CN108974353A - The control method of remotely-piloted vehicle heading - Google Patents
The control method of remotely-piloted vehicle heading Download PDFInfo
- Publication number
- CN108974353A CN108974353A CN201710397024.9A CN201710397024A CN108974353A CN 108974353 A CN108974353 A CN 108974353A CN 201710397024 A CN201710397024 A CN 201710397024A CN 108974353 A CN108974353 A CN 108974353A
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- China
- Prior art keywords
- rotor
- intermeshing
- cross plate
- line shaft
- helicopter
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- 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
- B64C27/56—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement characterised by the control initiating means, e.g. manually actuated
-
- 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
- B64C27/605—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical including swash plate, spider or cam mechanisms
-
- 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
- B64C27/80—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement for differential adjustment of blade pitch between two or more lifting rotors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The present invention is a kind of control method of remotely-piloted vehicle heading, prepare an intermeshing-rotor helicopter, it has two rotors and one controls the remote controller that two rotor acts, each rotor is equipped with a line shaft, one cross plate and a rotor holder, the cross plate is actively set on corresponding line shaft, and cross plate is connected by multiple connecting rods with the rotor holder, start the intermeshing-rotor helicopter, allow two cross plate with respect on two line shaft by the remote controler, the mode of lower movement and cycle rotation, change relative position of two cross plates with respect to two line shaft and steering angle, the intermeshing-rotor helicopter is set to generate rising, decline, advance, it retreats, towards anticlockwise, towards right rotation, the movement turned left or turned right, the control method for the remotely-piloted vehicle heading that one facilitates manipulation is provided.
Description
Technical field
The present invention relates to a kind of control method of heading, espespecially a kind of remotely-piloted vehicle heading for facilitating manipulation
Control method.
Background technique
The remotely-piloted vehicle of existing such as helicopter is equipped with one or more rotors rotated horizontally, so as to providing helicopter
Upward lift and propulsive force needed for flight, therefore substantially single-rotor helicopter, DCB Specimen can be divided into according to the quantity of rotor
The kenels such as helicopter and multirotor helicopter, wherein twin-rotor helicopter can be distinguished according further to the arrangement wind direction of two rotors
For lap siding (Tandem), cross-arranging type (Transverse), close coupled type (Coaxial) and staggered form (Intermeshing) etc.
Type.
Existing intermeshing-rotor helicopter has two rotors, mainly by engine or motor output power when use, and leads to
It crosses a reduction gear box to slow down, at the drive shaft by the swingle for sending power to the DCB Specimen after slowing down, then lead to
Uni-drive gear box transformation rotation direction is crossed, power is passed through to two output shafts that two reduction gear boxes are sent to the DCB Specimen respectively
On, and in a cross plate and a rotor holder are arranged on each output shaft, wherein each cross plate be equipped with it is multiple with the rotor holder phase
The connecting rod of connection, in such a way that the cross plate rotates, in such a way that each connecting rod pulls corresponding rotor holder, make with
The fin that the rotor holder combines generates swing with respect to the body of helicopter, and then passes through the difference of two rotor swing angles,
Make helicopter generate hovering, up and down, advance, retrogressing, towards anticlockwise, towards right rotation, the movement such as turn left or turn right, allow and show
There is intermeshing-rotor helicopter can be in the aerial effect for generating flight.
However, carrying out when user manipulates existing intermeshing-rotor helicopter towards anticlockwise or court
When the movement of right rotation, produced different lift when mainly being moved up and down by the cross plate of two rotors, and produce body
When giving birth to towards anticlockwise or towards the rotates effe of right rotation, but carrying out rotation manipulation for existing intermeshing-rotor helicopter,
When two cross plates generate different lift by one rise and one drop, while lateral pressure can be generated to body, not only increase manipulation
On difficulty, and can due to the influence of lateral pressure can not accurate perception component direction movement, and then influence existing staggered form
The flight effect of twin-rotor helicopter, really has and is subject to improvements.
Summary of the invention
Therefore, the present invention is to generate difference by two rotors in view of existing intermeshing-rotor helicopter when manipulation
The mode of lift, can not only increase the difficulty in manipulation because generating lateral pressure, and can not accurate perception component direction it is dynamic
Make, and then influence the flight effect of existing intermeshing-rotor helicopter, the control method rotated for helicopter is in reality
The missing and deficiency that border has when operating, spy pass through constantly test and research, develop a kind of existing missing of energy improvement finally
The present invention, the control method of remotely-piloted vehicle heading of the present invention, be in such a way that two rotors generate different torsion,
It allows the body of helicopter to generate the effect of rotation, can not only accurately grasp torque direction, and point in other directions will not be generated
Power and the manipulation for interfering helicopter, allow user that can readily and easily grasp heading and the movement of helicopter, Jin Erda
Facilitate the purpose of the control method of the remotely-piloted vehicle heading of manipulation to offer one.
Based on above-mentioned purpose, the present invention with technological means be to provide the control of a remotely-piloted vehicle heading
Method, it includes the operating procedures for having the step of instrument setting and a direction to control, in which:
In the step of instrument is arranged, prepare an intermeshing-rotor helicopter, which has
Two rotors and the remote controller of control two rotor movement, each rotor are equipped with a line shaft, are equipped with a cross in the line shaft
Disk and a rotor holder, the cross plate are actively set on corresponding line shaft, and cross plate by multiple connecting rods with
The rotor holder is connected, and enables the rotor holder by each connecting rod as cross plate acts；And
In the operating procedure of direction to control, start the intermeshing-rotor helicopter, two rotors is made to generate rotation, wherein
When allowing two cross plates to move up and down with respect to two line shafts by the control of the remote controler, which can be produced
The raw movement risen or fallen, when two cross plates by the control of the remote controler simultaneously opposite two line shafts towards top rake or court
When the cycle rotation of rear-inclined, which can generate the movement of forward or backward, when two cross plates pass through
The driving of the remote controler and opposite two line shafts generate one towards top rake and one backwards inclined cycle rotation when, the two rotors institute
The thrust of generation can make the intermeshing-rotor helicopter generate towards anticlockwise or towards the movement of right rotation, when a wherein cross
Disk by the driving of the remote controler with respect to the line shaft generate one towards lateral tilt cycle rotation when, the staggered form DCB Specimen
Helicopter generates the movement turned left or turned right.
Further, in the operating procedure of direction to control, range that each cross plate is moved up and down with respect to line shaft between-
2 ° to+12 °.
Further, in the operating procedure of direction to control, angle value of each cross plate with respect to the cycle rotation of line shaft
Between 0 ° to 10 °.
By above-mentioned technological means, the control method of remotely-piloted vehicle heading of the present invention in operation, in addition to logical
Cross the mode that the remote controler drives each connecting rod of two rotors, make two cross plates with respect to two line shafts, generate move up and down, two courts
Top rake, two can change 20 towards rear-inclined, one towards top rake and one towards rear-inclined or one towards the cycle rotation of lateral tilt
Letter disk with respect to two line shafts relative position and angle when, and then the intermeshing-rotor helicopter is made to generate up and down, preceding
Into, retreat, towards anticlockwise, towards right rotation, the movement turning left or turn right further controlling the intermeshing-rotor helicopter
Towards anticlockwise or towards during right rotation, the present invention is by the torsion directions of two cross plates of control, so that the torsion of two cross plates
Power direction is in kenel setting one in front and one in back, so as to allowing the intermeshing-rotor helicopter to generate the movement of left or right rotation,
In two cross plates torsion direction in a manner of being one in front and one in back arranged, the torque direction generated by it is clear and without its lateral point
Power generates interference, allows user that can readily and easily grasp heading and the movement of the intermeshing-rotor helicopter, into
And provide the control method for the remotely-piloted vehicle heading that one facilitates manipulation.
Detailed description of the invention
The following drawings are only intended to schematically illustrate and explain the present invention, not delimit the scope of the invention.Wherein:
Fig. 1 is the process block diagram of operating procedure of the invention.
Fig. 2 is sectional perspective appearance diagram when intermeshing-rotor helicopter of the present invention is static.
Fig. 3 is local appearance schematic side view when intermeshing-rotor helicopter of the present invention is static.
Fig. 4 is that three-dimensional appearance operation chart when intermeshing-rotor helicopter of the present invention rises (omits each connection
Bar).
Fig. 5 is that appearance side view operation chart when intermeshing-rotor helicopter of the present invention rises (omits each connection
Bar).
Three-dimensional appearance operation chart when Fig. 6 is intermeshing-rotor helicopter of the present invention decline (omits each connection
Bar).
Appearance side view operation chart when Fig. 7 is intermeshing-rotor helicopter of the present invention decline (omits each connection
Bar).
Fig. 8 is that three-dimensional appearance operation chart when intermeshing-rotor helicopter of the present invention advances (omits each connection
Bar).
Fig. 9 is that appearance side view operation chart when intermeshing-rotor helicopter of the present invention advances (omits each connection
Bar).
Figure 10 is that three-dimensional appearance operation chart when intermeshing-rotor helicopter of the present invention retreats (omits each connection
Bar).
Figure 11 is that appearance side view operation chart when intermeshing-rotor helicopter of the present invention retreats (omits each connection
Bar).
Figure 12 is that three-dimensional appearance operation chart when intermeshing-rotor helicopter of the present invention is left-handed (omits each connection
Bar).
Figure 13 is that appearance side view operation chart when intermeshing-rotor helicopter of the present invention is left-handed (omits each connection
Bar).
Three-dimensional appearance operation chart when Figure 14 is intermeshing-rotor helicopter dextrorotation of the present invention (omits each connection
Bar).
Appearance side view operation chart when Figure 15 is intermeshing-rotor helicopter dextrorotation of the present invention (omits each connection
Bar).
Figure 16 is that three-dimensional appearance operation chart when intermeshing-rotor helicopter of the present invention is turned left (omits each connection
Bar).
Figure 17 is that appearance side view operation chart when intermeshing-rotor helicopter of the present invention is turned left (omits each connection
Bar).
Figure 18 is that three-dimensional appearance operation chart when intermeshing-rotor helicopter of the present invention is turned right (omits each connection
Bar).
Figure 19 is that appearance side view operation chart when intermeshing-rotor helicopter of the present invention is turned right (omits each connection
Bar).
Specific embodiment
For that can understand technical characteristic and practical effect of the invention in detail and can be realized according to the content of specification, now into
One step is with preferred embodiment as shown in drawings, and detailed description is as follows:
Please refer to as shown in Figure 1, remotely-piloted vehicle heading provided by the present invention control method, it includes have
The operating procedure of the step of one instrument is arranged and a direction to control, in which:
(A) instrument is arranged: preparing an intermeshing-rotor helicopter (stationary state) as seen in figures 2 and 3 first, wherein should
It is in the rotors 10 and rotor 20 and the control rotor 10 and rotor that V-shape is staggered that intermeshing-rotor helicopter, which has two,
The remote controller of 20 movements, rotor 10 is equipped with a line shaft 11, and rotor 20 is equipped with a line shaft 21, is equipped in the line shaft 11
One cross plate 12 and a rotor holder 13 are equipped with a cross plate 22 and a rotor holder 23, the cross plate in the line shaft 21
12 and cross plate 22 can move up and down and cycle rotation be set on corresponding line shaft 11 and line shaft 21, and by more
A connecting rod 14 and multiple connecting rods 24 and be connected with the rotor holder 13 and rotor holder 23, make the rotor holder 13 and rotation
Wing holder 23 can be by each connecting rod 14 and connecting rod 24 with cross plate 12 and the movement of cross plate 22, wherein rotor 10 and rotation
The wing 20 is rotated in the opposite direction；Further, the dependency structure of the intermeshing-rotor helicopter is common in fields
Known to technical staff, therefore it is not illustrated herein.
(B) direction to control: when carrying out the manipulation of heading for the intermeshing-rotor helicopter, start the staggered form
Twin-rotor helicopter makes the rotor 10 and rotor 20 generate the rotation of opposite direction, when making the intermeshing-rotor helicopter
When generating the flare maneuver risen, passes through the remote controler as shown in figs. 4 and 5 and each connecting rod 14 and connecting rod 24 is driven to act
Mode makes the cross plate 12 and cross plate 22 respectively towards mobile (the i.e. edge in the direction of corresponding rotor holder 13 and rotor holder 23
Corresponding line shaft be moved upwardly by), and then the lift for allowing the rotor 10 and rotor 20 to generate is greater than the gravity of the body, makes
The intermeshing-rotor helicopter makes the body generate the flight risen by lift caused by the rotor 10 and rotor 20
Effect, further as shown in figs. 6 and 7, when cross plate 12 and cross plate 22 are pressed from both sides towards far from opposite rotor holder 13 and rotor respectively
The direction of seat 23 is mobile (moving downward along corresponding line shaft), and the lift that the rotor 10 and rotor 20 generate is less than should
The gravity of body, and therefore the flight effect for making the body generate decline passes through the cross plate 12 and the opposite power of cross plate 22
The mode that axis 11 and line shaft 21 move up and down can control the intermeshing-rotor helicopter and generate the movement risen or fallen,
It is preferred that the range that moves up and down with respect to line shaft 11 and line shaft 21 of cross plate 12 and cross plate 22 between -2 ° to+
12 °, this, which sentences degree, indicates that the mode of distance is technology known to those of ordinary skill in fields, is no longer subject to herein
It illustrates.
Further, please refer to as shown in figures 8 and 9, when the cross plate 12 and cross plate 22 are by the driving of remote controler,
And the opposite line shaft 11 and line shaft 21 forward inclined cycle rotation when, the cross plate 12 can be changed and cross plate 22 is opposite
The angle of the line shaft 11 and line shaft 22, thrust caused by the rotor 10 and rotor 20 can make the body generate advance
Movement, further, please refer to as shown in Figure 10 and 11, when the cross plate 12 and cross plate 22 are by the driving of remote controler,
And the opposite line shaft 11 and line shaft 21 backwards inclined cycle rotation when, thrust meeting caused by the rotor 10 and rotor 20
So that the body generates the movement retreated, therefore, by the cross plate 12 and cross plate 22 with respect to line shaft 11 and line shaft 21
Inclined cycle rotation mode towards top rake or backwards, can control the intermeshing-rotor helicopter generate move forward or back it is dynamic
Make.
Further, when the intermeshing-rotor helicopter is intended to be rotated, please refer to as shown in Figure 12 to 15,
When the cross plate 12 and cross plate 22 pass through the driving of the remote controler, and the opposite line shaft 11 and line shaft 21 generate one forward
Inclination and one backwards inclined cycle rotation when, thrust caused by the rotor 10 and rotor 20 can make the body generate court
Therefore anticlockwise or movement towards right rotation pass through the cross plate 12 and cross plate 22 and produce with respect to line shaft 11 and line shaft 21
Raw one, towards top rake and an inclined cycle rotation mode backwards, can control the intermeshing-rotor helicopter and generate towards anticlockwise
Or the movement towards right rotation.
Please refer to as shown in Figure 16 to 19, when the intermeshing-rotor helicopter is intended to movement of being turned left or turned right
When, wherein a cross plate 12 or cross plate 22 pass through the driving of the remote controler, and opposite line shaft 11 or line shaft 21 generate one
Towards the cycle rotation of lateral tilt, thrust caused by the rotor 10 or rotor 20 can make body generation turn left or turn right
Movement, it is preferable that cross plate 12 and cross plate 22 with respect to the cycle rotation of line shaft 11 and line shaft 21 angle value between
0 ° to 10 °.
By above-mentioned technological means, the control method of remotely-piloted vehicle heading of the present invention in operation, in addition to logical
The connecting rod 14 of remote controler driving rotor 10 and rotor 20 and the mode of connecting rod 24 are crossed, the cross plate 12 and cross plate 22 are made
The opposite line shaft 11 and line shaft 21, generation moves up and down, two towards top rake, two towards rear-inclined, one towards top rake and a court
Rear-inclined or one towards lateral tilt cycle rotation, the cross plate 12 and cross plate 22 can be changed with respect to the line shaft 11 and dynamic
When the relative position of power axis 22 and angle, and then the intermeshing-rotor helicopter is made to generate up and down, advance, retrogressing, court
Anticlockwise, towards right rotation, the movement turning left or turn right, further, control the intermeshing-rotor helicopter towards anticlockwise or
During right rotation, the present invention passes through the torsion direction for controlling the cross plate 12 and cross plate 22, so that the cross plate 12
And the torsion direction of cross plate 22 in one in front and one in back kenel setting, so as to allow the intermeshing-rotor helicopter generate it is left-handed or
The movement of dextrorotation, wherein the torsion direction of the cross plate 12 and cross plate 22 is in a manner of being one in front and one in back arranged, because of its generation
Torque direction is clear and generates interference without its cross component force, allows user that can readily and easily grasp the staggered form DCB Specimen
The heading of helicopter and movement, and then the control method for the remotely-piloted vehicle heading that one facilitates manipulation is provided.
The above is only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form, Ren Hesuo
Belong to the those of ordinary skill in technical field, if utilizing institute of the present invention in the range of not departing from proposed technical solution of the invention
Disclose the equivalent embodiment that locally changes or modify made by technology contents, and without departing from technical solution of the present invention content,
All of which are still within the scope of the technical scheme of the invention.
Claims (3)
1. a kind of control method of remotely-piloted vehicle heading, which is characterized in that the control of the remotely-piloted vehicle heading
The operating procedure of the step of method processed includes instrument setting and a direction to control, in which:
In the step of instrument is arranged, prepare an intermeshing-rotor helicopter, the intermeshing-rotor helicopter tool
There is the remote controller of two rotors and the rotor movement of a control two, each rotor is equipped with a line shaft, on the line shaft
Equipped with a cross plate and a rotor holder, the cross plate is actively set on the corresponding line shaft, and described ten
Letter disk is connected by multiple connecting rods with the rotor holder, enable the rotor holder by each connecting rod with
The cross plate movement；And
In the operating procedure of the direction to control, start the intermeshing-rotor helicopter, generates two rotors and turn
It is dynamic, wherein when allowing two cross plates to move up and down with respect to two line shafts by the control of the remote controler, the friendship
V shape twin-rotor helicopter can generate the movement risen or fallen, when two cross plates are same by the control of the remote controler
When with respect to two line shafts towards top rake or backwards inclined cycle rotation when, the intermeshing-rotor helicopter can generate
The movement of forward or backward, when two cross plates generate a court by opposite two line shaft of driving of the remote controler
Top rake and one backwards inclined cycle rotation when, thrust caused by two rotors can make the staggered form DCB Specimen straight
The machine of liter is generated towards anticlockwise or towards the movement of right rotation, when wherein a cross plate is opposite by the driving of the remote controler
The line shaft generate one towards lateral tilt cycle rotation when, the intermeshing-rotor helicopter, which generates, turns left or turns right
Movement.
2. the control method of remotely-piloted vehicle heading according to claim 1, which is characterized in that grasped in the direction
In the operating procedure of control, the range that each relatively described line shaft of the cross plate moves up and down is between -2 ° to+12 °.
3. the control method of remotely-piloted vehicle heading according to claim 1 or 2, which is characterized in that in the side
Into the operating procedure of manipulation, the angle value of the cycle rotation of each relatively described line shaft of the cross plate is between 0 ° to 10 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710397024.9A CN108974353A (en) | 2017-05-31 | 2017-05-31 | The control method of remotely-piloted vehicle heading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710397024.9A CN108974353A (en) | 2017-05-31 | 2017-05-31 | The control method of remotely-piloted vehicle heading |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108974353A true CN108974353A (en) | 2018-12-11 |
Family
ID=64501211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710397024.9A Pending CN108974353A (en) | 2017-05-31 | 2017-05-31 | The control method of remotely-piloted vehicle heading |
Country Status (1)
| Country | Link |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874406A (en) * | 2012-09-28 | 2013-01-16 | 唐粮 | Crossed type dual-rotor unmanned helicopter |
| US20130183183A1 (en) * | 2012-01-12 | 2013-07-18 | Manousos Pattakos | Rotary engine |
| CN204056293U (en) * | 2014-08-05 | 2014-12-31 | 杨克伟 | Longitudinal staggered form DCB Specimen depopulated helicopter |
| CN106585975A (en) * | 2017-01-22 | 2017-04-26 | 云南集优科技有限公司 | Compact unmanned aerial vehicle |
-
2017
- 2017-05-31 CN CN201710397024.9A patent/CN108974353A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130183183A1 (en) * | 2012-01-12 | 2013-07-18 | Manousos Pattakos | Rotary engine |
| CN102874406A (en) * | 2012-09-28 | 2013-01-16 | 唐粮 | Crossed type dual-rotor unmanned helicopter |
| CN204056293U (en) * | 2014-08-05 | 2014-12-31 | 杨克伟 | Longitudinal staggered form DCB Specimen depopulated helicopter |
| CN106585975A (en) * | 2017-01-22 | 2017-04-26 | 云南集优科技有限公司 | Compact unmanned aerial vehicle |
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Application publication date: 20181211 |