur mechanically finish the manipulation to helicopter by joystick and pedal.Compare with people's helicopter is arranged, depopulated helicopter uses steering wheel to replace chaufeur to handle, and the instruction that steering wheel receives is from the flight control system that is installed on the helicopter.
Referring to Fig. 1, traditional coaxial double-rotor helicopter is the maneuvering system of rotor up and down, comprise the first bearing 1, be installed in the pulley-type rotating disk on the first bearing 1, between the first bearing 1 and pulley-type rotating disk, be provided with symmetrically a pair of pitch-change-link (such as pitch-change-link 2), be provided with symmetrically a pair of transition rocking arm (such as transition rocking arm 3) at the two ends of the first bearing 1, below the first bearing 1, cooperate successively auto-bank unit 4 and the second bearing 6 are installed.Below the second bearing 6, cooperate lower auto-bank unit 7 is installed, below lower auto-bank unit 7, cooperate successively and strut 5, course operation slip ring 9, course are installed apart from bar 8, always apart from sleeve 13 and outer shaft 14, side at strut 5 is equipped with vertical steering wheel 10, apart from the end of bar 8 course steering wheel 12 is installed in the course, cooperate successively apart from a side of sleeve 13 always always to be equipped with apart from machine 11 with always apart from steering wheel 16, at interior axle 14 inner shafts to being set with interior axle 15.
Referring to Fig. 2, traditional coaxial double-rotor helicopter is the maneuvering system of rotor up and down, adopt the mode of mechanical linkage to finish, the device (such as the device 1 that tilts among Fig. 2) that tilts links to each other with the device that has a down dip (such as the device 3 that has a down dip among Fig. 2) by connecting rod (such as the up and down inclinator connecting rod 2 among Fig. 2), chaufeur or the steering wheel device that can direct operatedly only have a down dip.
Traditional coaxial double-rotor helicopter maneuvering system has following shortcoming:
(1) complex structure need to just can carry out by intermediate connecting rod the manipulation of upper rotor, and intermediate connecting rod is supported on the device that has a down dip, and must rotate with lower rotor, and this is so that the design of the device that has a down dip is complicated.
(2) owing to machinery association, rotor control is coupled up and down, has limited freely handling of upper rotor.
(3) because the complexity of machinery association, the general employing of directional control is partly differential, only lower rotor is changed total distance when being course control, so that rotor moment of torsion overbalance up and down, thereby so that helicopter changes course, because lower rotor is total apart from changing the pneumatic variation that causes, again by simultaneously rotor up and down being carried out always compensating apart from handling.For complete differential course control, half differential course control efficiency is lower.
(4) maneuvering system exposes fully, is difficult to carry out rectification, and the resistance that causes when the large Speed Flight of helicopter is larger.
In realizing process of the present invention, the defective such as the contriver finds there is at least complex structure in the prior art, the free operant difficulty is large, control efficiency is low and resistance is large.
Summary of the invention
The object of the invention is to, for the problems referred to above, propose a kind of discrete control system of coaxial rotor depopulated helicopter maneuvering system, with the advantage that implementation structure is simple, the free operant difficulty is little, control efficiency is high and resistance is little.
For achieving the above object, the technical solution used in the present invention is: a kind of discrete control system of coaxial rotor depopulated helicopter maneuvering system, mainly comprise the rotor system, maneuvering system and the driving system that from up to down cooperate successively assembling, maneuvering system and flight control center's communication connection.
Further, described rotor system comprises rotor shaft, is installed in the upper rotor blade of described rotor shaft top, and the lower rotor blade that is installed in described rotor shaft below; Described lower rotor blade cooperation is installed on the maneuvering system.
Further, described maneuvering system comprises the lower rotor control mechanism and the upper rotor control mechanism that from up to down are connected in turn between rotor system and the maneuvering system; Described lower rotor control mechanism is connected with lower rotor blade, and upper rotor control mechanism is connected with upper rotor blade.
Further, described lower rotor control mechanism, comprise with described rotor shaft in be connected the connecting rod that the outer rotor shaft of lower rotor blade connects, be connected to the have a down dip interior ring of swash plate and the lower rotor blade distance-variable rocker arm at described connecting rod two ends, with the swash plate outer shroud that has a down dip that ring in the described swash plate that has a down dip is connected by bearing, the lower rotor that is connected with the described swash plate outer shroud that has a down dip is controlled steering wheel; The described swash plate outer shroud that has a down dip is rotating ring not, not along with outer rotor shaft is rotated; The interior ring of the swash plate that has a down dip is along with outer rotor shaft is rotated.
Further, described lower rotor control steering wheel comprises drop-gear box, and is distributed on drop-gear box lower rotor the first control steering wheel, lower rotor the second control steering wheel and lower rotor the 3rd control steering wheel on every side according to 120 °; One end of described lower rotor the first control steering wheel, lower rotor the second control steering wheel and lower rotor the 3rd control steering wheel is connected on the described drop-gear box.
Further, described upper rotor control mechanism, comprise with described rotor shaft in be connected the connecting rod that the interior rotor shaft of rotor blade connects, be connected to the interior ring of updip swash plate and the upper rotor blade distance-variable rocker arm at described connecting rod two ends, with the updip swash plate outer shroud that ring in the described updip swash plate is connected by bearing, the upper rotor that is connected with described updip swash plate outer shroud is controlled steering wheel; Described updip swash plate outer shroud is rotating ring not, not along with interior rotor shaft is rotated; Ring is along with outer rotor shaft is rotated in the updip swash plate.
Further, upper rotor control mechanism also comprises be used to the lower support seat that supports described upper rotor blade distance-variable rocker arm.
Further, described upper rotor control steering wheel comprises drop-gear box, and is distributed on drop-gear box upper rotor the first control steering wheel, upper rotor the second control steering wheel and upper rotor the 3rd control steering wheel on every side according to 120 °; One end of described upper rotor the first control steering wheel, upper rotor the second control steering wheel and upper rotor the 3rd control steering wheel is connected on the described drop-gear box.
Further, described driving system comprises the pull bar that is connected with described upper rotor blade distance-variable rocker arm, the rocking arm that is connected with described pull bar, and the long draw that the upper end is connected with described rocking arm, the lower end is connected with described updip swash plate outer shroud.
Further, described driving system also comprises be used to the upper support seat that supports described rocking arm.
The discrete control system of the coaxial rotor depopulated helicopter maneuvering system of various embodiments of the present invention, owing to comprising mainly comprising rotor system, maneuvering system and the driving system that from up to down cooperates successively assembling maneuvering system and flight control center's communication connection; Can simplify the maneuvering system of coaxial dual-rotor helicopter, make it possible to rotor is up and down independently controlled, solve the shortcoming of traditional coaxial double-rotor helicopter maneuvering system; Thereby can overcome complex structure in the prior art, the free operant difficulty is large, control efficiency is low and resistance is large defective, with the advantage that implementation structure is simple, the free operant difficulty is little, control efficiency is high and resistance is little.
Other features and advantages of the present invention will be set forth in the following description, and, partly from specification sheets, become apparent, perhaps understand by implementing the present invention.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Accompanying drawing is used to provide a further understanding of the present invention, and consists of the part of specification sheets, is used for together with embodiments of the present invention explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structural representation of traditional coaxial unmanned helicopter maneuvering system;
Fig. 2 is rotor mechanical linkage structure schematic diagram up and down;
Fig. 3 is the unitized construction schematic diagram of co-axial helicopter rotor system, maneuvering system, driving system;
Fig. 4 is the structural representation of co-axial helicopter maneuvering system;
Fig. 5 is the structural representation of lower support seat;
Fig. 6 is the structural representation of upper support seat;
Fig. 7 is the birds-eye view of steering wheel mounting structure on drop-gear box.
By reference to the accompanying drawings 1, Reference numeral is as follows in the embodiment of the invention:
1-the first bearing (pulley-type rotating disk); The 2-pitch-change-link; 3-transition rocking arm; The upper auto-bank unit of 4-; The 5-strut; 6-the second bearing; Auto-bank unit under the 7-; The 8-course is apart from bar; 9-course operation slip ring; The vertical steering wheel of 10-; 11-is always apart from machine; 12-course steering wheel; 13-is always apart from sleeve; The 14-outer shaft; Axle in the 15-; 16-is always apart from steering wheel.
By reference to the accompanying drawings 2, Reference numeral is as follows in the embodiment of the invention:
The 1-device that tilts; 2-is the inclinator connecting rod up and down; The 3-device that has a down dip.
By reference to the accompanying drawings 3, Reference numeral is as follows in the embodiment of the invention:
Rotor control steering wheel under the 1-; First control steering wheel of rotor under the 1_1-; Second control of rotor steering wheel under the 1_2-; The 3rd control of rotor steering wheel under the 1_3-; The 2-swash plate outer shroud that has a down dip; 3-has a down dip, and swash plate is interior to be encircled; The 4-connecting rod; Rotor blade distance-variable rocker arm under the 5-; The outer rotor shaft of 6-; The upper rotor control of 7-steering wheel; First control steering wheel of the upper rotor of 7_1-; Second control of the upper rotor of 7_2-steering wheel; 8-updip swash plate outer shroud; Ring in the 9-updip swash plate; The 10-connecting rod; The upper rotor blade distance-variable rocker arm of 11-; 12-lower support seat; Rotor blade under the 19-; The upper rotor blade of 20-.
By reference to the accompanying drawings 4, Reference numeral is as follows in the embodiment of the invention:
The 10-connecting rod; The 11-rocking arm; Rotor shaft in the 12-; The 13-long draw; The 14-rocking arm; The 15-upper support seat; The 16-pull bar; The upper rotor blade distance-variable rocker arm of 17-.
By reference to the accompanying drawings 5, Reference numeral is as follows in the embodiment of the invention:
The 10-connecting rod; The 11-rocking arm; Rotor shaft in the 12-; The 13-long draw.
By reference to the accompanying drawings 6, Reference numeral is as follows in the embodiment of the invention:
The 14-rocking arm; The 15-upper support seat; The 16-pull bar.
By reference to the accompanying drawings 7, Reference numeral is as follows in the embodiment of the invention:
The 1-steering wheel; The 7-steering wheel; The 3rd control of the upper rotor of 7_3-steering wheel; The 18-drop-gear box.
The specific embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein only is used for description and interpretation the present invention, is not intended to limit the present invention.
In order to overcome the deficiencies in the prior art, according to the embodiment of the invention, such as Fig. 3-shown in Figure 7, a kind of discrete control system of coaxial rotor depopulated helicopter maneuvering system is provided, simplified the maneuvering system of coaxial dual-rotor helicopter, make it possible to rotor is up and down independently controlled, thereby solved the shortcoming of traditional coaxial double-rotor helicopter maneuvering system.
Referring to Fig. 3-Fig. 7, the discrete control system of the coaxial rotor depopulated helicopter maneuvering system of the present embodiment, main composition is as follows:
Lower rotor control steering wheel 1 connects the swash plate outer shroud 2 that has a down dip, the interior ring 3 of the swash plate that has a down dip links to each other with blade distance-variable rocker arm 5 by connecting rod 4, have a down dip swash plate outer shroud 2 not along with outer rotor shaft 6 is rotated, have a down dip ring 3 in the swash plate along with outer rotor shaft 6 is rotated, encircle 3 in the motionless ring of the swash plate that has a down dip (swash plate outer shroud 2 namely has a down dip) and the swash plate that has a down dip and be connected by bearing.
Upper rotor control steering wheel 7 is connected with updip swash plate outer shroud 8, ring 9 links to each other with rocking arm 11 by connecting rod 10 in the updip swash plate, updip swash plate outer shroud 8 is along with interior rotor shaft 12 is rotated, ring 9 is along with interior rotor shaft 12 is rotated in the updip swash plate, ring 9 is connected by bearing in the motionless ring 8 of updip swash plate and the updip swash plate; rocking arm 11 is supported on the lower support seat 12; link to each other with long draw 13; long draw 13 upper ends link to each other with rocking arm 14; rocking arm 14 is supported on the upper support seat 15; rocking arm 14 links to each other with pull bar 16, and pull bar 16 links to each other with upper rotor distance-variable rocker arm 17.
Referring to Fig. 7, lower rotor control steering wheel 1 and upper rotor control steering wheel 7 all have 3, are distributed on around the drop-gear box 18 according to 120 °, and an end is connected on the drop-gear box 18.
Several typical case's control cases of the discrete control system of above-described embodiment coaxial rotor depopulated helicopter maneuvering system, specific as follows:
(1) total control apart from increasing
Lower rotor control steering wheel 1 and upper rotor control steering wheel 7 are received (for example climbing) after the signal of the total distance of increase that flight control system is sent:
Lower rotor control steering wheel 1 shortens, the drive swash plate outer shroud 2 that has a down dip moves downward, ring 3 moves downward in the swash plate that has a down dip thereby drive, the interior ring 3 of the swash plate that has a down dip drives pull bars 4 and moves downward, thereby the end that drives blade distance-variable rocker arm 5 moves downward, so that how much angles of attack of rotor blade 19 increase down, thus so that the aerodynamic force increase that lower rotor blade 19 produces.
Upper rotor control steering wheel 7 shortens, drive updip swash plate outer shroud 8 upward movements, thereby drive ring 9 upward movements in the updip swash plate, ring 9 drives pull bar 10 upward movements in the updip swash plate, pull bar 10 drives rocking arm 11 and rotates around lower support seat 12, thereby driving long draw 13 moves downward, long draw 13 drives rocking arm 14 and rotates around upper support seat 15, thereby drive pull bar 16 upward movements, pull bar 16 drives the end upward movement of distance-variable rocker arm 17, thereby so that how much angles of attack increases of upper rotor blade 20, thereby so that the aerodynamic force that blade produces increase.
So just control steering wheel 7 simultaneously so that how much angles of attack of lower rotor blade 19 and upper rotor blade 20 increase simultaneously by lower rotor control steering wheel 1 and upper rotor, finished total control apart from increase.
(2) total control apart from reducing
After lower rotor control steering wheel 1 and upper rotor control steering wheel 7 are received the signal (for example descending) of the total distance of minimizing that flight control system is sent:
1 elongation of lower rotor control steering wheel, drive swash plate outer shroud 2 upward movements that have a down dip, thereby ring 3 upward movements in the lower moving tilting frame of band, the interior ring 3 of the swash plate that has a down dip drives pull bars 4 upward movements, thereby drive the end upward movement of distance-variable rocker arm 5, so that descend how much angles of attack of rotor blade 19 to reduce, thereby so that descend the aerodynamic force of rotor blade 19 generations to reduce.
7 elongations of upper rotor control steering wheel, driving updip swash plate outer shroud 8 moves downward, ring 9 moves downward in the updip swash plate thereby drive, ring 9 drive pull bars 10 move downward in the updip swash plate, pull bar 10 drives rocking arm 11 and rotates around lower support seat 12, thereby drive long draw 13 upward movements, long draw 13 drives rocking arm 14 and rotates around upper support seat 15, thereby driving pull bar 16 moves downward, the end that pull bar 16 drives upper rotor blade distance-variable rocker arm 17 moves downward, thereby so that how much angles of attack of upper rotor blade 20 reduce, thereby so that the aerodynamic force that upper rotor blade 20 produces reduce.
So just control steering wheel 7 simultaneously so that how much angles of attack of lower rotor blade 19 and upper rotor blade 20 increase simultaneously by lower rotor control steering wheel 1 and upper rotor, finished the control that total distance reduces.
(3) laterally lift-over control
Take lift-over left as example:
After lower rotor control steering wheel 1 and upper rotor control steering wheel 7 are received the signal of the lift-over left that flight control system is sent:
The 3rd control of lower rotor steering wheel 1_3 elongation, first control steering wheel 1_1 of lower rotor and second control of lower rotor steering wheel 1_2 shorten, thereby drive the to the left direction tilt (in the present embodiment about all around direction gage definite opinion Fig. 7) of swash plate outer shroud 2 that has a down dip, thereby drive to the left direction inclination of ring 3 in the swash plate that has a down dip, the interior ring 3 of the swash plate that has a down dip drives pull bars 4 motions, thereby so that aerodynamic force reduces when rotor blade rotates through front area, aerodynamic force increases when the Background Region and since blade wave effect so that lower rotor oar dish tilts to the left.
First control steering wheel 7_1 of upper rotor and second control of upper rotor steering wheel 7_2 elongation, the 3rd control of upper rotor steering wheel 7_3 shortens, thereby drive to the left direction inclination of updip swash plate outer shroud 8, thereby drive to the left direction inclination of ring 9 in the updip swash plate, ring 9 drives pull bar 10 motions in the updip swash plate, pull bar 10 drives rocking arms 11 motions; rocking arm 11 drives long draws 13 motions; long draw 13 drives rocking arm 14 motions again; rocking arm 14 drives pull bars 16 motions; thereby so that when upper rotor blade rotates through front area aerodynamic force reduce, aerodynamic force increases during through Background Region and since blade wave effect so that down rotor oar dish tilt to the left.
Rotor tilts simultaneously to the left up and down, has just produced a side force, so that helicopter lift-over left, thereby finished lift-over control left.
The control of lift-over to the right is similar with the control of lift-over left, and just the control signal of steering wheel is opposite.
(4) vertically lift-over control
Take lift-over forward as example:
After lower rotor control steering wheel 1 and upper rotor control steering wheel 7 are received the signal of the forward lift-over that flight control system is sent:
Second control of lower rotor steering wheel 1_2 elongation, first control steering wheel of lower rotor 1_1 shortens, and the 3rd control of lower rotor steering wheel 1_3 keeps motionless.Thereby driving the swash plate outer shroud 2 that has a down dip turns forward, ring 3 turns forward in the swash plate that has a down dip thereby drive, the interior ring 3 of the swash plate that has a down dip drives pull bars 4 motions, thereby so that aerodynamic force reduces when rotor blade rotates through right side area, aerodynamic force increases when the left field and since blade wave effect so that lower rotor oar dish turns forward.
Second control of upper rotor steering wheel 7_1 elongation, second control of upper rotor steering wheel 7_2 shortens, and the 3rd control of upper rotor steering wheel 7_3 keeps motionless.Thereby driving updip swash plate outer shroud 8 turns forward, ring 9 turns forward in the updip swash plate thereby drive, ring 9 drives pull bar 10 motions in the updip swash plate, pull bar 10 drives rocking arms 11 motions, and rocking arm 11 drives long draws 13 motions, and long draw 13 drives rocking arm 14 motions again; rocking arm 14 drives pull bars 16 motions; thereby so that when upper rotor blade rotates through right side area aerodynamic force reduce, aerodynamic force increases during through left field and since blade wave effect so that down rotor oar dish turn forward.
Rotor turns forward simultaneously up and down, has just produced a forward force, so that forward lift-over of helicopter, thereby finished lift-over control forward.
The control of lift-over is similar with the control of forward lift-over backward, and just the control signal of steering wheel is opposite.
(5) course control
In the present embodiment, driftage control always realizes apart from differential change by rotor up and down.In the present embodiment, because rotor can divide control independently up and down, can adopt the higher full differentiating control scheme of efficient that the course is controlled.Take to left drift as example:
Lower rotor control steering wheel 1 and upper rotor control steering wheel 7 receive that flight control system sends behind the signal of left drift:
Lower rotor control steering wheel 1 extends simultaneously, and the total distance of lower rotor reduces, and the aerodynamic torque that acts on lower rotor reduces.Upper rotor control steering wheel 7 shortens, and upper rotor is total apart from increasing, and the aerodynamic torque that acts on rotor increases.Because the aerodynamic torque that is subject to of lower rotor is to the right, the aerodynamic torque that upper rotor is subject to left because moment to the right reduces, moment left increases, helicopter turns left, thereby has finished the control to left drift.
The control of going off course to the right is the same with the control method to left drift, and just rotor steering wheel control signal is opposite up and down.
The discrete control system of the coaxial rotor depopulated helicopter maneuvering system of above-described embodiment, use verting of three lower rotor tilting frame outer shrouds of steering wheel control, drive to encircle in the lower rotor tilting frame and vert, interior ring is controlled the angle of attack of blade by connecting rod, realizes total distance of lower rotor, horizontal and vertical control; Use in addition verting of three steering wheel upper rotor tilting frame outer shrouds of control, encircle in the rotor tilting frame in the drive and vert, interior ring drives the long draw up-and-down movement by connecting rod, long draw passes interior axle, band is automatically connected in the rocking arm motion of long draw upper end, and rocking arm drives connected link work again, because connecting rod links to each other with the distance-variable rocker arm of upper rotor blade, thereby realized the control to the upper rotor blade angle of attack, realized total distance of upper rotor, horizontal and vertical control.
The discrete control system of the coaxial rotor depopulated helicopter maneuvering system of various embodiments of the present invention, simplified the maneuvering system of coaxial dual-rotor helicopter, there is not machinery association between the maneuvering system of rotor up and down, can independently control rotor up and down, rotor uses respectively three steering wheels to control up and down; Lower rotor control steering wheel is by elongating or shortening, so that lower rotor tilting frame outer shroud up-and-down movement or inclination, drive ring up-and-down movement or inclination in the lower rotor tilting frame, interior ring is controlled the angle of attack of blade by connecting rod, realizes total distance of lower rotor, horizontal and vertical control; Upper rotor control steering wheel is by elongating or shortening, so that upper rotor tilting frame outer shroud up-and-down movement or inclination, ring up-and-down movement or inclination in the rotor tilting frame in the drive, interior ring drives the long draw up-and-down movement that is positioned at upper rotor shaft by connecting rod, band is automatically connected in the rocking arm motion of long draw upper end; rocking arm drives connected link work again; because connecting rod links to each other with the distance-variable rocker arm of upper rotor blade; thus realized control to the upper rotor blade angle of attack, and realization is to total distance of upper rotor, horizontal and vertical control.The discrete control system of this coaxial rotor depopulated helicopter maneuvering system simple in structure, control efficiency is high, is highly suitable for the control of coaxial double-rotary wing depopulated helicopter.
In sum, the discrete control system of the coaxial rotor depopulated helicopter maneuvering system of various embodiments of the present invention adopts discrete control method, so that co-axial helicopter does not have up and down a mechanical connection between the tilting frame, tilting frame uses respectively steering wheel to control up and down, and its major advantage is:
(1) there is not the mechanical couplings relation between the two, simple in structure;
(2) because the control signal of steering wheel from flight control system, therefore according to the difference of signal, can be handled respectively rotor up and down, therefore be called discrete control method; Owing to there not being mechanical couplings, the degree of freedom of control is very large;
(3) owing among the present invention rotor is up and down carried out independently discrete control, the higher full differentiating control of efficient is adopted in course control, namely up and down rotor always apart from inverse change, thereby produce difference in torque so that the helicopter course changes; With respect to conventional helicopters half differential course control, full differentiating control efficient is high, and the helicopter lift variation is little, is conducive to steady control;
(4) because maneuvering system simplification mechanically so that helicopter resistance when front flying is less, has reduced the consumption of power of driving engine under same forward flight speed, under same engine power, can increase forward flight speed.
It should be noted that at last: the above only is the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment the present invention is had been described in detail, for a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment puts down in writing, and perhaps part technical characterictic wherein is equal to replacement.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the discrete control system of a coaxial rotor depopulated helicopter maneuvering system is characterized in that, mainly comprises the rotor system, maneuvering system and the driving system that from up to down cooperate successively assembling, described maneuvering system and flight control center's communication connection.
2. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 1, it is characterized in that, described rotor system comprises rotor shaft, be installed in the upper rotor blade of described rotor shaft top, and the lower rotor blade that is installed in described rotor shaft below; Described lower rotor blade cooperation is installed on the maneuvering system.
3. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 2, it is characterized in that, described maneuvering system comprises the lower rotor control mechanism and the upper rotor control mechanism that from up to down are connected in turn between rotor system and the maneuvering system; Described lower rotor control mechanism is connected with lower rotor blade, and upper rotor control mechanism is connected with upper rotor blade.
4. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 3, it is characterized in that, described lower rotor control mechanism, comprise with described rotor shaft in be connected the connecting rod that the outer rotor shaft of lower rotor blade connects, be connected to the have a down dip interior ring of swash plate and the lower rotor blade distance-variable rocker arm at described connecting rod two ends, with the swash plate outer shroud that has a down dip that ring in the described swash plate that has a down dip is connected by bearing, the lower rotor that is connected with the described swash plate outer shroud that has a down dip is controlled steering wheel; The described swash plate outer shroud that has a down dip is rotating ring not, not along with outer rotor shaft is rotated; The interior ring of the swash plate that has a down dip is along with outer rotor shaft is rotated.
5. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 4, it is characterized in that, described lower rotor control steering wheel, comprise drop-gear box, and be distributed on drop-gear box lower rotor the first control steering wheel, lower rotor the second control steering wheel and lower rotor the 3rd control steering wheel on every side according to 120 °; One end of described lower rotor the first control steering wheel, lower rotor the second control steering wheel and lower rotor the 3rd control steering wheel is connected on the described drop-gear box.
6. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 3, it is characterized in that, described upper rotor control mechanism, comprise with described rotor shaft in be connected the connecting rod that the interior rotor shaft of rotor blade connects, be connected to the interior ring of updip swash plate and the upper rotor blade distance-variable rocker arm at described connecting rod two ends, with the updip swash plate outer shroud that ring in the described updip swash plate is connected by bearing, the upper rotor that is connected with described updip swash plate outer shroud is controlled steering wheel; Described updip swash plate outer shroud is rotating ring not, not along with interior rotor shaft is rotated; Ring is along with outer rotor shaft is rotated in the updip swash plate.
7. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 6 is characterized in that, upper rotor control mechanism also comprises be used to the lower support seat that supports described upper rotor blade distance-variable rocker arm.
8. according to claim 6 or the discrete control system of 7 described coaxial rotor depopulated helicopter maneuvering systems, it is characterized in that, described upper rotor control steering wheel, comprise drop-gear box, and be distributed on drop-gear box upper rotor the first control steering wheel, upper rotor the second control steering wheel and upper rotor the 3rd control steering wheel on every side according to 120 °; One end of described upper rotor the first control steering wheel, upper rotor the second control steering wheel and upper rotor the 3rd control steering wheel is connected on the described drop-gear box.
9. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 8, it is characterized in that, described driving system, comprise the pull bar that is connected with described upper rotor blade distance-variable rocker arm, the rocking arm that is connected with described pull bar, and the long draw that the upper end is connected with described rocking arm, the lower end is connected with described updip swash plate outer shroud.
10. the discrete control system of coaxial rotor depopulated helicopter maneuvering system according to claim 9 is characterized in that, described driving system also comprises be used to the upper support seat that supports described rocking arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310219039.8A CN103318407B (en) | 2013-06-05 | 2013-06-05 | A kind of discrete control system of coaxial rotor depopulated helicopter steerable system |
Applications Claiming Priority (1)
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