CN103318407B - A kind of discrete control system of coaxial rotor depopulated helicopter steerable system - Google Patents
A kind of discrete control system of coaxial rotor depopulated helicopter steerable system Download PDFInfo
- Publication number
- CN103318407B CN103318407B CN201310219039.8A CN201310219039A CN103318407B CN 103318407 B CN103318407 B CN 103318407B CN 201310219039 A CN201310219039 A CN 201310219039A CN 103318407 B CN103318407 B CN 103318407B
- Authority
- CN
- China
- Prior art keywords
- rotor
- steering wheel
- pitch
- control
- steerable system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000009467 reduction Effects 0.000 claims description 15
- 230000008520 organization Effects 0.000 claims description 13
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 3
- 238000005096 rolling process Methods 0.000 description 14
- 230000008859 change Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The invention discloses the discrete control system of a kind of coaxial rotor depopulated helicopter steerable system, including mainly including coordinating the rotor system of assembling, steerable system and drive system the most successively, described steerable system communicates to connect with flight control center.The discrete control system of coaxial rotor depopulated helicopter steerable system of the present invention, the defect such as can overcome in prior art that structure is complicated, free operant difficulty is big, control efficiency is low and resistance is big, with the advantage realizing simple in construction, free operant difficulty is little, control efficiency is high and resistance is little.
Description
Technical field
The present invention relates to aviation aircraft technical field, in particular it relates to the discrete control system of a kind of coaxial rotor depopulated helicopter steerable system.
Background technology
At present, having the country of coaxial double-rotary wing depopulated helicopter in the world has Russia, the U.S., Italian and Chinese, has driver on people's helicopter by stick and pedal, mechanically to complete the manipulation to helicopter.Compared with having people's helicopter, depopulated helicopter uses steering wheel to replace driver to handle, and the instruction that steering wheel receives is from the flight control system being arranged on helicopter.
See Fig. 1, the steerable system of the upper and lower rotor of traditional coaxial double-rotor helicopter, including the first bearing 1, it is arranged on the pulley-type rotating disk on the first bearing 1, a pair pitch-change-link (such as pitch-change-link 2) it is provided with symmetrically between the first bearing 1 and pulley-type rotating disk, it is provided with a pair transition rocker arm (such as transition rocker arm 3) at the two ends of the first bearing 1 symmetrically, coordinates successively in the lower section of the first bearing 1 and auto-bank unit 4 and the second bearing 6 are installed.Coordinate in the lower section of the second bearing 6 and lower auto-bank unit 7 is installed, coordinate successively in the lower section of lower auto-bank unit 7 and strut 5, course operation slip ring 9, course are installed away from bar 8, always away from sleeve 13 and outer shaft 14, longitudinal steering wheel 10 is installed in the side of strut 5, in course, the end away from bar 8 is provided with course steering wheel 12, coordinate successively in always side away from sleeve 13 and be provided with always away from machine 11 with always away from steering wheel 16, inside interior axle 14, be axially set with interior axle 15.
See Fig. 2, the steerable system of the upper and lower rotor of traditional coaxial double-rotor helicopter, the mode using mechanical linkage completes, upper inclinator (the upper inclinator 1 as in Fig. 2) is connected with lower inclinator (the lower inclinator 3 as in Fig. 2) by connecting rod (the tilted upward device connecting rod 2 as in Fig. 2), and driver or steering wheel direct operated can only have lower inclinator.
Traditional coaxial double-rotor helicopter steerable system has the disadvantage that
(1) structure is complicated, and the manipulation to upper rotor needs just can be carried out by intermediate connecting rod, and intermediate connecting rod is supported on lower inclinator, and must rotate with lower rotor, and this makes the design complexity of lower inclinator.
(2) due to machinery association, upper and lower rotor control is coupling, limits freely handling of rotor.
(3) due to the complexity of machinery association, directional control typically uses half differential, i.e. during Heading control only to lower rotor change always away from, make upper and lower rotor torque uneven, so that helicopter changes course, the pneumatic change always caused away from change due to lower rotor, then by carrying out always compensating away from manipulation to upper and lower rotor simultaneously.For complete differential Heading control, half differential Heading control is inefficient.
(4) steerable system is completely exposed, it is difficult to carry out rectification, and the resistance caused when the big Speed Flight of helicopter is bigger.
During realizing the present invention, inventor finds at least to exist in prior art the defects such as structure is complicated, free operant difficulty is big, control efficiency is low and resistance is big.
Summary of the invention
It is an object of the invention to, for the problems referred to above, propose the discrete control system of a kind of coaxial rotor depopulated helicopter steerable system, with the advantage realizing simple in construction, 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: the discrete control system of a kind of coaxial rotor depopulated helicopter steerable system, mainly including coordinating the rotor system of assembling, steerable system and drive system the most successively, steerable system communicates to connect with flight control center.
Further, described rotor system, including rotor shaft, it is arranged on the upper rotor blade above described rotor shaft, and is arranged on the lower rotor blade below described rotor shaft；The cooperation of described lower rotor blade is arranged in steerable system.
Further, described steerable system, including the lower rotor controlling organization being from up to down connected in turn between rotor system and steerable system and upper rotor controlling organization；Described lower rotor controlling organization is connected with lower rotor blade, and upper rotor controlling organization is connected with upper rotor blade.
Further, described lower rotor controlling organization, including the connecting rod connected with the outer rotor shaft being connected lower rotor blade in described rotor shaft, it is connected to the lower pitch internal ring at described connecting rod two ends and lower rotor blade distance-variable rocker arm, the lower pitch outer shroud being connected by bearing with described lower pitch internal ring, the lower rotor control flaps machine being connected with described lower pitch outer shroud；Described lower pitch outer shroud is not rotating ring, does not rotates along with outer rotor shaft；Lower pitch internal ring rotates along with outer rotor shaft.
Further, described lower rotor control flaps machine, including reduction box, and control steering wheel according to 120 ° of lower rotors being distributed on around reduction box first, lower rotor second controls steering wheel and lower rotor the 3rd control steering wheel；Described lower rotor first controls steering wheel, lower rotor second controls steering wheel and one end of lower rotor the 3rd control steering wheel, is connected on described reduction box.
Further, described upper rotor controlling organization, including the connecting rod connected with the interior rotor shaft being connected rotor blade in described rotor shaft, it is connected to the upper pitch internal ring at described connecting rod two ends and upper rotor blade distance-variable rocker arm, the upper pitch outer shroud being connected by bearing with described upper pitch internal ring, the upper rotor being connected with described upper pitch outer shroud controls steering wheel；Described upper pitch outer shroud is not rotating ring, does not rotates along with interior rotor shaft；Upper pitch internal ring rotates along with outer rotor shaft.
Further, upper rotor controlling organization, also include the lower support seat for supporting described upper rotor blade distance-variable rocker arm.
Further, described upper rotor control steering wheel, including reduction box, and control steering wheel according to 120 ° of upper rotors being distributed on around reduction box first, upper rotor second controls steering wheel and upper rotor the 3rd control steering wheel；Described upper rotor first controls steering wheel, upper rotor second controls steering wheel and one end of upper rotor the 3rd control steering wheel, is connected on described reduction box.
Further, described drive system, including the pull bar being connected with described upper rotor blade distance-variable rocker arm, the rocking arm being connected with described pull bar, and the long draw that upper end is connected with described rocking arm, lower end is connected with described upper pitch outer shroud.
Further, described drive system, also include the upper support seat for supporting described rocking arm.
The discrete control system of the coaxial rotor depopulated helicopter steerable system of various embodiments of the present invention, owing to including mainly including coordinating the rotor system of assembling, steerable system and drive system the most successively, steerable system communicates to connect with flight control center；The steerable system of coaxial dual-rotor helicopter can be simplified, enabling upper and lower rotor is carried out independent control, the shortcoming solving tradition coaxial double-rotor helicopter steerable system；Such that it is able to overcome the defect that in prior art, structure is complicated, free operant difficulty is big, control efficiency is low and resistance is big, with the advantage realizing simple in construction, free operant difficulty is little, control efficiency is high and resistance is little.
Other features and advantages of the present invention will illustrate in the following description, and, partly become apparent from description, or understand by implementing the present invention.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, is used for together with embodiments of the present invention explaining the present invention, is not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of tradition coaxial unmanned helicopter steerable system；
Fig. 2 is upper and lower rotor mechanical linkage structure schematic diagram；
Fig. 3 is the combinative structure schematic diagram of co-axial helicopter rotor system, steerable system, drive system；
Fig. 4 is the structural representation of co-axial helicopter steerable system；
Fig. 5 is the structural representation of lower support seat；
Fig. 6 is the structural representation of upper support seat；
Fig. 7 is steering wheel top view of mounting structure on reduction box.
In conjunction with accompanying drawing 1, in the embodiment of the present invention, reference is as follows:
1-the first bearing (pulley-type rotating disk)；2-pitch-change-link；3-transition rocker arm；The upper auto-bank unit of 4-；5-strut；6-the second bearing；Auto-bank unit under 7-；8-course is away from bar；9-course operation slip ring；10-longitudinal direction steering wheel；11-is always away from machine；12-course steering wheel；13-is always away from sleeve；14-outer shaft；Axle in 15-；16-is always away from steering wheel.
In conjunction with accompanying drawing 2, in the embodiment of the present invention, reference is as follows:
The upper inclinator of 1-；2-tilted upward device connecting rod；Inclinator under 3-.
In conjunction with accompanying drawing 3, in the embodiment of the present invention, reference is as follows:
Rotor control flaps machine under 1-；Under 1_1-, rotor first controls steering wheel；Under 1_2-, rotor second controls steering wheel；Under 1_3-, rotor the 3rd controls steering wheel；Pitch outer shroud under 2-；Pitch internal ring under 3-；4-connecting rod；Rotor blade distance-variable rocker arm under 5-；The outer rotor shaft of 6-；The upper rotor of 7-controls steering wheel；The upper rotor of 7_1-first controls steering wheel；The upper rotor of 7_2-second controls steering wheel；8-upper pitch outer shroud；9-upper pitch internal ring；10-connecting rod；11-upper rotor blade distance-variable rocker arm；Seat is supported under 12-；Rotor blade under 19-；The upper rotor blade of 20-.
In conjunction with accompanying drawing 4, in the embodiment of the present invention, reference is as follows:
10-connecting rod；11-rocking arm；Rotor shaft in 12-；13-long draw；14-rocking arm；15-upper support seat；16-pull bar；17-upper rotor blade distance-variable rocker arm.
In conjunction with accompanying drawing 5, in the embodiment of the present invention, reference is as follows:
10-connecting rod；11-rocking arm；Rotor shaft in 12-；13-long draw.
In conjunction with accompanying drawing 6, in the embodiment of the present invention, reference is as follows:
14-rocking arm；15-upper support seat；16-pull bar.
In conjunction with accompanying drawing 7, in the embodiment of the present invention, reference is as follows:
1-steering wheel；7-steering wheel；The upper rotor of 7_3-the 3rd controls steering wheel；18-reduction box.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are illustrated, it will be appreciated that preferred embodiment described herein is merely to illustrate and explains the present invention, is not intended to limit the present invention.
In order to overcome the deficiencies in the prior art, according to embodiments of the present invention, as shown in Fig. 3-Fig. 7, provide the discrete control system of a kind of coaxial rotor depopulated helicopter steerable system, simplify the steerable system of coaxial dual-rotor helicopter, make it possible to upper and lower rotor is carried out independent control, thus the shortcoming solving tradition coaxial double-rotor helicopter steerable system.
See Fig. 3-Fig. 7, the discrete control system of the coaxial rotor depopulated helicopter steerable system of the present embodiment, mainly consist of:
Lower rotor control flaps machine 1 connects lower pitch outer shroud 2, lower pitch internal ring 3 is connected with blade distance-variable rocker arm 5 by connecting rod 4, lower pitch outer shroud 2 does not rotates along with outer rotor shaft 6, lower pitch internal ring 3 rotates along with outer rotor shaft 6, and the lower motionless ring of pitch (i.e. descending pitch outer shroud 2) is connected by bearing with lower pitch internal ring 3.
Upper rotor controls steering wheel 7 and is connected with upper pitch outer shroud 8, upper pitch internal ring 9 is connected with rocking arm 11 by connecting rod 10, upper pitch outer shroud 8 does not rotates along with interior rotor shaft 12, upper pitch internal ring 9 rotates along with interior rotor shaft 12, the motionless ring of upper pitch 8 is connected by bearing with upper pitch internal ring 9; rocking arm 11 is supported on lower support seat 12; be connected with long draw 13; long draw 13 upper end is connected with rocking arm 14; rocking arm 14 is supported on upper support seat 15; rocking arm 14 is connected with pull bar 16, and pull bar 16 is connected with upper rotor distance-variable rocker arm 17.
Seeing Fig. 7, lower rotor control flaps machine 1 and upper rotor control steering wheel 7 and all have 3, be distributed on around reduction box 18 according to 120 °, one end is connected on reduction box 18.
Several typical cases of the discrete control system of above-described embodiment coaxial rotor depopulated helicopter steerable system control case, specific as follows:
(1) always away from the control increased
What lower rotor control flaps machine 1 and upper rotor controlled that steering wheel 7 receives that flight control system sends increase always away from signal after (such as climbing):
Lower rotor control flaps machine 1 shortens, lower pitch outer shroud 2 is driven to move downward, thus drive lower pitch internal ring 3 to move downward, lower pitch internal ring 3 drives pull bar 4 to move downward, thus drive the end of blade distance-variable rocker arm 5 to move downward, the geometry angle of attack making lower rotor blade 19 increases, so that the aerodynamic force that lower rotor blade 19 produces increases.
Upper rotor controls steering wheel 7 and shortens, in drive, pitch outer shroud 8 moves upward, thus drive upper pitch internal ring 9 to move upward, upper pitch internal ring 9 drives pull bar 10 to move upward, pull bar 10 band motion rocker arm 11 rotates around lower support seat 12, thus drive long draw 13 to move downward, long draw 13 band motion rocker arm 14 rotates around upper support seat 15, thus drive pull bar 16 to move upward, pull bar 16 drives the end of distance-variable rocker arm 17 to move upward, so that the geometry angle of attack of upper rotor blade 20 increases, so that the aerodynamic force that blade produces increases.
Thus control steering wheel 7 by lower rotor control flaps machine 1 and upper rotor makes the geometry angle of attack of lower rotor blade 19 and upper rotor blade 20 increase simultaneously simultaneously, completes always away from the control increased.
(2) always away from the control reduced
What lower rotor control flaps machine 1 and upper rotor controlled that steering wheel 7 receives that flight control system sends reduce always away from signal (such as decline) afterwards:
Lower rotor control flaps machine 1 extends, lower pitch outer shroud 2 is driven to move upward, thus leukorrhagia moves pitch internal ring 3 and moves upward, lower pitch internal ring 3 drives pull bar 4 to move upward, thus drive the end of distance-variable rocker arm 5 to move upward, the geometry angle of attack making lower rotor blade 19 reduces, so that the aerodynamic force that lower rotor blade 19 produces reduces.
Upper rotor controls steering wheel 7 and extends, in drive, pitch outer shroud 8 moves downward, thus drive upper pitch internal ring 9 to move downward, upper pitch internal ring 9 drives pull bar 10 to move downward, pull bar 10 band motion rocker arm 11 rotates around lower support seat 12, thus drive long draw 13 to move upward, long draw 13 band motion rocker arm 14 rotates around upper support seat 15, thus drive pull bar 16 to move downward, pull bar 16 drives the end of upper rotor blade distance-variable rocker arm 17 to move downward, so that the geometry angle of attack of upper rotor blade 20 reduces, so that the aerodynamic force that upper rotor blade 20 produces reduces.
Thus control steering wheel 7 by lower rotor control flaps machine 1 and upper rotor makes the geometry angle of attack of lower rotor blade 19 and upper rotor blade 20 increase simultaneously simultaneously, completes always away from the control reduced.
(3) laterally rolling controls
As a example by rolling to the left:
After lower rotor control flaps machine 1 and upper rotor control the signal that steering wheel 7 receives the rolling to the left that flight control system is sent:
Lower rotor the 3rd controls steering wheel 1_3 elongation, lower rotor first controls steering wheel 1_1 and lower rotor second controls steering wheel 1_2 and shortens, thus drive lower pitch outer shroud 2 direction to the left to tilt (about direction gage definite opinion Fig. 7 all around in the present embodiment), thus drive lower pitch internal ring 3 direction to the left to tilt, lower pitch internal ring 3 drives pull bar 4 to move, so that aerodynamic force reduces when rotor blade rotates through front area, increase through Background Region aerodynamic force, owing to the effect of waving of blade makes lower rotor disk tilt to the left.
Upper rotor first controls steering wheel 7_1 and upper rotor second controls steering wheel 7_2 elongation, upper rotor the 3rd controls steering wheel 7_3 and shortens, thus drive upper pitch outer shroud 8 direction to the left to tilt, thus drive upper pitch internal ring 9 direction to the left to tilt, upper pitch internal ring 9 drives pull bar 10 to move, pull bar 10 band motion rocker arm 11 moves, rocking arm 11 drives long draw 13 to move, long draw 13 band motion rocker arm 14 again moves, rocking arm 14 drives pull bar 16 to move, so that aerodynamic force reduces when upper rotor blade rotates through front area, increase through Background Region aerodynamic force, owing to the effect of waving of blade makes lower rotor disk tilt to the left.
Rotor tilts simultaneously to the left up and down, just creates a side force so that helicopter rolling to the left, thus completes rolling to the left and control.
Controlling of rolling to the right is similar with the control of rolling to the left, and simply the control signal of steering wheel is contrary.
(4) longitudinal rolling controls
As a example by rolling forward:
After lower rotor control flaps machine 1 and upper rotor control the signal that steering wheel 7 receives the rolling forward that flight control system is sent:
Lower rotor second controls steering wheel 1_2 elongation, and lower rotor first controls steering wheel 1_1 and shortens, and lower rotor the 3rd controls steering wheel 1_3 and remains stationary as.Thus drive lower pitch outer shroud 2 to turn forward, thus drive lower pitch internal ring 3 to turn forward, lower pitch internal ring 3 drives pull bar 4 to move, so that aerodynamic force reduces when rotor blade rotates through right side area, increase through left field aerodynamic force, owing to the effect of waving of blade makes lower rotor disk turn forward.
Upper rotor second controls steering wheel 7_1 elongation, and upper rotor second controls steering wheel 7_2 and shortens, and upper rotor the 3rd controls steering wheel 7_3 and remains stationary as.Thus drive upper pitch outer shroud 8 to turn forward, thus drive upper pitch internal ring 9 to turn forward, upper pitch internal ring 9 drives pull bar 10 to move, pull bar 10 band motion rocker arm 11 moves, and rocking arm 11 drives long draw 13 to move, and long draw 13 band motion rocker arm 14 again moves; rocking arm 14 drives pull bar 16 to move; so that aerodynamic force reduces when upper rotor blade rotates through right side area, increase through left field aerodynamic force, owing to the effect of waving of blade makes lower rotor disk turn forward.
Rotor turns forward simultaneously up and down, just creates a forward force so that helicopter rolling forward, thus completes rolling forward and control.
The control of rolling is similar with the control of rolling forward backward, and simply the control signal of steering wheel is contrary.
(5) Heading control
In the present embodiment, driftage controls always to be realized away from differential change by upper and lower rotor.In the present embodiment, owing to upper and lower rotor can carry out sub-control independently, course is controlled by the full Differential Control scheme that efficiency can be used higher.By as a example by left drift:
After lower rotor control flaps machine 1 and upper rotor control steering wheel 7 receive the signal to left drift that flight control system is sent:
Lower rotor control flaps machine 1 extends simultaneously, and lower rotor is always away from reduction, and the aerodynamic moment acting on lower rotor reduces.Upper rotor controls steering wheel 7 and shortens, and upper rotor is always away from increase, and the aerodynamic moment acting on rotor increases.To the right, to the left, owing to moment to the right reduces, moment to the left increases the aerodynamic moment that upper rotor is subject to the aerodynamic moment being subject to due to lower rotor, and helicopter turns left, thus completes the control to left drift.
That goes off course to the right controls as to the control method of left drift, and the most upper and lower rotor servos control signal is contrary.
The discrete control system of the coaxial rotor depopulated helicopter steerable system of above-described embodiment, use verting of rotor pitch outer shroud under three servos control, lower rotor pitch internal ring is driven to vert, the angle of attack of blade is controlled by internal ring by connecting rod, it is achieved to lower rotor always away from, horizontal and vertical control；Additionally use verting of rotor pitch outer shroud on three servos control, in drive, rotor pitch internal ring verts, internal ring drives long draw to move up and down by connecting rod, long draw passes interior axle, band is automatically connected in the rocker motion of long draw upper end, and rocking arm drives connected link motion again, owing to the distance-variable rocker arm of connecting rod with upper rotor blade is connected, it is achieved thereby that the control to the upper rotor blade angle of attack, it is achieved to upper rotor always away from, horizontal and vertical control.
The discrete control system of the coaxial rotor depopulated helicopter steerable system of various embodiments of the present invention, simplify the steerable system of coaxial dual-rotor helicopter, machinery association is not had up and down between the steerable system of rotor, upper and lower rotor can carry out independent control, and upper and lower rotor uses three steering wheels to be controlled respectively；Lower rotor control flaps machine is by elongating or shortening, lower rotor pitch outer shroud is moved up and down or tilts, driving lower rotor pitch internal ring to move up and down or tilt, the angle of attack of blade is controlled by internal ring by connecting rod, it is achieved to lower rotor always away from, horizontal and vertical control；Upper rotor controls steering wheel by elongating or shortening, rotor pitch outer shroud is moved up and down or tilts, in drive, rotor pitch internal ring moves up and down or tilts, internal ring drives the long draw being positioned at rotor shaft to move up and down by connecting rod, band is automatically connected in the rocker motion of long draw upper end; rocking arm drives connected link motion again; owing to the distance-variable rocker arm of connecting rod with upper rotor blade is connected; it is achieved thereby that the control to the upper rotor blade angle of attack, it is achieved to upper rotor always away from, horizontal and vertical control.The simple in construction of the discrete control system of this coaxial rotor depopulated helicopter steerable system, 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 steerable system of various embodiments of the present invention, uses discrete control method so that be not mechanically connected between the tilted upward dish of co-axial helicopter, tilted upward dish uses steering wheel to be controlled respectively, and its major advantage is:
(1) there is no therebetween mechanical couplings relation, simple in construction；
(2) owing to the control signal of steering wheel is from flight control system, therefore according to the difference of signal, upper and lower rotor can be handled respectively, because of the most discrete control method；Owing to not having mechanical couplings, the degree of freedom of control is the biggest；
(3) owing to upper and lower rotor carrying out in the present invention independent discrete control, Heading control uses the higher full Differential Control of efficiency, i.e. up and down rotor always away from inverse change, thus produce difference in torque so that helicopter course changes；Relative to the differential Heading control of conventional helicopters half, full Differential Control efficiency is high, and helicopter lift variation is little, is conducive to steadily controlling；
(4) due to steerable system simplification mechanically so that helicopter resistance when front flying is less, reduces the power consumption of electromotor under same forward flight speed, under same engine power, can increase forward flight speed.
Last it is noted that the foregoing is only the preferred embodiments of the present invention, it is not limited to the present invention, although the present invention being described in detail with reference to previous embodiment, for a person skilled in the art, technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature is carried out equivalent.All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (7)
1. the discrete control system of a coaxial rotor depopulated helicopter steerable system, it is characterised in that main
Including coordinating the rotor system of assembling, steerable system and drive system the most successively, described steerable system and flight
Control centre communicates to connect；
Described rotor system, including rotor shaft, is arranged on the upper rotor blade above described rotor shaft, and is arranged on
Lower rotor blade below described rotor shaft；The cooperation of described lower rotor blade is arranged in steerable system；
Described steerable system, controls including the lower rotor being from up to down connected in turn between rotor system and steerable system
Mechanism and upper rotor controlling organization；Described lower rotor controlling organization is connected with lower rotor blade, upper rotor controlling organization with
Upper rotor blade connects；
Described lower rotor controlling organization, including the company connected with the outer rotor shaft being connected lower rotor blade in described rotor shaft
Bar, is connected in lower pitch internal ring and the lower rotor blade distance-variable rocker arm, with described lower pitch at described connecting rod two ends
The lower pitch outer shroud that ring is connected by bearing, the lower rotor control flaps machine being connected with described lower pitch outer shroud；Described
Lower pitch outer shroud is not rotating ring, does not rotates along with outer rotor shaft；Lower pitch internal ring rotates along with outer rotor shaft；
The discrete control system of this coaxial rotor depopulated helicopter steerable system, uses discrete control method so that
Not being mechanically connected between the tilted upward dish of co-axial helicopter, tilted upward dish uses steering wheel to be controlled respectively.
The discrete control system of coaxial rotor depopulated helicopter steerable system the most according to claim 1,
It is characterized in that described lower rotor control flaps machine including reduction box, and is distributed on around reduction box according to 120 °
Lower rotor first control steering wheel, lower rotor second controls steering wheel and lower rotor the 3rd control steering wheel；Described lower rotor
One controls steering wheel, lower rotor second controls steering wheel and lower rotor the 3rd controls one end of steering wheel, be connected to described in subtract
On speed case.
The discrete control system of coaxial rotor depopulated helicopter steerable system the most according to claim 1,
It is characterized in that, described upper rotor controlling organization, including with the interior rotor shaft being connected rotor blade in described rotor shaft
The connecting rod connected, is connected to the upper pitch internal ring at described connecting rod two ends and upper rotor blade distance-variable rocker arm, on described
The upper pitch outer shroud that pitch internal ring is connected by bearing, the upper rotor control flaps being connected with described upper pitch outer shroud
Machine；Described upper pitch outer shroud is not rotating ring, does not rotates along with interior rotor shaft；Upper pitch internal ring is along with outer rotor shaft
Rotate.
The discrete control system of coaxial rotor depopulated helicopter steerable system the most according to claim 3,
It is characterized in that, upper rotor controlling organization, also include the lower support seat for supporting described upper rotor blade distance-variable rocker arm.
5. according to the discrete control system of the coaxial rotor depopulated helicopter steerable system described in claim 3 or 4
System, it is characterised in that described upper rotor controls steering wheel, including reduction box, and is distributed on reduction box according to 120 °
Upper rotor first around controls steering wheel, upper rotor second controls steering wheel and upper rotor the 3rd controls steering wheel；Described upper rotation
The wing first controls steering wheel, upper rotor second controls steering wheel and one end of upper rotor the 3rd control steering wheel, is connected to institute
State on reduction box.
The discrete control system of coaxial rotor depopulated helicopter steerable system the most according to claim 5,
It is characterized in that, described drive system, including the pull bar being connected with described upper rotor blade distance-variable rocker arm, draw with described
The rocking arm that bar connects, and the long draw that upper end is connected with described rocking arm, lower end is connected with described upper pitch outer shroud.
The discrete control system of coaxial rotor depopulated helicopter steerable system the most according to claim 6,
It is characterized in that, described drive system, also include the upper support seat for supporting 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)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103318407A CN103318407A (en) | 2013-09-25 |
| CN103318407B true CN103318407B (en) | 2016-08-31 |
Family
ID=49187526
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310219039.8A Expired - Fee Related CN103318407B (en) | 2013-06-05 | 2013-06-05 | A kind of discrete control system of coaxial rotor depopulated helicopter steerable system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103318407B (en) |
Families Citing this family (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6097453B2 (en) * | 2013-10-23 | 2017-03-15 | 深セン聯合飛机科技有限公司Ｓｈｅｎｚｈｅｎ Ｕｎｉｔｅｄ Ａｉｒｃｒａｆｔ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ | Rotor driving method and rotor driving device |
| WO2015058364A1 (en) * | 2013-10-23 | 2015-04-30 | 北京中航智科技有限公司 | Rotor driving system |
| CN103600840B (en) * | 2013-11-12 | 2016-03-30 | 燕山大学 | A kind of Coaxial helicopter rotor mechanism |
| CN103723271B (en) * | 2013-12-11 | 2015-11-18 | 燕山大学 | A kind of nested coaxial mechanism of inner and outer ring |
| CN105270617B (en) * | 2014-06-19 | 2017-06-06 | 庆安集团有限公司 | Pitch control device is put in a kind of coaxial double-oar helicopter |
| US10005549B2 (en) * | 2014-06-26 | 2018-06-26 | Rs Helikopter Gmbh | Coaxial lifting system |
| CN104129498B (en) * | 2014-07-23 | 2016-06-01 | 中国航天空气动力技术研究院 | A kind of rotor control mechanism for coaxal helicopter |
| CN104401482B (en) * | 2014-10-28 | 2016-08-17 | 燕山大学 | A kind of complete differential coaxal helicopter operating mechanism |
| CN104527975B (en) * | 2014-12-10 | 2016-11-30 | 北京航空航天大学 | The double remaining pitch sub-control steerable system of a kind of coaxial unmanned helicopter |
| CN104908976A (en) * | 2015-05-19 | 2015-09-16 | 北京航空航天大学 | Simple rotor mechanism of coaxial dual-rotor helicopter test stand |
| CN105799925B (en) * | 2016-03-14 | 2018-01-16 | 石玉玉 | A kind of unmanned plane |
| CN106168531A (en) * | 2016-09-30 | 2016-11-30 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of wind tunnel test rotor control mechanism |
| CN106927033B (en) * | 2017-04-14 | 2023-10-13 | 天津京东智联科技发展有限公司 | Vertical coaxial double-rotor aircraft |
| CN107651183B (en) * | 2017-05-02 | 2024-06-21 | 北京深远世宁科技有限公司 | Unmanned aerial vehicle drive shaft, unmanned aerial vehicle drive arrangement and unmanned aerial vehicle |
| CN107685856B (en) * | 2017-05-27 | 2024-06-25 | 北京深远世宁科技有限公司 | Dish-shaped aircraft |
| CN107521667B (en) * | 2017-07-20 | 2021-05-25 | 中国航空工业集团公司西安飞机设计研究所 | Double-input double-output control mechanism |
| CN107472516B (en) * | 2017-07-28 | 2023-09-05 | 一飞智控(天津)科技有限公司 | Helicopter collective pitch control device, helicopter and application |
| CN107963208A (en) * | 2017-11-27 | 2018-04-27 | 江苏翔云航空设备零部件有限公司 | The application method of coaxal helicopter head, coaxal helicopter and coaxal helicopter |
| CN108454838B (en) * | 2018-03-27 | 2023-09-26 | 佛山科学技术学院 | Tilting coaxial double-rotor aircraft |
| CN108341053B (en) * | 2018-03-27 | 2023-09-26 | 佛山科学技术学院 | Tilting system of tilting coaxial double-rotor aircraft |
| CN108313278A (en) * | 2018-03-27 | 2018-07-24 | 佛山科学技术学院 | A kind of operating mechanism of titling coaxial bispin wing aircraft |
| CN108298072B (en) * | 2018-03-27 | 2023-09-26 | 佛山科学技术学院 | Rotor system of tilting coaxial double-rotor aircraft |
| CN108341054B (en) * | 2018-04-27 | 2023-05-02 | 安徽工程大学 | Unmanned aerial vehicle rotor cutting angle adjustment mechanism |
| CN108773494B (en) * | 2018-06-04 | 2020-06-02 | 北京海空行科技有限公司 | Three-blade coaxial unmanned helicopter pitch sub-control system |
| CN108545178B (en) * | 2018-06-12 | 2023-05-16 | 西北工业大学 | Coaxial double-rotor unmanned aerial vehicle based on vector mechanism |
| CN109131861A (en) * | 2018-07-03 | 2019-01-04 | 北京海空行科技有限公司 | A kind of coaxal helicopter steerable system of the upper rotor with servo winglet |
| CN109969388B (en) * | 2019-04-19 | 2024-05-28 | 北京海空行科技有限公司 | Control system for coaxial unmanned helicopter |
| CN110697038B (en) * | 2019-11-07 | 2024-05-28 | 南京航天国器智能装备有限公司 | Unmanned helicopter displacement operating mechanism |
| CN111003167B (en) * | 2019-12-28 | 2021-09-28 | 湖南韬讯航空科技有限公司 | Two-steering engine coaxial dual-rotor system and control strategy |
| CN111605702B (en) * | 2020-06-09 | 2023-07-14 | 湖南优玄科技有限公司 | Operating system and operating method for coaxial double-rotor unmanned helicopter |
| CN113247242B (en) * | 2021-04-12 | 2022-05-17 | 重庆大学 | Transmission mechanism of upper rotor system of coaxial double-rotor helicopter |
| CN113815852B (en) * | 2021-10-28 | 2024-06-11 | 湖南韬讯航空科技有限公司 | Rotor vector steering device, coaxial rotor, single-propeller helicopter and control method |
| CN114162319B (en) * | 2021-12-16 | 2023-11-28 | 北京海空行科技有限公司 | Control system of composite coaxial helicopter |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4531692A (en) * | 1982-03-15 | 1985-07-30 | Ernesto Mateus | Helicopter flight control and transmission system |
| CN87100542A (en) * | 1987-02-07 | 1988-08-17 | 孙一火 | Model copter |
| CN100503365C (en) * | 2003-12-30 | 2009-06-24 | 何主能 | Coaxial unmanned crane vertical lifting machine |
| JP3884025B2 (en) * | 2004-03-31 | 2007-02-21 | 長崎県 | Pitch angle variable mechanism of counter-rotating wing and flying device having counter-rotating wing equipped with the mechanism |
| CN101773736B (en) * | 2009-12-31 | 2011-07-13 | 罗之洪 | Two-rotor model helicopter control system |
| CN203318678U (en) * | 2013-06-05 | 2013-12-04 | 王开林 | Discrete control system of coaxial type double-rotor unmanned helicopter control system |
-
2013
- 2013-06-05 CN CN201310219039.8A patent/CN103318407B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN103318407A (en) | 2013-09-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103318407B (en) | A kind of discrete control system of coaxial rotor depopulated helicopter steerable system | |
| CN203318678U (en) | Discrete control system of coaxial type double-rotor unmanned helicopter control system | |
| CN201400060Y (en) | Tandem double channel vertical landing land and air vehicle | |
| CN102363445B (en) | Tilting dynamic vertical take-off and landing land-air amphibious aircraft | |
| CN104527975B (en) | The double remaining pitch sub-control steerable system of a kind of coaxial unmanned helicopter | |
| CN203854858U (en) | Ornithopter | |
| CN102501968B (en) | Ducted coaxial helicopter control mechanism | |
| CN105217025A (en) | A kind of aircraft coaxial double-rotary wing system | |
| CN105235900A (en) | Upper rotor semi differential yawing control system for coaxial unmanned helicopter | |
| CN105799925B (en) | A kind of unmanned plane | |
| CN103847960B (en) | A kind of composite rotating drives vertically taking off and landing flyer | |
| CN103587683A (en) | Small-sized aircraft with tiltable rotor wings | |
| CN206288235U (en) | A kind of reclining device for tiltrotor aircraft | |
| CN107985589A (en) | Vertical take-off and landing drone with vectored thrust duct engine | |
| CN205396534U (en) | Rotor unmanned aerial vehicle verts | |
| CN106477033A (en) | High speed hybrid multi-rotor aerocraft | |
| CN205554580U (en) | Coaxial two rotor system of aircraft are with cycle distance and differential cycle apart from manipulation link | |
| CN106240815A (en) | The sized flap wings system of ∞ font movement locus and the flapping wing aircraft containing this system | |
| CN110481775A (en) | A kind of flapping wing mechanism of changeable wing area | |
| CN208484828U (en) | A kind of Fixed Wing AirVehicle of energy VTOL | |
| CN106516105A (en) | Aircraft propeller surface regulating mechanism | |
| CN211281442U (en) | Coaxial helicopter control-transmission system based on single automatic inclinator | |
| CN205675240U (en) | The oil of a kind of many offline mode moves displacement multi-rotor aerocraft | |
| CN106143906A (en) | A kind of coaxial Cycloidal propeller aerial vehicle | |
| CN210047624U (en) | Novel roll control structure of flapping wing aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| ASS | Succession or assignment of patent right |
Owner name: BEIJING SHENYUAN SHINING TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: WANG KAILIN Effective date: 20140418 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 610299 CHENGDU, SICHUAN PROVINCE TO: 100085 HAIDIAN, BEIJING |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20140418 Address after: 100085 Beijing, Haidian District, No. ten on the ground floor, No. 1, building 14, floor 1402, 4 Applicant after: BEIJING SHENYUAN SHINING TECHNOLOGY Co.,Ltd. Address before: 610299, No. 12, five Tong Road, 13 community road, Shuangliu County, Chengdu, Sichuan Province, 1201 Applicant before: Wang Kailin |
|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181204 Address after: 646000 No. 347 South Zhangjiaci Road, Shidong Street, Longmatan District, Luzhou City, Sichuan Province Patentee after: Southwest UAV Technology Co.,Ltd. Address before: 100085 Floor 1402, Building 4, No. 1 Hospital, Shangdi Tenth Street, Haidian District, Beijing Patentee before: BEIJING SHENYUAN SHINING TECHNOLOGY Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 |