CN108928476A - A kind of Difference Calculation method of helicopter propeller pitch angle - Google Patents
A kind of Difference Calculation method of helicopter propeller pitch angle Download PDFInfo
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- CN108928476A CN108928476A CN201810678996.XA CN201810678996A CN108928476A CN 108928476 A CN108928476 A CN 108928476A CN 201810678996 A CN201810678996 A CN 201810678996A CN 108928476 A CN108928476 A CN 108928476A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- Aviation & Aerospace Engineering (AREA)
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
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Abstract
The present invention relates to helicopter angle measurement field, in particular to a kind of Difference Calculation method of helicopter propeller pitch angle includes the following steps: for first angle sensor and second angle sensor to be separately positioned on blade mounting surface A1 and center piece plane B1；Rectangular coordinate system is established, simultaneously simplified model is established；By control blade mounting surface A1 and center piece plane B1 in the rotation direction of tri- axis of rectangular coordinate system X, Y, Z, to simulate main rotor shaft out of plumb situation, and the propeller pitch angle of corresponding situation is calculated.The Difference Calculation method of helicopter propeller pitch angle of the invention, it may be implemented in the measurement that propeller pitch angle is carried out in the case that main rotor shaft does not carry out beating vertically, relative to conventional method stable accuracy, guarantee is high-efficient, also the personal safety that can guarantee survey crew, reduces labor intensity.
Description
Technical field
The present invention relates to helicopter angle measurement field, in particular to a kind of Difference Calculation side of helicopter propeller pitch angle
Method.
Background technique
After component (such as booster, steering engine) is installed on machine or replaced to helicopter flight steerable system, need to system
Work is adjusted and checks, to confirm whether the specific manipulation device of helicopter (control stick, collective-pitch lever, pedal) position corresponds to
In specific wing setting angle.The especially measurement of wing setting angle, accuracy are directly related to the flying quality of helicopter
And flight quality.
Traditional wing setting angle measurement generallys use level measurement, and " beating vertical " is being carried out to Helicopter Main rotor shaft
In the case where, the blade mounting surface of propeller shank and the angle of center piece plane are measured by it.From space geometry knowledge
Space plane angle, which is equal to, to be located in two planes and the angle with two plane intersection line vertical lines, the angle of level measurement
It is straight line angle with horizontal plane where it, on this basis, the measuring principle of conventional method is to guarantee center piece planar horizontal
On the basis of, measure on blade mounting surface with the angle of intersection vertical line i.e. propeller pitch angle.The calculating needs to guarantee that center piece is flat
Face is horizontal, and " beating vertical " is needed before measurement, causes more this method guarantee condition, low efficiency, safety poor.
Summary of the invention
The purpose of the present invention designs a kind of Difference Calculation method of helicopter propeller pitch angle, is surveyed with solving existing wing setting angle
At least one problem existing for amount method.
The technical scheme is that
A kind of Difference Calculation method of helicopter propeller pitch angle, includes the following steps:
Step 1: first angle sensor and second angle sensor are separately positioned on blade mounting surface A1 and center piece
On plane B1, wherein the X-direction of the first angle sensor and second angle sensor is parallel to blade-span axis, and institute
The Y-axis for stating first angle sensor and the Y-axis of the second angle sensor are in the same direction；
Step 2: establishing rectangular coordinate system, simultaneously simplified model is established according to the structure type of step 1, wherein the paddle
Leaf axis direction, that is, rectangular coordinate system X-direction, straight line Y1 indicates the Y-axis of the first angle sensor, described straight
The angle of line Y1 and horizontal plane is α, and straight line Y2 indicates the Y-axis of the second angle sensor, the straight line Y2 and horizontal plane
Angle is β respectively；
Step 3: by controlling the blade mounting surface A1 and center piece plane B1 in described rectangular coordinate system X, Y, Z tri-
The rotation direction of axis to simulate main rotor shaft out of plumb situation, and calculates the propeller pitch angle of corresponding situation, including following situation:
When X-axis rotation of the blade mounting surface A1 and center piece plane B1 around the rectangular coordinate system, propeller pitch angle θ is
The angle of the Y-axis of the first angle sensor and the Y-axis of the second angle sensor；
When Z axis rotation of the blade mounting surface A1 and center piece plane B1 around the rectangular coordinate system, propeller pitch angle θ is
The angle of the Y-axis of the first angle sensor and the Y-axis of the second angle sensor；
When the blade mounting surface A1 and center piece plane B1 rotates γ angle around the Y-axis of the rectangular coordinate system, directly
Line Y1 ' is the Y-axis of the postrotational first angle sensor, and the angle of straight line Y1 ' and horizontal plane is α ', and straight line Y2 ' is rotation
The angle of the Y-axis of the second angle sensor after turning, straight line Y2 ' and horizontal plane is β ', and (1) calculates according to the following formula
Obtain propeller pitch angle θ:
Optionally, in the step 3, formula (1) is obtained by following formula (2), formula (3):
Wherein, formula (2) is obtained by formula (4), formula (5) again:
Wherein, R be on straight line Y1 predetermined point to the rectangular coordinate system the face XY vertical line length, L be on straight line Y1 ' with
On straight line Y1 the corresponding point in predetermined point position to the rectangular coordinate system the face XY vertical line length；
According to formula (2), formula (3) can be similarly obtained.
Invention effect:
The Difference Calculation method of helicopter propeller pitch angle of the invention is not, it can be achieved that carry out the feelings of " beating vertical " in main rotor shaft
The measurement that propeller pitch angle is carried out under condition, relative to conventional method stable accuracy, guarantee is high-efficient, also can guarantee the person of survey crew
Safety reduces labor intensity.
Detailed description of the invention
Fig. 1 is angle measurement simplified model in the Difference Calculation method of invention helicopter propeller pitch angle；
Fig. 2 is main rotor shaft oblique model 1 in the Difference Calculation method of invention helicopter propeller pitch angle；
Fig. 3 is main rotor shaft oblique model 2 in the Difference Calculation method of invention helicopter propeller pitch angle.
Specific embodiment
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Under
Face is described in detail the embodiment of the present invention in conjunction with attached drawing.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as protecting the present invention
The limitation of range.
1 to Fig. 3 the Difference Calculation method of helicopter propeller pitch angle of the present invention is described in further details with reference to the accompanying drawing.
The Difference Calculation method of helicopter propeller pitch angle of the invention, calculate separately out center piece plane, blade mounting surface with
The angle of horizontal plane, the difference by calculating two angles obtain propeller pitch angle.Guarantee that X-axis and blade-span axis are flat when sensor is installed
Row, due to center piece plane and blade mounting surface intersection, that is, blade-span axis, propeller pitch angle is converted into the angle of sensor Y-axis.
Sensor data measured is the angle of the axis and horizontal plane, and when Helicopter Main rotor shaft does not carry out " beating vertical ", propeller pitch angle is big
The small difference not equal to Y-axis angle, needs to carry out spatial algorithm.
Specifically, the Difference Calculation method of helicopter propeller pitch angle of the invention includes the following steps:
Step 1: first angle sensor and second angle sensor are separately positioned on blade mounting surface A1 and center piece
On plane B1, wherein the X-direction of first angle sensor and second angle sensor is parallel to blade-span axis, and first jiao
The Y-axis for spending sensor and the Y-axis of second angle sensor are in the same direction.
Step 2: establishing rectangular coordinate system, simultaneously simplified model is established according to the structure type of step 1, wherein paddle shaft
Line direction, that is, rectangular coordinate system X-direction, straight line Y1 indicate the Y-axis of first angle sensor, straight line Y1 and horizontal plane
Angle be α, straight line Y2 indicates the Y-axis of second angle sensor, and the angle of straight line Y2 and horizontal plane is β respectively.It is several by space
What knowledge is it is found that Y1, Y2 angle theta are equal to angle, that is, propeller pitch angle of A1, B1 plane.
Step 3: main rotor shaft, which does not carry out the case where " beating vertical ", can be expressed as the face A, B together about X, Y, Z axis rotation；
By controlling blade mounting surface A1 and center piece plane B1 in the rotation direction of tri- axis of rectangular coordinate system X, Y, Z, to simulate main rotation
Wing axis out of plumb situation, and the propeller pitch angle of corresponding situation is calculated, including following situation:
When X-axis rotation of the blade mounting surface A1 and center piece plane B1 around rectangular coordinate system, propeller pitch angle θ is first angle
The angle of the Y-axis of the Y-axis and second angle sensor of sensor；
When Z axis rotation of the blade mounting surface A1 and center piece plane B1 around rectangular coordinate system, propeller pitch angle θ is first angle
The angle of the Y-axis of the Y-axis and second angle sensor of sensor；
When blade mounting surface A1 and center piece plane B1 rotates γ angle around the Y-axis of rectangular coordinate system, straight line Y1 ' is rotation
The Y-axis of first angle sensor after turning, the angle in straight line Y1 ' and horizontal plane (face XY) are α ', and straight line Y2 ' is postrotational the
The Y-axis of two angular transducers, straight line Y2 ' and the angle in horizontal plane (face XY) they are β ', straight line Y1, Y1 ' it be located at using point O as dot,
Circle A is on the circular cone of bottom surface, and propeller pitch angle θ is calculated in (1) according to the following formula:
Further, in the Difference Calculation method of helicopter propeller pitch angle of the invention, step 3 formula (1) is by following formula
(2), formula (3) obtains:
Wherein, formula (2) is obtained by formula (4), formula (5) again:
Wherein, R is the length for the face the XY vertical line that predetermined point (i.e. arbitrary point) arrives rectangular coordinate system in straight line Y1 (before rotation),
L be on straight line Y1 ' point corresponding with predetermined point position on straight line Y1 to the rectangular coordinate system the face XY vertical line length.
According to formula (2), can similarly obtain formula (3), specific as follows:
If circle A radius be R, the face A, B around Y-axis rotate angle be γ, postrotational straight line Y1, Y2 be straight line Y1 ', Y2 ', this
When straight line Y1 ', Y2 ' and the angle in horizontal plane (face XY) be α ', β ' respectively.
Straight line Y1, Y1 ' it is located at using O as dot, circle A is on the circular cone of bottom surface, from geometrical relationship:
Above-mentioned two formula of simultaneous obtains:
Straight line Y2 is R ' around the cone bottom surface that Y-axis rotates circle B radius, and arbitrary point is hung down to horizontal plane on line after Y2 rotation γ
The length of line is L ', from geometrical relationship:
Above-mentioned two formula of simultaneous obtains:
Propeller pitch angle θ in any case can be obtained by (2), (3) two formulas are as follows:
In a specific example of the Difference Calculation method of helicopter propeller pitch angle of the present invention:
α, β are respectively 30 °, 45 °, i.e. propeller pitch angle is 15 °.When the face A1, B1 rotates 20 ° around Y-axis, i.e. γ is 20 °, α ', β '
For 28.02 °, 41.64 °, the difference of α ' and β ' is directly 16.12 ° at this time, and it is 15.00 ° that numerical value substitution above-mentioned formula, which is obtained θ,.
The Difference Calculation method of helicopter propeller pitch angle of the invention is not, it can be achieved that carry out the feelings of " beating vertical " in main rotor shaft
The measurement that propeller pitch angle is carried out under condition, relative to conventional method stable accuracy, guarantee is high-efficient, also can guarantee the person of survey crew
Safety reduces labor intensity.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be with the scope of protection of the claims
It is quasi-.
Claims (2)
1. a kind of Difference Calculation method of helicopter propeller pitch angle, which comprises the steps of:
Step 1: it is flat that first angle sensor and second angle sensor are separately positioned on blade mounting surface (A1) and center piece
On face (B1), wherein the X-direction of the first angle sensor and second angle sensor is parallel to blade-span axis, and institute
The Y-axis for stating first angle sensor and the Y-axis of the second angle sensor are in the same direction；
Step 2: establishing rectangular coordinate system, simultaneously simplified model is established according to the structure type of step 1, wherein the paddle shaft
Line direction, that is, rectangular coordinate system X-direction, straight line Y1 indicate the Y-axis of the first angle sensor, the straight line Y1
Angle with horizontal plane is α, and straight line Y2 indicates the Y-axis of the second angle sensor, the angle of the straight line Y2 and horizontal plane
It is β respectively；
Step 3: by controlling the blade mounting surface (A1) and center piece plane (B1) in described rectangular coordinate system X, Y, Z tri-
The rotation direction of axis to simulate main rotor shaft out of plumb situation, and calculates the propeller pitch angle of corresponding situation, including following situation:
When the blade mounting surface (A1) and center piece plane (B1) are around the X-axis rotation of the rectangular coordinate system, propeller pitch angle θ is
The angle of the Y-axis of the first angle sensor and the Y-axis of the second angle sensor；
When the blade mounting surface (A1) and center piece plane (B1) are around the Z axis rotation of the rectangular coordinate system, propeller pitch angle θ is
The angle of the Y-axis of the first angle sensor and the Y-axis of the second angle sensor；
When the blade mounting surface (A1) and center piece plane (B1) rotate γ angle around the Y-axis of the rectangular coordinate system, directly
Line Y1 ' is the Y-axis of the postrotational first angle sensor, and the angle of straight line Y1 ' and horizontal plane is α ', and straight line Y2 ' is rotation
The angle of the Y-axis of the second angle sensor after turning, straight line Y2 ' and horizontal plane is β ', and (1) calculates according to the following formula
Obtain propeller pitch angle θ:
2. the Difference Calculation method of helicopter propeller pitch angle according to claim 1, which is characterized in that in the step 3
In, formula (1) is obtained by following formula (2), formula (3):
Wherein, formula (2) is obtained by formula (4), formula (5) again:
Wherein, R be on straight line Y1 predetermined point to the rectangular coordinate system the face XY vertical line length, L is on straight line Y1 ' and straight line
The corresponding point in the upper predetermined point position Y1 to the rectangular coordinate system the face XY vertical line length；
According to formula (2), formula (3) can be similarly obtained.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810678996.XA CN108928476B (en) | 2018-06-27 | 2018-06-27 | Differential calculation method for pitch angle of helicopter |
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| CN201810678996.XA CN108928476B (en) | 2018-06-27 | 2018-06-27 | Differential calculation method for pitch angle of helicopter |
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| CN108928476A true CN108928476A (en) | 2018-12-04 |
| CN108928476B CN108928476B (en) | 2021-09-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525712A (en) * | 2021-06-23 | 2021-10-22 | 中国航空工业集团公司上海航空测控技术研究所 | Helicopter rotor balance real-time monitoring and adjusting device |
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| CN101376433A (en) * | 2008-10-10 | 2009-03-04 | 南京航空航天大学 | Helicopter rotor operation method and system |
| CN102678451A (en) * | 2011-06-15 | 2012-09-19 | 华锐风电科技(集团)股份有限公司 | Variable pitch propeller control method for wind generating set |
| 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 |
| CN106786784A (en) * | 2017-03-22 | 2017-05-31 | 广东工业大学 | A kind of wind-powered electricity generation group of planes Poewr control method and system |
| CN106989812A (en) * | 2017-05-03 | 2017-07-28 | 湖南科技大学 | Large fan blade modal method of testing based on photogrammetric technology |
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2018
- 2018-06-27 CN CN201810678996.XA patent/CN108928476B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101376433A (en) * | 2008-10-10 | 2009-03-04 | 南京航空航天大学 | Helicopter rotor operation method and system |
| CN102678451A (en) * | 2011-06-15 | 2012-09-19 | 华锐风电科技(集团)股份有限公司 | Variable pitch propeller control method for wind generating set |
| 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 |
| CN106786784A (en) * | 2017-03-22 | 2017-05-31 | 广东工业大学 | A kind of wind-powered electricity generation group of planes Poewr control method and system |
| CN106989812A (en) * | 2017-05-03 | 2017-07-28 | 湖南科技大学 | Large fan blade modal method of testing based on photogrammetric technology |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525712A (en) * | 2021-06-23 | 2021-10-22 | 中国航空工业集团公司上海航空测控技术研究所 | Helicopter rotor balance real-time monitoring and adjusting device |
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