CN105966609B - A kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head - Google Patents
A kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head Download PDFInfo
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- CN105966609B CN105966609B CN201610372936.6A CN201610372936A CN105966609B CN 105966609 B CN105966609 B CN 105966609B CN 201610372936 A CN201610372936 A CN 201610372936A CN 105966609 B CN105966609 B CN 105966609B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/02—Gyroplanes
- B64C27/021—Rotor or rotor head construction
- B64C27/025—Rotor drives, in particular for taking off; Combination of autorotation rotors and driven rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
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Abstract
A kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head of the present invention, including relatively independent thrust power module and landing power plant module, the thrust power module includes sequentially connected ROTEX914UL engine, engine input terminal pad and tail portion thrust propeller；The landing power plant module includes sequentially connected high density lithium battery, 207 motor of EMRAX, freewheel clutch and rotor head.Richochet system of the present invention is simpler compact compared to traditional richochet system mechanics drive mechanism；Control flow is simplified, controlling mechanism is changed, richochet process is made not need the close fit of multiple clutch on-off, does not need the change repeatedly of power transmission path, transmission process logic is simple clearly, is easily achieved；Body self weight is alleviated, payload space is increased；The power loss due to caused by complex mechanical structure in power transmission process is avoided, the power coupling during richochet is reduced.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and relates to a hybrid power jump flight system of a heavy-duty autorotation gyroplane with a variable-pitch seesaw type rotor head.
Background
A rotary-wing aircraft is a rotorcraft in which the rotating rotor provides lift and the tail rotor provides forward thrust. The structure of the gyroplane is different from that of a helicopter, the rotor wing of the gyroplane is not connected with an engine transmission system, and the rotor wing is blown by front airflow to rotate so as to generate lift force in the flying process of the gyroplane; because the rotors of the rotorcraft are self-rotating, the torque transmitted to the fuselage is minimal, and thus the rotorcraft does not require a tail rotor. After the engine stops in the air, the rotor of the gyroplane can still be in a self-rotating state, so that safe landing is ensured. The gyroplane has the characteristics of a helicopter and a fixed-wing aircraft, has good low-altitude and low-speed performance and safety, and is simple to operate and low in manufacturing and using cost.
The autorotation gyroplanes have two takeoff modes of a sliding type and a jumping type. The running takeoff increases the rotating speed of the rotor wing through running, so that the lift force reaches the takeoff condition, a long-distance runway is required in the mode, and the use environment is limited. The jumping takeoff drives the rotor wing to rotate in advance through the transmission device, the connection between the rotor wing and the transmission system is disconnected after the rotor wing reaches a preset rotating speed, and meanwhile, the total pitch of the main rotor wing is changed, so that the lift force meets the takeoff condition, the jumping flight is realized, and then the gyroplane is pushed by the horizontal thrust propeller to fly forwards. The mode does not need a long-distance runway, and the application range of the gyroplane is expanded.
Due to the complex structure of the jump flight system, the conventional heavy rotorcraft generally does not have the jump flight function and must run for taking off. Because of the heavy weight and the large power required by the heavy-duty rotorcraft, the power required for prerotation of the main rotor of a few heavy-duty rotorcrafts with a jump flight function is usually provided by an engine. The structure of the existing heavy-duty self-rotating gyroplane jump flight system is shown in fig. 9, and the system consists of a plurality of parts such as a transfer case, a clutch, a speed changer, a power transmission and transfer case mechanism, a flywheel and the like, wherein a power source is provided by a single engine. The basic working principle is as follows: in the jump flight preparation stage, the clutch 2 and the clutch 3 are engaged, the clutch 1 is disconnected, and the power output by the engine drives the rotor and the flywheel to rotate through a series of power transmission and transfer mechanisms. After the rotor reaches the preset rotating speed, the clutch 2 is disconnected, the total distance of the rotor is increased, the rotor is driven by the flywheel to rotate, meanwhile, the clutch 1 is connected, and the engine drives the vector to propel the propeller to work, so that the jump flight is realized. When the rotor wing enters into the autorotation state, the clutch 3 is disconnected, the rotor wing is driven by air to rotate, the tail vector propulsion propeller provides propulsive force, and the gyroplane flies forwards.
Some model airplane-level autorotation gyroplanes adopt a motor prerotation method to realize an ultrashort-distance takeoff function, but a main rotor wing of the autorotation gyroplanes cannot change the distance and does not have a jump flight function. The ultra-short takeoff refers to that the main rotor wing is allowed to have a certain initial rotating speed and then is run to take off, so that the running distance can be shortened, but the ultra-short takeoff is still a running takeoff mode in nature and is still limited by a takeoff environment. Because of the large power required for prewhirl of heavy-duty rotorcraft, it is not possible to use an electrical prewhirl as in model-level rotorcraft. With the development of high energy density lithium battery technology and high power density motor technology, the application of the electric prerotation system to heavy-duty rotorcraft becomes possible. Compared with an electric pre-rotation jump flight system, the traditional heavy-duty gyroplane jump flight system is complex in mechanical structure, a series of power transmission and transfer mechanisms need to be designed for realizing the jump flight function, the weight of the whole aircraft body and the complexity of the mechanical structure are increased, the control flow is complex, the control requirement on the on-off time of each clutch is high, and the system reliability is poor. Although the motor prerotation mode is applied to the model airplane-level autorotation rotorcraft to some extent and shortens the takeoff and running distance, the prerotation motor is small in size and light in weight and is usually directly installed below the main rotor. In addition, the rotor head of the conventional heavy rotorcraft with the jump flight function generally adopts a periodic pitch-changing mode for realizing the total pitch-changing function, and compared with a seesaw type rotor head adopted by a rotorcraft without the jump flight function, the structure is more complex and poor in reliability.
Disclosure of Invention
In order to achieve the purpose, the invention aims to provide a heavy-duty autorotation gyroplane hybrid power jump flight system with a variable-pitch seesaw type rotor head, and solves the problems of complex mechanical transmission structure, complex control flow and poor rotor head reliability of the conventional heavy-duty gyroplane jump flight system.
The invention relates to a heavy-duty autorotation gyroplane hybrid power jump system with a variable-pitch seesaw type rotor head, which comprises a propulsion power module and a take-off and landing power module which are relatively independent, wherein the propulsion power module comprises a ROTEX914UL engine, an engine input connecting disc and a tail thrust propeller which are sequentially connected; the take-off and landing power module comprises a high-density lithium battery, an EMRAX207 motor, an overrunning clutch and a rotor head which are sequentially connected.
The present invention is also characterized in that,
the EMRAX207 motor is connected with the overrunning clutch through a primary speed reducing mechanism.
The first-stage speed reducing mechanism is composed of a motor output gear and a main rotor shaft input gear, and is fixed on the rotorcraft body through a bearing seat.
The main paddle comprises a paddle, and the paddle is connected with the rotor head through a paddle clamp.
The rotor head comprises a support, a cross shaft telescopic universal joint and a main rotor shaft, the support is fixed on a rotor plane body, the lower end of the main rotor shaft is connected with an overrunning clutch, the upper end of the cross shaft telescopic universal joint is in power connection with the main rotor shaft, and the lower end of the cross shaft telescopic universal joint is in power connection with the overrunning clutch.
The rotor head includes every single move swash plate and roll tilt plate, and the every single move swash plate articulates in the support top through first pin joint, the roll tilt plate nestification is in the every single move swash plate, the roll tilt plate is articulated through second pin joint and every single move swash plate, the every single move swash plate is provided with vertical first pull rod and second pull rod with the one end of roll tilt plate, the first pull rod and the second pull rod other end are established and are connected with first steering wheel and the second steering wheel that verts respectively.
The rotary wing type elevator is characterized in that a collective pitch shifting fork capable of vertically moving along a main rotary wing shaft around a fulcrum is arranged above the rolling inclined plate, the collective pitch shifting fork is in power connection with a collective pitch steering engine, a collective pitch sliding sleeve is arranged above the collective pitch shifting fork, and the collective pitch sliding sleeve is connected with a variable pitch pull rod.
The upper end of the variable-pitch pull rod is fixedly connected with the paddle clamp.
The invention has the beneficial effects that: the hybrid power jump system of the heavy autorotation gyroplane capable of realizing jump takeoff is provided, a jump-flight working condition driving system and a flat-flight working condition transmission system are separately designed, a propulsion power module is independent of a take-off and landing power module, an EMRAX207 motor provides power required by prerotation of a rotor under a jump-flight working condition, and a ROTEX914UL engine provides power required by a forward-flight working condition vector propulsion propeller; in the jump flight preparation stage, an EMRAX207 motor directly drives a rotor to pre-rotate and store energy, when the rotor reaches the critical rotating speed, the total distance of the rotor is increased to realize jump flight, a ROTEX914UL engine starts to drive a tail vector to propel a propeller to work, a driving motor stops, the rotor enters a self-rotation state, and forward flight is realized under the action of the propeller. The adjusting mechanism of the rotor wing collective pitch does not adopt a periodic pitch changing form, but is realized on the basis of a seesaw type structure. The complex mechanical transmission structure of the traditional heavy-duty gyroplane jump flight system is avoided, a series of mechanisms of a transfer case, a clutch, a speed changer, a flywheel and power transmission are cancelled, and the mechanical transmission structure of the jump flight system is simpler and more compact; the control flow is simplified, the control mechanism is changed, the close matching of the on-off of a plurality of clutches is not needed in the jumping flight process, the repeated change of a power transmission path is not needed, and the logic of the transmission process is simple and clear and is easy to realize; the dead weight of the gyroplane body is reduced, and the effective load is increased; a series of cancelled transmission mechanisms can enable the installation position of the engine to be more backward, so that the adjustment of the gravity center position of the whole engine is facilitated, and meanwhile, the load space of the engine room is greatly increased; the engine directly drives the tail propeller, so that power loss caused by a complex mechanical structure in the power transmission process is avoided, power coupling in the jump flight process is reduced, and system efficiency is improved; the rotor head adopts a seesaw form, and a variable total pitch structure is added, so that the main rotor head of the rotor machine has the functions of total pitch adjustment, left-right tilting and front-back tilting, compared with the traditional seesaw type rotor head, the increased total pitch mechanism can realize the adjustment of the total pitch of the main rotor of the rotor machine, thereby laying a foundation for the jump flight function, and the traditional rotor machine rotor head with the jump flight function can imitate the rotor head form of a helicopter, adopts a periodic variable pitch structure, has a complex structure and poor reliability. At the same time, the reliability of the whole system is also significantly enhanced. The system not only enables the heavy rotorcraft in the same level to have the vertical takeoff function of the helicopter, but also has simpler structure, stronger reliability and lower cost compared with the helicopters in the same level. The jump flight system is suitable for 400 kg-class heavy rotorcraft.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a hybrid power jump system of a heavy-duty rotary wing aircraft having a variable pitch see-saw rotor head according to the present invention.
Fig. 2 is a schematic structural diagram of a hybrid power jump system of a heavy-duty rotary wing aircraft having a variable pitch see-saw rotor head according to the present invention.
Fig. 3 is a schematic view of the main rotor and rotor head structure of a heavy-duty autorotation rotorcraft hybrid power jump system with a variable pitch see-saw rotor head according to the present invention.
Fig. 4 is a schematic diagram of the power supply scheme of the hybrid power jump system of a heavy-duty autorotation rotorcraft with a variable pitch see-saw rotor head according to the present invention.
FIG. 5 is a signal flow diagram of a complete machine control system of a heavy-duty autorotation rotorcraft hybrid power jump system with a variable pitch see-saw rotor head according to the present invention.
Fig. 6 is a flow chart of the operation of a heavy-duty spinning-rotor hybrid jump system with a variable pitch teeter-totter head according to the present invention.
FIG. 7 is a graph of the rotor head speed over time for a heavy duty rotorcraft operating mode of hybrid power jump flight with a variable pitch see-saw rotor head according to the present invention.
Figure 8 is a graph of the hybrid jump flight height versus time for a heavy-duty autogiro having a variable pitch see-saw rotor head in accordance with the present invention.
Fig. 9 is a block diagram of a conventional jump flight system.
In the figure, 1, a main paddle, 2, a rotor head, 3, a motor output gear, 4, an EMRAX207 motor, 5, a ROTEX914UL engine, 6, an engine input connecting disc, 7, a tail thrust propeller, 8, a first tilting steering engine, 9, a second tilting steering engine, 10, a main rotor shaft input gear, 11, a bearing seat, 12, an overrunning clutch and 13, a high-density lithium battery are arranged;
101. paddle clip, 102. paddle;
201. the main rotor wing type aircraft comprises a fulcrum 202, a second hinge point 203, a variable-pitch pull rod 204, a total-pitch sliding sleeve 205, a total-pitch shifting fork 206, a rolling tilting disk 207, a pitching tilting disk 208, a support 209, a cross shaft telescopic universal joint 210, a first pull rod 211, a second pull rod 212, a total-pitch steering engine 213, a main rotor wing shaft 214 and a first hinge point.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention relates to a hybrid power jump system with a variable pitch seesaw type rotor head, which is suitable for a 400 kg-grade heavy type autorotation rotorcraft, and comprises a propelling power module and a take-off and landing power module which are relatively independent, wherein an output shaft of a ROTEX914UL engine 5 is connected with a tail thrust propeller 7 through an engine input connecting disc 6 to provide the front flying power of the autorotation rotorcraft; the power required by the prerotation of the rotor head 2 during the jump flight is provided by an EMRAX207 motor 4 connected with the rotor shaft, the EMRAX207 motor 4 is powered by a high-density lithium battery 13, and the EMRAX207 motor 4 is connected with the rotor head 2 through an overrunning clutch 12.
Because the EMRAX207 motor 4 is heavy and bulky, in order to avoid the power loss caused by the excessive inertia of the rotor head 2 and the increase of the total weight of the rotor head 2 caused by the increase of the structural rigidity requirement, the EMRAX207 motor 4 is arranged in the rotor body instead of being directly driven by the propeller.
The power output by the EMRAX207 motor 4 is transmitted to the overrunning clutch 12 through the primary speed reduction mechanism. Wherein, the first-level reduction gears are fixed on the gyroplane body through a bearing seat 11. Wherein, the primary speed reducing mechanism is composed of a motor output gear 3 and a main rotor shaft input gear 10.
The main rotor 1 comprises a blade 102, which blade 102 is connected to the rotor head 2 by means of a blade clamp 101.
Rotor head 2 includes support 208, the flexible universal joint of cross 209 and main rotor shaft 213, support 208 is fixed in on the gyroplane organism, main rotor shaft 213 lower extreme and freewheel clutch 12 joint, the flexible universal joint of cross 209 upper end and main rotor shaft 213 power are connected, the flexible universal joint of cross 209 lower extreme and freewheel clutch 12 power are connected. And power transmission is realized. The power output by the EMRAX207 motor 4 is transmitted to the universal joint 209 through the primary speed reducing structure and the overrunning clutch 12, and the universal joint 209 is connected with the main rotor shaft 213 to transmit the power to the main rotor shaft 213. The universal joint 209 has both telescopic and tilting functions to meet the requirement of attitude adjustment of the rotor head 2.
Rotor head 2 still includes pitch swash plate 207 and roll swash plate 206, and pitch swash plate 207 articulates on support 208 top through first pin joint 214, roll swash plate 206 nests in pitch swash plate 207, roll swash plate 206 is articulated through second pin joint 202 and pitch swash plate 207, pitch swash plate 207 is provided with vertical first pull rod 210 and second pull rod 211 with the one end of roll swash plate 206, first pull rod 210 and second pull rod 211 other end are connected with first tilting steering wheel 8 and the tilting steering wheel 9 of second respectively. When the first tilting steering engine 8 and the second tilting steering engine 9 move up or down at the same time, the first pull rod 210 and the second pull rod 211 move up or down at the same time to drive the pitching tilting disk 207 to rotate around the first hinge point 214, so that the whole rotor head 2 moves in a pitching direction and the posture of the body in the pitching direction is adjusted; when the first steering engine 8 that verts and the reverse differential of second steering engine 9 that verts, upward motion of first pull rod 210 and second pull rod 211, another downstream drives the roll tilt disc 206 and rotates around second pin joint 202 to make whole rotor head 2 produce the motion of roll direction, the gesture of adjustment rotorcraft organism roll direction.
A collective pitch shifting fork 205 capable of vertically moving along a main rotor wing shaft 213 around a fulcrum 201 is arranged above a rolling tilting disk 206, the collective pitch shifting fork 205 is in power connection with a collective pitch steering engine 212, a collective pitch sliding sleeve 204 is arranged above the collective pitch shifting fork 205, and the collective pitch sliding sleeve 204 is connected with a variable pitch pull rod 203. The collective pitch steering engine 212 drives the collective pitch shifting fork 205 to rotate around the fulcrum 201, so that the head of the collective pitch shifting fork 205 vertically moves along the main rotor shaft 213, the collective pitch sliding sleeve 204 is pushed to vertically move, and then the variable pitch pull rod 203 is driven to move; the upper end of the variable-pitch pull rod 203 is fixedly connected with the paddle clamp 101, and the paddle clamp 101 is driven to rotate to realize the pitch change of the paddle 102.
The structure of a heavy rotorcraft to which the invention is applicable relates primarily to the rotor head 2 and the tail thrust propeller 7.
The selectable rotorcraft of the invention has the self weight of 240kg, can carry 160kg of load, has the weight ratio coefficient of 0.6, and has the total weight m of 400 kg.
Loaded by the paddle diskTaking P as 9.8kg/m2If the radius R of the blade 102 is 3.6m, the number k of blades 102 is 2.
By rotor solidityTaking σ equal to 0.04, the chord length c of the blade 102 is 0.22 m.
Selecting an ONERA OA212 airfoil profile with a lift-drag ratio at a high Reynolds numberA minimum drag coefficient C of 120dIs 0.005.
The dynamic model of the organism is given according to the Newton-Euler equation as
The rotor head 2 adopts a seesaw type structure, and the paddle disk has two operation input quantities which are respectively a back chamfer angle and a side chamfer angle of the paddle disk.
A tension expression of the rotor head 2 can be deduced based on the phyllotactic theory and the momentum theory:
iterative solution is carried out on the pulling force and the induction speed of the rotor head 2, the rotor is trimmed to obtain the minimum forward flight speed of 37km/h of the rotor, and the rotating speed omega of the rotor under stable flat flight is obtained0＝590rpm＝62rad/s。
The prerotation speed omega of the rotor wing is 1.5 omega in jump flight0At 885rpm 93rad/s, the rotor total pitch angle of attack is changed from 0 ° to 6 °.
Inertia of paddle disk
From Cq＝Tfactor(-0.0000025θ2+0.000005 θ -0.00008), θ is the angle of attack of the blade 102, and θ is 6 °, Tfactor1.5, to obtain Cq＝2.1×10-4。
Order toThen
Through a series of iterative calculations, curves of the change of the rotating speed of the rotor head 2 and the change of the flying height with time under the flying condition are obtained and are shown in fig. 7 and 8.
Power required by jump flight working conditionWherein, T is the required torque when the rotor prerevolves, and n is the rotor prerotation speed.
ByWhere k is the number of blades 102, ρ is the air density, CdoTaking 0.008 as the drag coefficient of the blade 102 and c as the chord length of the blade 102, andthe power of the motor required by the autorotation rotorcraft adopting the EMRAX207 motor 4 for jumping is 76 kw.
EMRAX207 motor 4 from ENSTROJ was selected, the peak power was 80KW, and other main parameters were as shown in Table 1 below.
TABLE 1
| Weight (D) | Diameter of | Height | Rated voltage | Maximum current | Peak power | Maximum rotational speed | Maximum torque |
| 9.1kg | 207mm | 85mm | 500V | 200A | 80kw | 6000rpm | 160Nm |
The fly-by-wire prerotation time is 60s, the rotating speed of the EMRAX207 motor 4 is increased from 0 to 4500rpm, and the maximum power is 76 kw. A primary speed reducer is arranged between the EMRAX207 motor 4 and the main rotor, and the transmission ratio is 5.
The EMRAX207 motor 4 has a rated voltage of 500V and a maximum working current of
The voltage of a lithium battery monomer is 4.15V, the rated capacity is 6Ah, the rated discharge current is 6A, and the discharge rate is 30C. The maximum discharge current 180A meets the operating current requirements.
The battery pack is formed by connecting 120 battery monomers in series, and the energy of the battery pack is 3 kw.h. The battery energy density is 180Wh/kg, and the required battery mass is 17 kg.
The pre-rotation working time is 1min, the required electric quantity is 1.2 kw.h, and the residual electric quantity is used for supplying power to actuating mechanisms such as a steering engine of the whole machine, controllers and sensors.
According to the parameters, the power supply system of the autorotation rotorcraft adopts a high-density lithium battery of the Haotai technology company for power supply.
While jumping, the thrust ROTEX914UL engine 5 is started, driving the rotorcraft forward, and the body speed reaches a minimum forward flight speed when the main rotor speed drops to a steady level flight speed. The required acceleration is calculated to be 12.5m/s2。
From the theory of phyllotaxis, the driving force of the tail thrust propeller 7 is
Wherein,
based on the Grouworth momentum theory model, the available thrust calculation formula
The iterative solution yields the desired ROTEX914UL engine 5 speed of 2865 rpm. The ROTEX914 engine 5 was used with the main parameters as shown in table 2 below.
TABLE 2
| Weight (D) | Peak power | Maximum rotational speed | Maximum torque |
| 64kg | 84.5KW | 5800rpm | 144Nm |
From the above, the overall structure of the hybrid power takeoff system of the heavy-duty rotorcraft according to the present invention is shown in fig. 1, fig. 2, and fig. 3, and the main components include a main rotor 1, a rotor head 2, an EMRAX207 motor 4, a ROTEX914UL engine 5, a tail thrust propeller 7, and a series of mechanical structures.
The heavy-duty rotorcraft adopting the jump flight system has the advantages that prerotation power during jump flight is provided by an EMRAX207 motor 4, horizontal propelling force during flight is provided by a ROTEX914UL engine 5, and the whole power supply scheme is shown in figure 4.
The system power supply mainly comprises power supply for the EMRAX207 motor 4, power supply for the executive mechanism except the ROTEX914UL engine 5 and power supply for all controllers and sensors. The 500V high energy density lithium battery pack is used to directly power the pre-rotation EMRAX207 motor 4 while outputting the required voltage through the multi-path DC-DC voltage module. Its main distribution part includes:
(1) pre-rotation of the motor: 500V
(2) Steering wheel control panel signal end, heavy steering wheel, airborne computer: 12V
(3) The sensor power supply module: 5V
(4) Steering engine control panel power end, light steering engine: 8.4V
The signal flow of the whole machine control system of the invention is shown in fig. 5, and the control system is mainly divided into three parts:
(1) the signal acquisition module: the combined type rotary wing navigation system is composed of a main rotary wing encoder and combined GPS navigation. And respectively acquiring the rotating speed of the main rotor and the attitude, speed and position information of the whole machine, and resolving a control instruction.
(2) A remote communication module: mainly comprises a data transmission radio station and a ground terminal. The data transmission radio station transmits the state information of the whole machine and the control instruction to the upper computer.
(3) The actuating mechanism control module: mainly comprises a steering engine control panel. The steering engine control board receives the instruction of the complete machine controller and drives the related actuating mechanism.
The ROTEX914UL engine 5 throttle steering engine is used for adjusting the ROTEX914UL engine 5 throttle opening, thereby controlling the rotating speed of the thrust propeller and the thrust of the whole engine. The vertical fin yawing steering engine is used for adjusting the attack angle of the vertical fin and generating lateral force and yawing moment. The collective pitch steering engine 212 is used for adjusting the collective pitch of the main rotor blades 102, generating a pulling force during jumping and participating in the height control of the whole aircraft during flat flight. The tilting steering engine is used for adjusting the front-back tilting and the left-right tilting of the hub of the main rotor wing, so that control torque in pitching and rolling directions is generated.
The work flow diagram of the jump flight system is shown in fig. 6, and the working principle is as follows: preparing the whole jump flight process, starting jump flight and finishing jump flight. Pre-rotation of a main rotor wing in a jump flight preparation stage; when the critical rotating speed is reached, the total distance of the main rotor wing is increased, the lift force is improved, and the jump flight starts; and after the main rotor wing is in a stable autorotation state under the action of the forward incoming flow, the jump flight is finished. The whole process is that the ROTEX914UL engine 5 and the EMRAX207 motor 4 are driven in a hybrid mode.
In the preparation stage of jumping flight, the attack angle of the rotor wing is controlled to be zero lift attack angle, the EMRAX207 motor 4 directly drives the rotor wing to prerotate to accelerate energy storage, and the vehicle body keeps a stable state due to the action of ground friction force.
When the rotor speed reaches a critical speed of 885rpm, the jump flight begins, the ROTEX914UL engine 5 starts, the pre-rotation EMRAX207 motor 4 is turned off, the overrunning clutch 12 between the EMRAX207 motor 4 and the main rotor shaft 213 is disengaged, and the EMRAX207 motor 4 is prevented from backing up. And meanwhile, the attack angle of the main rotor wing is increased to 6 degrees, so that the lift force obtained by the gyroplane is greater than the gravity, and the jump takeoff is realized.
After the body jumps up, the tail thrust propeller 7 rapidly accelerates to 2865rpm, then the ROT of the ROT 5 of the ROT 914UL is gradually reduced, when the rotating speed of the main rotor is reduced to a stable flat flying rotating speed of 590rpm due to the air resistance, the body reaches the minimum flat flying speed of 37km/h under the action of the tail thrust propeller 7, the rotorcraft enters the front flying working condition, and the jump flying is finished.
At this time, the main rotor enters a self-rotating state, and the airframe flies forward stably under the action of the tail thrust propeller 7. When the landing is needed, the ROTEX914UL engine 5 is turned off, the main rotor rotates at a reduced speed gradually under the action of air resistance, and the autorotation rotorcraft lands smoothly.
The hybrid power jump system is suitable for a 400 kg-grade heavy autorotation rotorcraft, a jump working condition short-time driving system is separated from a flat-flying working condition long-time driving system, an EMRAX207 motor provides power required by prerotation of a rotor under the jump working condition, and a ROTEX914UL engine provides power required by a forward-flying working condition vector propulsion propeller; the rotor head 2 of the jump flight system is a seesaw type structure with a variable collective pitch function. The system not only enables the gyroplanes in the same level to have the vertical takeoff function of the helicopter, but also has simpler structure, stronger reliability and lower cost compared with the helicopters in the same level. The hybrid power jump flight system has strong reliability, is applied to a 400 kg-grade heavy rotorcraft, can greatly simplify the structure of a transmission system and the structure of a rotor system of the traditional jump flight heavy rotorcraft, and increases the space of effective load; the efficiency of a jump flight system is improved, and energy consumption is reduced; the control logic is clear, the control flow is simple and easy to realize; the system safety and reliability are greatly enhanced.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (3)
1. A heavy-duty autorotation gyroplane hybrid power jump system with a variable pitch seesaw type rotor head is characterized by comprising a propulsion power module and a take-off and landing power module which are relatively independent, wherein the propulsion power module comprises a ROTEX914UL engine (5), an engine input connecting disc (6) and a tail thrust propeller (7) which are sequentially connected; the take-off and landing power module comprises a high-density lithium battery (13), an EMRAX207 motor (4), an overrunning clutch (12), a rotor head (2) and a main paddle (1) which are connected in sequence;
the main propeller (1) comprises a blade (102), and the blade (102) is connected with the rotor head (2) through a propeller clamp (101);
the EMRAX207 motor (4) is connected with the overrunning clutch (12) through a primary speed reducing mechanism;
the primary speed reducing mechanism is composed of a motor output gear (3) and a main rotor shaft input gear (10), and is fixed on a rotorcraft body through a bearing seat (11);
the rotor head (2) comprises a pitching tilting disk (207) and a rolling tilting disk (206), the pitching tilting disk (207) is hinged to the top end of a support (208) through a first hinge point (214), the rolling tilting disk (206) is nested in the pitching tilting disk (207), the rolling tilting disk (206) is hinged to the pitching tilting disk (207) through a second hinge point (202), one end of the pitching tilting disk (207) and one end of the rolling tilting disk (206) are provided with a first vertical pull rod (210) and a second vertical pull rod (211), and the other end of the first pull rod (210) and the other end of the second pull rod (211) are respectively connected with a first tilting steering engine (8) and a second tilting steering engine (9);
a collective pitch shifting fork (205) capable of vertically moving along a main rotor wing shaft (213) around a fulcrum (201) is arranged above the rolling tilting disk (206), the collective pitch shifting fork (205) is in power connection with a collective pitch steering engine (212), a collective pitch sliding sleeve (204) is arranged above the collective pitch shifting fork (205), and the collective pitch sliding sleeve (204) is connected with a variable pitch pull rod (203);
the hybrid power jump flight system of the heavy-duty autorotation gyroplane with the variable-pitch seesaw type rotor head comprises three stages of jump flight preparation, jump flight starting and jump flight finishing;
in the jump flight preparation stage, the attack angle of the main propeller (1) is controlled to be at a zero-lift attack angle, the EMRAX207 motor (4) directly drives the main propeller (1) to prerotate to accelerate and store energy, and the vehicle body is kept in a stable state due to the action of ground friction force;
when the rotating speed of the main propeller (1) reaches the critical rotating speed, the jump flight starts, the ROTEX914UL engine (5) is started, the pre-rotation EMRAX207 motor (4) is closed, the overrunning clutch (12) between the EMRAX207 motor (4) and the rotor head (2) is disengaged, and the EMRAX207 motor (4) is prevented from being dragged backwards; meanwhile, the attack angle of the main propeller (1) is increased, so that the lift force obtained by the gyroplane is greater than the gravity, and the jump takeoff is realized;
after the body jumps, the tail thrust propeller (7) is rapidly accelerated, then the rotation speed of the ROT (5) of the ROT (1) is gradually reduced, when the rotation speed of the main rotor (1) is reduced to a stable flat flying rotation speed due to the air resistance, the body reaches the minimum flat flying speed under the action of the tail thrust propeller (7), the rotorcraft enters the front flying working condition, and the jump flying is finished.
2. The heavy-duty self-rotating gyroplane hybrid jump system with the variable pitch seesaw type rotor head according to claim 1, wherein the rotor head (2) comprises a bracket (208), a cross shaft telescopic universal joint (209) and a main rotor shaft (213), the bracket (208) is fixed on the gyroplane body, the lower end of the main rotor shaft (213) is connected with the overrunning clutch (12), the upper end of the cross shaft telescopic universal joint (209) is in power connection with the main rotor shaft (213), and the lower end of the cross shaft telescopic universal joint (209) is in power connection with the overrunning clutch (12).
3. A heavy duty spinning-rotor hybrid jump system with a variable pitch see-saw rotor head according to claim 1 wherein the upper end of the variable pitch tie rod (203) is fixedly connected to the paddle clamp (101).
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| CN107344617A (en) * | 2017-08-22 | 2017-11-14 | 盐城市翔盛碳纤维科技有限公司 | The method for improving of rotor head, gyroplane and gyroplane |
| CN108082499B (en) * | 2018-01-29 | 2023-04-25 | 吉林大学 | Planetary hybrid helicopter power coupling system and driving method |
| CN108945412B (en) * | 2018-06-21 | 2024-06-11 | 北京理工大学 | Power system, starting control method and system of heavy-duty rotor craft |
| CN109263864A (en) * | 2018-10-16 | 2019-01-25 | 北京理工大学 | A kind of control method and system based on land sky vehicle richochet |
| CN110001949A (en) * | 2019-03-13 | 2019-07-12 | 陈铭 | A kind of compound rotation unmanned helicopter of close coupled type |
| CN110539881B (en) * | 2019-09-04 | 2021-03-16 | 北京航空航天大学 | Unmanned autorotation gyroplane control system |
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