CN107031835A - Rotor wing unmanned aerial vehicle becomes oar radius variable propeller pitch device - Google Patents
Rotor wing unmanned aerial vehicle becomes oar radius variable propeller pitch device Download PDFInfo
- Publication number
- CN107031835A CN107031835A CN201710175046.0A CN201710175046A CN107031835A CN 107031835 A CN107031835 A CN 107031835A CN 201710175046 A CN201710175046 A CN 201710175046A CN 107031835 A CN107031835 A CN 107031835A
- Authority
- CN
- China
- Prior art keywords
- gyroaxis
- rotor
- drive
- aerial vehicle
- unmanned aerial
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
Abstract
Become oar radius variable propeller pitch device the invention discloses a kind of rotor wing unmanned aerial vehicle, including fixed mount and at least one set of rotor mounting assembly, rotor mounting assembly includes gyroaxis, the first package assembly moved along a straight line vertically for gyroaxis and the second package assembly rotated for gyroaxis；Variable propeller pitch device also include each group of rotor mounting assembly of correspondence set one group and for drive correspondence gyroaxis move along a straight line and rotary motion drive assembly, whole device bottom is fixed with the line shaft of rotor revolution；It is single by way of changing pitch and changing rotor lift angle compared to existing, the present invention may be such that whole rotor maximum change lift in a short time, easily facilitate control, while the fit structure of drive rod and crane, the pitch and lift angle of rotor can be preferably fixed, and volume is smaller, compact conformation, all parts are all in rotor junction, with more preferable marketing.
Description
Technical field
The present invention relates to rotor wing unmanned aerial vehicle field, more particularly to a kind of rotor wing unmanned aerial vehicle becomes oar radius variable propeller pitch device.
Background technology
In the prior art, the aircraft with hovering ability has helicopter and multi-rotor unmanned aerial vehicle, many compared to helicopter
Rotor wing unmanned aerial vehicle has the characteristics of landing is convenient, mechanical structure is simple.At present, more multi-rotor unmanned aerial vehicle is used on the market
Fixedpiston, the pattern for producing lift is driven by motor, because the energy density of battery is well below fuel oil, is limited by battery
System, more based on shooting, load-carrying is within several kilograms, and or so half an hour in cruising time, this kind of aircraft is mainly used in taking photo by plane, nothing
The characteristics of method utilizes many gyroplanes plays bigger effect.
The progress developed with technology, fixes immutable problem, someone devises to solve above-mentioned aircraft pitch
The dynamic feather multi-rotor unmanned aerial vehicle of oil, it can solve the problem of aircraft load-carrying is small, cruising time is low, still, this many rotors
The feather part of unmanned plane is to use bar linkage structure, not only complicated, and design processing difficulties, and is needed larger
Installing space, is difficult to control in control, and precision is not high, and response speed is also relatively slow, and flexibility is substantially reduced.
And, those skilled in the art know, the flight of feather unmanned plane, to turn to be by changing one of them or several
What the pitch of rotor was realized, specifically according to rotor lift formula：Y=0.25 × D × S × W × n × p, by changing rotor
Lift angle S, and change rotor and change away from so that lift；And existing connecting rod feather mode is single, the lift of acquisition changes
Variable is small, no self-lock ability so that gyroplane can not complete complex dogled action, and flexibility is restricted,
The parameter of change is single.
Accordingly, it would be desirable to be improved to the variable propeller pitch device of existing rotor wing unmanned aerial vehicle, make the increase of its variable parameter, so that
Change the knots modification of lift, reach the big requirement of the instantaneous knots modification of lift, while making its space availability ratio high, response is fast, precision
It is high.
The content of the invention
In view of this, the present invention provides a kind of rotor wing unmanned aerial vehicle change oar radius variable propeller pitch device, and its variable parameter increases, from
And change the knots modification of lift, the big requirement of the instantaneous knots modification of lift is reached, while making its space availability ratio high, response is fast, essence
Degree is high.
The rotor wing unmanned aerial vehicle of the present invention becomes oar radius variable propeller pitch device, including fixed mount and at least one set of rotor installation group
Part, gyroaxis that rotor mounting assembly includes being used for installing rotor, is coated at gyroaxis and is moved along a straight line vertically for gyroaxis
The first package assembly and be coated at the first package assembly and be provided for the second package assembly that gyroaxis rotates, the second package assembly
It is connected with fixed mount；
Also include each group of rotor mounting assembly of correspondence set one group and for drive correspondence gyroaxis move along a straight line and
The drive assembly of rotary motion, drive assembly include by can around own axis in the way of the drive rod that is vertically arranged and will drive
The rotary motion of lever is converted to the crane of itself linear motion, and drive assembly also includes coordinating for driving back with gyroaxis
Rotary drive mechanism that rotating shaft rotates relative to package assembly and it is equipped with movement parts for driving the relative package assembly edge of gyroaxis
Itself axially does the straight line movement driving mechanism moved along a straight line, and rotary drive mechanism and straight line movement driving mechanism are by crane
Linear motion driving work.
Further, rotary drive mechanism includes lifting arm and loop bar, and loop bar in the way of gyroaxis axis perpendicular by with consolidating
It is fixed to set, bar hole is provided with loop bar, lifting arm includes the fixed part being fixedly connected with crane and perpendicular with fixed part
And the drive division for being used to drive loop bar to drive gyroaxis to rotate is stretched into bar hole.
Further, straight line movement driving mechanism includes push rod and pushing sleeve, and pushing sleeve is rotated to it and can with that can make gyroaxis
The mode for transmitting axial force to gyroaxis is equipped with gyroaxis, and push rod one end is hinged with pushing sleeve, and the other end is cut with scissors with crane
Connect.
Further, fixed mount is frame structure, and rotor mounting assembly sets three groups and the distribution triangular in shape on fixed mount.
Further, lifting is placed in fixed mount, is provided with fixed mount and is lifted the guiding mechanism being oriented to crane, led
Include being fixed on the guide pillar that is set on fixed mount to mechanism and form relative be slidably matched with crane one and overcoat guide pillar
Guide pin bushing.
Further, in addition to mounting base, the casing that is fixedly connected with mounting base bottom and being arranged in casing is used for
The power set provided for drive rod, drive rod is rotated and is arranged on mounting base, and mounting base is fixed with fixed mount bottom to be connected
Connect.
Further, in addition to be fixed on bottom of shell setting counter flange and be connected with counter flange and be used to drive
The integrally rotated line shaft of dynamic variable propeller pitch device.
Further, the first package assembly is linear bearing, and the second package assembly is swivel bearing；Linear bearing and swivel bearing mistake
It is full of cooperation.
Further, pushing sleeve is thrust ball bearing.
Beneficial effects of the present invention：The rotor wing unmanned aerial vehicle of the present invention becomes oar radius variable propeller pitch device, can by drive assembly
Change while realizing the pitch and radius to multigroup rotor, it is single by changing pitch change rotor lift angle compared to existing
Mode, the present invention may be such that whole rotor maximum change lift in a short time, easily facilitate control, while drive rod and liter
The fit structure of frame is dropped, the pitch and lift angle of rotor can be preferably fixed, and volume is smaller, compact conformation, all parts are all
In rotor junction, with more preferable marketing.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is structural representation (shaft side figure) of the invention；
Fig. 2 is structural representation (top view) of the invention；
Fig. 3 is structural representation (left view) of the invention；
Fig. 4 installs the general construction axonometric drawing after rotor for the present invention；
Fig. 5 is mechanism kinematic front and back position comparison diagram of the invention.
Embodiment
Fig. 1 is the structural representation (shaft side figure) of the present invention, and Fig. 2 is structural representation (top view) of the invention, and Fig. 3 is
The structural representation (left view) of the present invention, Fig. 4 installs the general construction axonometric drawing after rotor for the present invention, and Fig. 5 is of the invention
Mechanism kinematic front and back position comparison diagram, movable distance is L as shown in Figure 5, as shown in the figure：The rotor of the present embodiment without
Man-machine change oar radius variable propeller pitch device, including fixed mount 11 and at least one set of rotor mounting assembly, rotor mounting assembly include using
It is used for the first package assembly 9 that gyroaxis ladder 8 moves along a straight line vertically in installing the gyroaxis 8 of rotor 20, being coated at gyroaxis 8
The second package assembly 10 that gyroaxis 8 rotates is provided for the first package assembly 9 is coated at, the second package assembly 10 is with fixing
Frame 11 is connected；Wherein, gyroaxis is revolution multi-diameter shaft, and the one end of gyroaxis 8 forms motion drive shaft end, and the other end is formed for pacifying
The U-shaped arm of rotor 20 is filled, when unmanned plane is assembled, rotor is arranged on by bolt on U-shaped arm one end of gyroaxis 8, on fixed mount
Bearing block is provided with, the second package assembly 10 is fixed on bearing block, gyroaxis 8 can do straight on axial direction with respect to the first package assembly 9
Line is moved, and the package assembly 9 of gyroaxis 8 and first can do the rotary motion around own axes with respect to the second package assembly 10；First
Package assembly 9 can be linear bearing or be internal splined shaft bushing, when for internal splined shaft bushing, and gyroaxis 8 is matched somebody with somebody with the spline of the first package assembly 9
Close, be axially movable, can not circumferentially rotate, the second package assembly 10 is swivel bearing or other achievable first package assemblies 9 and returned
The part of the relative motion of rotating shaft 8；
Also include each group of rotor mounting assembly of correspondence set one group and for drive correspondence gyroaxis 8 move along a straight line and
The drive assembly of rotary motion, drive assembly include by can around own axis in the way of the drive rod 1 that is vertically arranged and will
The rotary motion of drive rod 1 is converted to the crane 2 of itself linear motion, and drive assembly also includes coordinating with gyroaxis 8 being used for
Rotary drive mechanism and be equipped with movement parts for driving gyroaxis 8 relative that driving gyroaxis 8 rotates relative to package assembly
Package assembly axially does the straight line movement driving mechanism moved along a straight line along itself, and rotary drive mechanism and straight line movement driving mechanism are equal
By the linear motion driving work of crane 2；
As illustrated, wherein, drive rod 1 is ball-screw, crane 2 is located above following installing plates, and positioned at solid
Determine inside frame, through coordinating with crane 2 in the centrally disposed through hole of leading screw self installation plate, it is of the invention be applied to many rotors without
On man-machine, that is, it is provided with multiple rotor assemblies, each rotor assembly and includes a change radius change pitch device, per single-revolution
One rotor 2080 is installed, rotor 2080 is national standard rotor, is represented by 4-digit number on axle 8, front two numeral represents straight
Footpath, rear two digits represent pitch, and unit is inch, and 20 be rotor diameter, represent 20 inches, 80 be pitch, represent 8 inches,
Because this example is variable pitch control, therefore it is initial pitch that two digits, which represent, after rotor, can be entered according to carrying out practically situation
Row regulation；When leading screw is rotated by power drive, crane 2 is moved up and down along the axial direction of screw mandrel, and drives gyroaxis 8 simultaneously
Rotary drive mechanism and straight line movement driving mechanism work so that realize driving gyroaxis 8 rotate, with realize rotor change starch
Away from；The design of the present invention changes load-carrying and the continuation of the journey problem of lithium battery rotor craft, by leading screw variable propeller pitch device, makes interior
Combustion engine can be used on rotor craft, in addition, adjusting pitch compared to conventional linkage mechanism, pitch essence is adjusted using leading screw
Du Genggao, response faster, while ball-screw has auto-lock function, can preferably fix the pitch and lift angle of rotor, and volume
It is smaller, compact conformation, all parts are all in rotor junction, with more preferable marketing.
In the present embodiment, rotary drive mechanism include lifting arm 3 and loop bar 4, loop bar 4 with the axis perpendicular of gyroaxis 8
Mode be fixedly installed, be provided with bar hole on loop bar 4, lifting arm 3 include the fixed part being fixedly connected with crane 2 and with it is solid
It is perpendicular and the drive division for being used to drive loop bar 4 to drive gyroaxis 8 to rotate is stretched into bar hole to determine portion；As illustrated, crane 2
For loop configuration, leading screw is ball-screw, and crane 2 is that threaded connection forms feed screw nut auxiliary structure with leading screw, crane 2
Outside is provided with the fixed cover being fixedly connected with the fixed part of lifting arm 3, drive division and fixed part formation vertical stratification, drive division
Insert in bar hole, when lifting arm 3 is moved up and down with crane 2, the drive division of lifting arm 3 is moved in bar hole, so that
Realize and cause loop bar 4 to drive the center rotating for turning around gyroaxis 8, and then realize the feather of rotor.
In addition, the drive division end of lifting arm 3 is additionally provided with banking stop 5, to limit the angle of revolution of gyroaxis 8, also
It is the position of the whole mechanism action of limitation.
In the present embodiment, straight line movement driving mechanism include push rod 7 and pushing sleeve 6, pushing sleeve 6 with can make gyroaxis 8 with respect to its
The mode for rotating and can transmitting axial force to gyroaxis 8 is equipped with gyroaxis 8, and the one end of push rod 7 is hinged with pushing sleeve 6, another
End is hinged with crane 2；When gyroaxis 8 rotates, gyroaxis 8 is relatively rotated with the formation of pushing sleeve 6, i.e., pushing sleeve 6 is not interfered with back
The rotation of rotating shaft 8, only can transmit axial component to gyroaxis 8 in load of the pushing sleeve 6 by axial direction, produce gyroaxis 8
The movement of axial direction, certainly, these are all the rotation of gyroaxis 8 and linear motion on the basis of control gyroaxis 8 slowly runs
Interference will not be formed.
In the present embodiment, fixed mount is frame structure, and rotor mounting assembly sets three groups and triangular in shape on fixed mount
Distribution；I.e. gyroaxis 8 sets three, forms many rotor mechanisms.
In the present embodiment, crane 2 is placed in fixed mount, is provided with fixed mount and is lifted the guiding being oriented to crane 2
Mechanism, guiding mechanism includes being fixed on the guide pillar 13 set on fixed mount and simultaneously overcoat guide pillar 13 forms phase with the one of crane 2
To the guide pin bushing 12 being slidably matched；Guiding mechanism removes the guiding moved up and down to crane 2, can also prevent crane 2 from rotating, so that
Realize that the screw pair of crane 2 and leading screw coordinates；Moved along a straight line on guide pillar 13, it is ensured that the stabilization of whole process
Property.
In the present embodiment, in addition to mounting base 19, the casing 15 that is fixedly connected with the bottom of mounting base 19 and it is arranged at
It is used for the power set provided for drive rod 1 in casing, drive rod 1 is rotated and is arranged on mounting base, mounting base and fixation
Frame bottom is fixedly connected by connecting rod 14；Wherein, power set are steering wheel,；The clutch end of steering wheel connects with lead screw transmission
Connect driving leading screw rotation.
In the present embodiment, in addition to it is fixed on the counter flange 17 of the bottom of casing 15 setting and is driven company with counter flange 17
Connect and be used to drive and become the integrally rotated line shaft 18 of pitch device；Counter flange passes through stud or long spiro nail 16 and mounting base
Connection.
In the present embodiment, the first package assembly 9 is linear bearing, and the second package assembly 10 is swivel bearing；Linear bearing and rotation
Interference fit is held in rotating shaft；Wherein, linear bearing moves along a straight line for gyroaxis 8, and swivel bearing is flange bearing, for gyroaxis
8 rotary motions；When steering wheel receives signal rotation, ball-screw rotation is driven, the straight line for driving crane 2 to do up or down is transported
It is dynamic, so that gyroaxis 8 rotates, meanwhile, drive pushing sleeve 6 and push rod 7 to move, so that gyroaxis 8 does straight line fortune simultaneously
It is dynamic.
In the present embodiment, pushing sleeve 6 is thrust ball bearing；Thrust ball bearing bears unidirectional axial force, passes through the thrust of push rod 7
Change rotor radius.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (9)
1. a kind of rotor wing unmanned aerial vehicle becomes oar radius variable propeller pitch device, it is characterised in that：Including fixed mount and at least one set of rotor peace
Arrangement, the rotor mounting assembly include be used for install rotor gyroaxis, be coated at gyroaxis be used for gyroaxis vertically
First package assembly of linear motion and it is coated at the first package assembly and is provided for the second package assembly that gyroaxis rotates, institute
The second package assembly is stated to be connected with fixed mount；
Also include each group of rotor mounting assembly of correspondence and set one group and for driving correspondence gyroaxis to move along a straight line and rotate
The drive assembly of motion, the drive assembly include by can around own axis in the way of the drive rod that is vertically arranged and will drive
The rotary motion of lever is converted to the crane of itself linear motion, and the drive assembly also includes coordinating for driving with gyroaxis
Rotary drive mechanism that dynamic gyroaxis rotates relative to package assembly and being equipped with movement parts is used to driving the relative overcoat of gyroaxis
Part axially does the straight line movement driving mechanism moved along a straight line, the rotary drive mechanism and the linear motion driving machine along itself
Structure by the crane linear motion driving work.
2. rotor wing unmanned aerial vehicle according to claim 1 becomes oar radius variable propeller pitch device, it is characterised in that：The rotation driving
Mechanism includes lifting arm and loop bar, and the loop bar on the loop bar with being fixedly installed in the way of gyroaxis axis perpendicular, to set
It is equipped with bar hole, the lifting arm includes the fixed part being fixedly connected with crane and perpendicular and stretch into bar hole with fixed part
The interior drive division for being used to drive loop bar to drive gyroaxis to rotate.
3. rotor wing unmanned aerial vehicle according to claim 1 becomes oar radius feather, it is characterised in that：The linear motion driving
Mechanism includes push rod and pushing sleeve, and the pushing sleeve is in the way of it gyroaxis is rotated to it and can transmit axial force to gyroaxis
It is equipped with gyroaxis, described push rod one end is hinged with the pushing sleeve, and the other end is hinged with the crane.
4. rotor wing unmanned aerial vehicle according to claim 1 becomes oar radius variable propeller pitch device, it is characterised in that：The fixed mount is
Frame structure, the rotor mounting assembly sets three groups and is distributed on the fixed mount in equilateral triangle.
5. rotor wing unmanned aerial vehicle according to claim 1 becomes oar radius variable propeller pitch device, it is characterised in that：The lifting is mounted
The guiding mechanism being oriented to is lifted to crane in the fixed mount, being provided with the fixed mount, guiding mechanism includes fixing
The relative guide pin bushing being slidably matched is formed in the guide pillar set on fixed mount and with crane one and overcoat guide pillar.
6. rotor wing unmanned aerial vehicle according to claim 1 becomes oar radius variable propeller pitch device, it is characterised in that：Also include bottom is installed
Plate, the casing being fixedly connected with mounting base bottom and it is arranged at and is used for the device that power is provided for drive rod in casing, it is described
Drive rod is rotated and is arranged on the mounting base, and the mounting base is fixedly connected with the fixed mount bottom.
7. rotor wing unmanned aerial vehicle according to claim 6 becomes oar radius variable propeller pitch device, it is characterised in that：Also include being fixed on
Counter flange and be connected with counter flange and be used to drive the integrally rotated power of variable propeller pitch device that bottom of shell is set
Axle.
8. the rotor wing unmanned aerial vehicle according to claim 1-7 any claim becomes slurry radius variable propeller pitch device, its feature
It is：First package assembly is linear bearing, and second package assembly is swivel bearing；The linear bearing and the rotation
Bearing is interference fitted.
9. rotor wing unmanned aerial vehicle according to claim 3 becomes oar radius variable propeller pitch device, it is characterised in that：The pushing sleeve is to push away
Power ball bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710175046.0A CN107031835B (en) | 2017-03-22 | 2017-03-22 | Rotor unmanned aerial vehicle becomes oar radius variable pitch device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710175046.0A CN107031835B (en) | 2017-03-22 | 2017-03-22 | Rotor unmanned aerial vehicle becomes oar radius variable pitch device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107031835A true CN107031835A (en) | 2017-08-11 |
| CN107031835B CN107031835B (en) | 2020-11-13 |
Family
ID=59533350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710175046.0A Active CN107031835B (en) | 2017-03-22 | 2017-03-22 | Rotor unmanned aerial vehicle becomes oar radius variable pitch device |
Country Status (1)
| Country | Link |
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| CN (1) | CN107031835B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623211A (en) * | 2020-12-28 | 2021-04-09 | 桂林航天工业学院 | Unmanned aerial vehicle for mapping aerial photography |
| CN114408150A (en) * | 2022-01-26 | 2022-04-29 | 重庆大学 | Electric steering engine based on dual-motor drive and control system and control method thereof |
| CN114408150B (en) * | 2022-01-26 | 2024-04-26 | 重庆大学 | Electric steering engine based on double-motor driving and control system and control method thereof |
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|---|---|---|---|---|
| US5163815A (en) * | 1991-07-29 | 1992-11-17 | Fetters Dennis L | Rotor blade control mechanism |
| CN102935890A (en) * | 2012-09-21 | 2013-02-20 | 中国空间技术研究院 | Variable diameter screw propeller |
| CN103010456A (en) * | 2012-09-21 | 2013-04-03 | 中国空间技术研究院 | Novel variable-diameter variable-pitch propeller |
| CN103171760A (en) * | 2013-03-25 | 2013-06-26 | 贾小平 | Vertical lifting airphibian vehicle propeller variable pitch device |
| KR20140079174A (en) * | 2012-12-18 | 2014-06-26 | 한국항공우주연구원 | Blade pitch control device for Airplane propeller |
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2017
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5163815A (en) * | 1991-07-29 | 1992-11-17 | Fetters Dennis L | Rotor blade control mechanism |
| CN102935890A (en) * | 2012-09-21 | 2013-02-20 | 中国空间技术研究院 | Variable diameter screw propeller |
| CN103010456A (en) * | 2012-09-21 | 2013-04-03 | 中国空间技术研究院 | Novel variable-diameter variable-pitch propeller |
| KR20140079174A (en) * | 2012-12-18 | 2014-06-26 | 한국항공우주연구원 | Blade pitch control device for Airplane propeller |
| CN103171760A (en) * | 2013-03-25 | 2013-06-26 | 贾小平 | Vertical lifting airphibian vehicle propeller variable pitch device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623211A (en) * | 2020-12-28 | 2021-04-09 | 桂林航天工业学院 | Unmanned aerial vehicle for mapping aerial photography |
| CN114408150A (en) * | 2022-01-26 | 2022-04-29 | 重庆大学 | Electric steering engine based on dual-motor drive and control system and control method thereof |
| CN114408150B (en) * | 2022-01-26 | 2024-04-26 | 重庆大学 | Electric steering engine based on double-motor driving and control system and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN107031835B (en) | 2020-11-13 |
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