CN109455295A - Rotor control device and rotor craft - Google Patents
Rotor control device and rotor craft Download PDFInfo
- Publication number
- CN109455295A CN109455295A CN201811321566.9A CN201811321566A CN109455295A CN 109455295 A CN109455295 A CN 109455295A CN 201811321566 A CN201811321566 A CN 201811321566A CN 109455295 A CN109455295 A CN 109455295A
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- motor
- rotor
- propeller
- transmission gear
- driving member
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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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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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Toys (AREA)
Abstract
The present invention relates to rotor craft technical fields, provide a kind of rotor control device, including fixed link；Power output component；Rotor assemblies；Power transfer assembly；Wherein, the first motor and the second motor that power output component includes, the periodic rotary relative position that the two generates, which changes, is transferred to rotor assemblies through power transfer assembly so that rotor assemblies generating period pitch changes；Wherein, the pitch of rotor assemblies is controlled by the rotation relative position variation of first motor and the generation of the second motor to change to realize to aircraft manufacturing technology.The present invention also provides a kind of rotor crafts including above-mentioned rotor control device.Rotor craft with above-mentioned rotor control device has pneumatic efficiency high, realizes that the structure of full gesture stability is simple and maintenance cost is low.
Description
Technical field
The invention belongs to rotor craft technical fields, are to be related to a kind of rotor control device more specifically.
Background technique
Miniature rotor craft is chiefly used in consumer level individual and takes photo by plane in recent years, and small-sized rotor craft is chiefly used in agricultural pesticide
Sprinkling, police and military scouting, this kind of aircraft majority use more rotor aerodynamic arrangements, and minority (is commonly gone straight up to using single rotor
Machine) or DCB Specimen (coaxial double-oar aircraft) aerodynamic arrangement.
It is capable of the common aerodynamic arrangement's scheme of rotor craft of hovering flight at present there are three types of scheme, the first: more rotations
Wing scheme, this mode at least need the propeller of 3 or 3 or more independent controls.The program is by controlling each spiral shell
The revolving speed of paddle is revolved to control the posture of aircraft；Second: single rotor (pure helicopter) scheme, including a main rotor and one
A empennage for being used to offset main rotor torque.The program drives the pitch of main rotor to fill by being more than or equal to 2 Servo-controllers
It sets to control the posture of aircraft；The third: there are coaxial cloth up and down in DCB Specimen (coaxial double-oar aircraft) scheme, the aerodynamic arrangement
Two propellers set.Up and down by the pitch or lower layer's pitch at least two Servo-controller driving upper layer or driving simultaneously
Two layers of inclination disc mechanism controls the flight attitude of aircraft.
Above-mentioned three kinds of schemes are respectively provided with following disadvantage:
The first, the shortcomings that more rotor schemes, is, due to replacing one with multiple small propellers under comparable size rank
Big rotor, therefore its pneumatic efficiency is lower, this directly results in the continuous of the multi-rotor aerocraft of same order or power configuration
ETS estimated time of sailing is not so good as traditional helicopter, and thus further bring is the disadvantage is that small propeller needs ability higher than big rotor revolving speed
Same lift can be reached, revolving speed is higher, and to represent noise bigger.Also, this aircraft is by continually adjusting each propeller
Revolving speed control the posture of aircraft, motor driven propeller frequently accelerates or brakes to result in the waste of energy.Separately
Outside when this kind of aircraft size increase when, if you need to it is manned situations such as, the inertia of propeller is excessive, and it is fast to be unfavorable for direct driving motor
The revolving speed of the adjustment propeller of speed, this causes the controllability of aircraft and flight stability to substantially reduce.
Second: the shortcomings that single rotor scheme is that there are two propellers for program tool, one of them is main rotor, another
A is tail rotor, and the rotary shaft of tail rotor is vertical with main rotor, and tail rotor offsets main rotation by changing revolving speed or changing pitch
The torque of the wing and the yaw for controlling aircraft simultaneously；It is equipped with the inclination dish structure controlled by servomechanism installation below main rotor, leads to
The inclination dish structure is crossed periodically to control the pitch of main rotor and realize in two freedom degrees of aircraft pitching and roll
Control, wherein servomechanism installation needs to realize function by least two servo motors.Majority inclination dish structure uses connecting rod
Structure realizes that its structure is complex, and the servo motor price to drive incline disk is also costly.Therefore, this kind of to fly
The manufacturing cost of row device is high, is easily damaged when rotor collides and tilts dish structure and servo motor, after pitch structural failure
Compare and is difficult to repair；In addition it tilts dish structure and servo motor occupies the biggish space of fuselage, while also increasing weight.Tail
The support rod of propeller can be exposed under the downwash flow of propeller, this is but also its lift for having lost a part.
The third: there are two main screw, the coaxial rotation of two propellers and direction of rotation phases for coaxial double-oar flying instrument
Instead.This coaxial double-oar aircraft is equipped with inclination dish structure below propeller, which is controlled by servomechanism installation, leads to
The pitch of the control of the pitch structural periodicity one or two propeller is crossed to realize to aircraft pitching and roll two
The control of freedom degree controls the yaw of aircraft by adjusting the rotational speed difference of two propellers, by adjusting two propellers
Mean speed or pitch come control lift size so that control aircraft flying height.Although this aircraft has used altogether
The double paddles of axis simultaneously improve flight efficiency, but the pitching of aircraft and roll gesture stability are needed by least two servo motors
It is realized with inclination dish structure, Servo-controller often higher cost and include complicated gear deceleration group identical as second scheme,
It is unfavorable for being mass produced and reducing cost.Simultaneously this second and machine of the third aircraft relative to multi-rotor aerocraft complexity
Tool structure also brings inconvenience for aircraft daily maintenance.
For the control mode of above-mentioned various traditional rotor aircraft, multi-rotor aerocraft at least needs 3 motor ability
Realize the control to aircraft, and its cruise duration is short, noise is big and pneumatic efficiency is low；Single rotor and double-rotor aerobat are not only
The motor for needing that its main rotor is driven to rotate, but also need pitch and at least two servo motors that could complete posture control
System, and its structure is complex, manufacturing cost is high.
Summary of the invention
The purpose of the present invention is to provide a kind of rotor control devices, to solve pneumatic efficiency existing in the prior art
The problem of difference, structure is complicated.
To achieve the above object, the technical solution adopted by the present invention is that a kind of rotor control device, including fixed link；
Power output component, the second motor including first motor and with first motor coaxial arrangement, described first
Motor coaxle and it is rotatably dispose in the fixed link, second motor coaxle is set to the fixed link；
Rotor assemblies, can be described around the first motor, the center axis thereof of second motor and the fixed link
Rotor assemblies include the first propeller and the second propeller for being correspondingly arranged with first propeller；
Power transfer assembly is connected between the power output component and the rotor assemblies；
Wherein, the first motor and second motor can relatively rotate, and the periodic rotary that the two generates is with respect to position
It sets variation and is transferred to the rotor assemblies so that the rotor assemblies generating period pitch changes through the power transfer assembly.
Further, the power transfer assembly includes the first driving member for being set to the first motor, is set to institute
State the second motor the second driving member and be set to first propeller and drive first propeller based on itself
First Passive part of axis rotation, first driving member and second driving member is connect with first Passive part and band
First Passive part is moved to be rotated based on the axis of itself so that the pitch of first propeller changes.
Further, first driving member includes the first transmission gear, and the first motor drives first transmission
For gear around the center axis thereof of the first motor, second driving member includes the second transmission gear, second motor
Drive second transmission gear around the center axis thereof of the first motor, first Passive part includes the first passive tooth
Wheel, first transmission gear and second transmission gear are engaged with first driven gear respectively, first transmission
Relative rotation between gear and second transmission gear is so that the central axis based on itself occurs for first driven gear
Line rotates.
Further, first driving member includes the first transmission gear, and the first motor drives first transmission
For gear around the center axis thereof of the first motor, first Passive part includes the first driven gear, second transmission
Part includes the first drive rod that be connected to first driven gear and the center axis thereof based on second motor,
First drive rod is inserted in the centre bore of first driven gear, first transmission gear and first passive tooth
Wheel engagement, first drive rod drive the first passive tooth crop rotation axially to rotate.
Further, the first motor is set to the top of second motor, and the power output component further includes
Third motor, the third motor be set to the lower section of second motor and with the first motor, second motor
It is coaxially disposed with the fixed link, the third motor is rotatably dispose in the fixed link；
Wherein, second motor and the third motor can relatively rotate, and the periodic rotary that the two generates is with respect to position
It sets variation and is transferred to second propeller so that the second propeller generating period paddle through the power transfer assembly
Away from variation；
Wherein, it is realized by the pitch of the pitch of superposition first propeller and second propeller to aircraft
The control of total pitch.
Further, the power transfer assembly further includes being set on second motor and the second driving member phase
To the third driving member of setting, it is set to the 4th driving member of the third motor and is set to second propeller and band
Move the second Passive part that second propeller is rotated based on the axis of itself, the third driving member and the 4th driving member
It is connect with second Passive part and second Passive part is driven to be rotated based on the axis of itself so that described second
The pitch of propeller changes；
Further, the third driving member includes the second drive rod, and second motor drives second drive rod
Around the center axis thereof of second motor, second Passive part includes the second driven gear, and second drive rod is inserted
Enter the centre bore of second driven gear to drive the second driven gear around the center axis thereof of the second motor, described
Four driving members include the 4th transmission gear, and the 4th transmission gear is engaged with second driven gear, second transmission
Bar and the 4th transmission gear drive the second passive tooth crop rotation axially to rotate.
Further, the first motor, second motor and the third motor are separately provided for detection rotation
The position detecting device of wing module position and position command for being detected according to the position detecting device generate control instruction
Driving motor reaches the control device of required relative position or revolving speed.
Further, the position detecting device includes hall position sensor, photoelectric code disk or passive position detection dress
It sets.
Another object of the present invention is to provide a kind of rotor crafts, including above-mentioned rotor control device.
The beneficial effect of rotor control device and rotor craft provided by the invention is:
Reach adjustment flight by the different rotating speeds between multiple rotor assemblies compared to existing multi-rotor aerocraft
The posture of device, the present invention are pitch freedom, roll freedom degree and the liter that can reach adjustment aircraft using a rotor assemblies
The control of drop, the aircraft under comparable size, pneumatic efficiency of the invention is high, the aircraft in the case where reaching same power, this
The revolving speed of invention is low, and noise is small；In addition, changing entire rotor assemblies using pitch compared to existing single rotor aircraft
The angle of attack and pitch, the present invention using two coaxial arrangement first motors and the second motor, pass through first motor and second electricity
The rotational speed difference of machine is to realize that periodic rotation relative position variation between the two periodically becomes to control rotor assemblies pitch
Change.Mechanical structure is simplified, while also eliminating servomechanism installation as steering engine, rotation is realized by completely new controlling mechanism
The full gesture stability of rotor aircraft.
Rotor craft with above-mentioned rotor control device has pneumatic efficiency high, realizes the structure letter of full gesture stability
List and maintenance cost is low.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram for the rotor control device that first embodiment of the invention provides；
Fig. 2 is the enlarged drawing at Fig. 1 " A "；
Fig. 3 is the stereochemical structure explosive view of Fig. 2；
Fig. 4 is the revolving speed of the first motor that first embodiment of the invention provides and the second motor and the relational graph at phase angle；
Fig. 5 is the relational graph of the first blade that first embodiment of the invention provides and the second blade and phase angle；
Fig. 6 is the right view for the rotor control device that first embodiment of the invention provides；
Fig. 7 is the three-dimensional structure diagram for the rotor control device that second embodiment of the invention and 3rd embodiment provide；
Fig. 8 is the enlarged drawing at Fig. 7 " B "；
Fig. 9 is the stereoscopic mechanism explosive view of Fig. 8；
Figure 10 is the first motor of third embodiment of the invention offer, the revolving speed of the second motor and third motor and phase angle
Relational graph；
Figure 11 is the relational graph of total pitch that third embodiment of the invention provides and two motor angles；
Figure 12 is the right view for the rotor control device that 3rd embodiment provided in an embodiment of the present invention provides.
Each appended drawing reference in figure are as follows:
| Fixed link | 1 | First driven gear | 431 | Pivoting end | 4223 |
| Power output component | 2 | Connector | 33 | Third motor | 23 |
| First motor | 21 | Rotate frame | 34 | Third driving member | 44 |
| Second motor | 22 | First connector | 311 | 4th driving member | 45 |
| Rotor assemblies | 3 | First blade | 312 | Second Passive part | 46 |
| First propeller | 31 | Second connector | 321 | Second drive rod | 441 |
| Second propeller | 32 | Second blade | 322 | Second driven gear | 461 |
| Power transfer assembly | 4 | 5th transmission gear | 401 | 4th transmission gear | 451 |
| First driving member | 41 | 6th transmission gear | 402 | ||
| Second driving member | 42 | Third driven gear | 403 | ||
| First Passive part | 43 | First drive rod | 422 | ||
| First transmission gear | 411 | It is driven bar body | 4221 | ||
| Second transmission gear | 421 | Connect end | 4222 |
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
It should be noted that be referred to as " being fixed on " or " being set to " another element when element, it can be located immediately at
It is located on another element on another element or indirectly.When an element referred to as " is connected to " another element, it can
To be connected directly or indirectly to another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of the description present invention, rather than instruction device or element must have a particular orientation, with specific orientation
Construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, and should not be understood as indicating relative importance or instruction
The quantity of technical characteristic.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise clearly specific
Restriction.Specific implementation of the invention is further described in more detail below in conjunction with specific embodiment:
Fig. 1 to Figure 12 shows a kind of rotor control device provided in an embodiment of the present invention.
Such as a kind of rotor control device that Fig. 1 and Fig. 2, first embodiment of the invention are provided, including fixed link 1；
Power output component 2, including first motor 21 and the second motor 22 being coaxially disposed with first motor 21, the first electricity
Machine 21 is coaxial and is rotatably dispose in fixed link 1, and the second motor 22 is coaxially disposed in fixed link 1, and the second motor 22 is set to the
The lower section of one motor 21；
Rotor assemblies 3, can be around first motor 21, the center axis thereof of the second motor 22 and fixed link 1, rotor assemblies 3
Including the first propeller 31 and the second propeller 32 being correspondingly arranged with the first propeller 31；
Power transfer assembly 4, including being set to the first driving member 41 of first motor 21, being set to the of the second motor 22
Two driving members 42 and the first quilt for being set to the first propeller 31 and the first propeller 31 being driven to rotate based on the axis of itself
Moving part 43, the first driving member 41 and the second driving member 42 connect with the first Passive part 43 and the first Passive part 43 are driven to be based on certainly
The axis of body rotates so that the pitch of the first propeller 31 changes；
Wherein, both first motor 21 and the second motor 22 can produce the variation of periodic rotary relative position, drive first
The axial rotation of 43 generating period of Passive part, and then the first propeller 31 is driven to rotate based on own torque, generating period
Pitch variation, to realize the control to aircraft pitching, roll freedom degree and lifting.
Specifically, the periodic rotation relative position variation that first motor 21 and the second motor 22 generate is transmitted through power
Component 4 is transferred to the first propeller 31, is realized by controlling the pitch generating period variation of the first propeller 31 to flight
The control of device pitching and roll freedom degree；
Specifically, changed by the rotation relative position that first motor 21 and the second motor 22 generate to control the first spiral
The pitch of paddle 31 changes to realize to aircraft elevating control.
The working principle of rotor control device provided in this embodiment is as follows:
Power output component 2 includes the first motor 21 and the second motor 22 of two coaxial arrangements, when 21 He of first motor
Second motor 22 at the same speed rotation when, the pitch for the rotor assemblies 3 being connect with power output component 2 by power transfer assembly 4 is not
It changes；When generating rotational speed difference between first motor 21 and the second motor 22, first motor 21 and the second motor 22 occur to turn
When dynamic relative position variation, the pitch of rotor assemblies 3 changes therewith, when rotation relative position variation becomes to be periodic
When change, the variation of the pitch of rotor assemblies 3 generating period therewith, above-mentioned principle is exactly that the present embodiment can replace existing go straight up to
The reason of machine is for adjusting the pitch of the angle of attack and pitch.
Rotor control device in the embodiment can be used on single rotor aircraft, it can also be used to the aircraft of coaxial double-oar
On, when the main rotor for controlling single rotor aircraft, need separately to set an empennage to offset the rotation torque of main rotor, when
When for controlling one of main rotor of coaxial double-oar, then need separately to set the coaxial pair being arranged and direction of rotation is opposite
Rotor offsets the rotation torque of main rotor.
The beneficial effect of rotor control device provided in this embodiment is:
Reach adjustment flight by the different rotating speeds between multiple rotor assemblies compared to existing multi-rotor aerocraft
The posture of device, the present invention are pitch freedom, roll freedom degree and the liter that can reach adjustment aircraft using a rotor assemblies 3
The control of drop, the aircraft under comparable size, pneumatic efficiency of the invention is high, the aircraft in the case where reaching same power, this
The revolving speed of invention is low, and noise is small；In addition, changing entire rotor assemblies using pitch compared to existing single rotor aircraft
3 angle of attack and pitch, the present invention pass through 21 He of first motor using the first motor 21 and the second motor 22 of two coaxial arrangements
The rotational speed difference of second motor 22 controls 3 pitch of rotor assemblies to realize periodic rotation relative position variation between the two
The pitch variation of rotor assemblies 3 is realized in cyclically-varying by the relative position of first motor 21 and the second motor 22.It is i.e. simple
Mechanical structure is changed, while having also eliminated servomechanism installation as steering engine, rotor flying is realized by completely new controlling mechanism
The full gesture stability of device.
Specifically, the second motor 22 is rotatably dispose in fixed link 1, and the first driving member 41 includes the first transmission gear 411, the
One motor 21 drives the first transmission gear 411 around the center axis thereof of first motor 21, and the second driving member 42 includes the second biography
Moving gear 421, the second motor 22 drive center axis thereof of second transmission gear 421 around first motor 21, the first Passive part
43 include the first driven gear 431, and the first transmission gear 411 and the second transmission gear 421 are nibbled with the first driven gear 431 respectively
It closes, the first driven gear 431 occurs for the relative rotation angle between the first transmission gear 411 and the second transmission gear 421
Central axis based on itself rotates.
Refinement ground, rotor assemblies 3 further include be rotatably dispose in fixed link 1 be located at first motor 21 and the second motor 22 it
Between connector 33, the rotation axis of connector 33 is overlapped with the central axis of fixed link 1, and rotor assemblies 3 further include and connector
33 connections and the rotation frame 34 that can be rotated with opposing connector 33, rotate the rotation axis of frame 34 perpendicular to fixed link 1
Central axis, rotation frame 34 is for being fixedly connected with the first propeller 31 and the second propeller 32.Above structure illustrates to rotate
Frame 34 both vertically the central axis of fixed link 1 can also be made axially to rotate around the center axis thereof of fixed link 1.
Refinement ground, please refer to Fig. 2 and Fig. 3, the first propeller 31 includes the first connector 311 and is fixedly installed on the
The first blade 312 on one connector 311, the rotation axis of the first connector 311 and the rotation axis of the first blade 312 are coaxial, the
One connector 311 is fixed on the first driven gear 431, the rotation axis of the first connector 311 and the first driven gear 431 from
Moving axis of walking around is coaxial.The second leaf that second propeller 32 connector 321 and be fixedly installed on the second connector 321 including second
Piece 322, the rotation axis of the second connector 321 and the rotation rotation axis of the second blade 322 are coaxial, the first connector 311 and second
Connector 321 is connected to rotation frame 34, that is, the first connector 311 and the second connector 321 are coaxial, 311 quilt of the first connector
Occur to rotate based on the rotation axis of itself by rotation the second connector 321 of drive of frame 34 after driving rotation.
Further, power transfer assembly 4 further includes the 5th transmission gear for being set to the lower end surface of first motor 21
401, for being set to the 6th transmission gear 402 of the upper surface of the second motor 22 and being rotatably dispose on the second connector 321
Three driven gears 403, the 5th transmission gear 401 are oppositely arranged with the first transmission gear 411, and the fixation of the first transmission gear 411 is set
It is placed on rotation frame 34, the 6th transmission gear 402 is oppositely arranged with the second transmission gear 421, the 5th transmission gear 401 and the
Six transmission gears 402 are engaged in respectively on the third driven gear 403.5th transmission gear 401 and the 6th transmission gear 402
Drive third driven gear 403 around itself center axis thereof, but third driven gear 403 with 321 turns of the second connector
Dynamic connection, is not fixedly connected, and third driven gear 403 drive the second connector 321 to turn around the central axis of fixed link 1
Dynamic, without driving the second connector 321 around the center axis thereof of its own, i.e. the axial rotation of the second connector 321 relies on
First connector 311 drives, and therefore, when 312 angle of attack of the first blade becomes positive value, the angle of attack of the second blade 322 is negative value.
When the pitch of first blade 312 and the second blade 322 changes, the cooperation of each structure is as follows:
First blade 312, the first connector 311, the rotation for rotating frame 34, the second connector 321 and the second blade 322
Axis is coaxial, and the first transmission gear 411 engages the first driven gear 431 with the second transmission gear 421 respectively, by the first driving cog
The relative rotation differential seat angle of wheel 411 and the second transmission gear 421, so that axial rotation occurs for the first driven gear 431, and then makes
Angle of attack variation occurs with the first blade 312 of the first driven gear 431 fixed setting, and the first driven gear 431 is by rotation
Frame 34 is connected on the second connector 321, and the rotation of the first driven gear 431 drives the second connector 321 passive in third
The centre bore of gear 403 rotates, and then drives the second blade 322 that axial rotate occurs and angle of attack variation occurs.
Such as Fig. 4, the speed curves of first motor 21 and the second motor 22 at work.
It is the working principle of the 3 periodically-varied pitch of rotor assemblies of first embodiment such as Fig. 5 and Fig. 6:
When the aircraft equipped with this rotor driver needs pitch control torque, with the folder of the first blade 312 and X-axis
Angle is phase angle, and the first blade 312 and the second blade 322 in Fig. 5 are located at initial position, i.e. the first blade 312 is attached positioned at 0 degree
Closely, the second blade 322 is located near 180 degree, when first motor 21 and the second motor 22 rotate clockwise simultaneously, drives the first leaf
Piece 312, the second blade 322 rotate clockwise and the pneumatic angle of attack difference of the first blade 312 and the second blade 322 is 0, when the first leaf
When piece 312 is rotated clockwise close to 90 degree, first motor 21 is slowed down and the second motor 22 accelerates, at this time the first blade 312 at
The just pneumatic angle of attack, the second blade 322 generate upward lift at the angrily dynamic angle of attack, the first blade 312, and the second blade 322 generates
Downward negative lift.And then a yawing for making aircraft vert to heading is generated, when the first blade 312 turns over 90
When spending, first motor 21 accelerates the second motor 22 to slow down, and makes the first blade 312, the pneumatic angle of attack of the second blade 322 is returned again
Zero.When the first blade 312 is rotated clockwise close to 270 degree, first motor 21 accelerates, and the second motor 22 slows down, and makes the
One blade 312 is negative the pneumatic angle of attack, and the second blade 322 is positive the pneumatic angle of attack, and the first blade 312 generates negative lift, the second blade
322 generate upward lift.And then aircraft generates a forward deflection torque.When the first blade 312 turns over 270 degree
It waits, first motor 21 is slowed down, and the acceleration of the second motor 22 makes the first blade 312, and the pneumatic angle of attack difference of the second blade 322 is returned again
Zero.And then complete the operating control period an of aircraft.It is above-mentioned to carry out pitching flight adjustment for aircraft, similarly, in phase
Parallactic angle is 0 degree of roll that aircraft can be completed with the pneumatic angle of attack for controlling the first blade 312 and the second blade 322 when 180 degree
Flight adjustment.
Although it is to be noted that in the present embodiment the first blade 312 or the second blade 322 itself generate it is pneumatic
Torque is completely forward, but since high-speed rotating rotor has certain gyroscopic procession effect, is ultimately applied to fly
Deflection torque on row device can pneumatically have certain differential seat angle with actual, which can exist according to different aircraft situations
It is corrected in flight-control computer, for example the control moment actually generated lags 90 degree of aerodynamic moment, i.e., mentions in flying control
Preceding 90 degree of phase angles control posture.
Further, the first transmission gear 411 is set to the eccentric position of the lower end surface of first motor 21, the second driving cog
Wheel 421 is set to the eccentric position of the upper surface of the second motor 22.
Such as a kind of rotor control device that Fig. 7 and Fig. 8, second embodiment of the invention are provided, it is different from the first embodiment it
It being in the lower end of, the second motor 22 rotation setting fixed link 1, the first driving member 41 includes the first transmission gear 411, and first
Motor 21 drives the first transmission gear 411 around the center axis thereof of first motor 21, and the first Passive part 43 includes first passive
Gear 431, the second driving member 42 include be connected to the first driven gear 431 and based on the central axis of the second motor 22 turn
The first dynamic drive rod 422, the first drive rod 422 are inserted in the centre bore of the first driven gear 431, the first transmission gear 411
It engages with the first driven gear 431, is driven in the case where being rotatablely connected with the first drive rod 422 by the first transmission gear 411
First driven gear 431 makees axial rotation.
Specifically, the first transmission gear 411 is set to the eccentric position of the lower end surface of first motor 21, the second transmission gear
421 are set to the side of the second motor 22.It is real by the first drive rod 422 replacement first for being set to the side of the second motor 22
The second transmission gear 421 that example is set to 22 upper surface of the second motor is applied, first motor 21 and the second electricity can be further reduced
The distance between machine 22 further compresses the volume of rotor control device, and the space under saving can further increase motor
Quantity improves the integrated level of rotor control device.
Refinement ground, the first drive rod 422 include transmission bar body 4221, are set to transmission 4221 one end of bar body and solid
Surely it is set to the connection end 4222 of the side of the second motor 22 and is set to the pivoting end of transmission 4221 other end of bar body
4223, the first driven gear 431 is rotationally connected on pivoting end 4223.
Referring to Fig. 9, a kind of rotor control device that third embodiment of the invention provides is different from second embodiment
Place is, power output component 2 further includes third motor 23, third motor 23 be set to the lower section of the second motor 22 and with
First motor 21, the second motor 22 and fixed link 1 are coaxially disposed, and third motor 23 is rotatably dispose in fixed link 1；
Power transfer assembly 4 further includes being set to the third transmission being oppositely arranged on the second motor 22 with the second driving member 42
Part 44, the 4th driving member 45 for being set to third motor 23 and be set to the second propeller 32 and drive 32 base of the second propeller
In the second Passive part 46 that the axis of itself rotates, third driving member 44 and the 4th driving member 45 connect with the second Passive part 46 respectively
It connects and drives the second Passive part 46 to rotate based on the axis of itself so that the pitch of the second propeller 32 changes；
Wherein, the second motor 22 and third motor 23 can relatively rotate, and drive the rotation of the second Passive part 46, and then drive the
Two propellers 32 are rotated based on own torque, to realize the control to aircraft pitching, roll freedom degree and lifting.
Specifically, the periodic rotary relative position that the second motor 22 and third motor 23 generate changes and transmits through power
Component 4 is transferred to the second propeller 32, controls the cyclically-varying of the pitch of the second propeller 32 to realize to aircraft pitching
With the control of roll freedom degree；
Wherein, it is realized by the pitch of the pitch of the first propeller 31 of superposition and the second propeller 32 to the total paddle of aircraft
Away from control.
Further, third driving member 44 include the second drive rod 441, the second motor 22 drive the second drive rod 441 around
The center axis thereof of second motor 22, the second Passive part 46 include the second driven gear 461, and the second drive rod 441 is inserted in
The centre bore of second driven gear 461 is to drive the second driven gear 461 to pass around the center axis thereof of the second motor 22, the 4th
Moving part 45 includes the 4th transmission gear 451, and the 4th transmission gear 451 is engaged with the second driven gear 461, the second drive rod 441
The second driven gear 461 is driven to make axial rotation with the 4th transmission gear 451.
Such as Figure 10, first motor 21, the speed curves of the second motor 22 and third motor 23 at work.
The following are the working principles of the 3 periodically-varied pitch of rotor assemblies of 3rd embodiment:
When the aircraft equipped with this rotor driver needs pitch control torque.With the folder of the first blade 312 and X-axis
Angle is phase angle, when first motor 21, the second motor 22 and third motor 23 rotate clockwise simultaneously, drives the first blade 312,
Second blade 322 rotates clockwise, at this time the first blade 312, and the pneumatic angle of attack difference of the second blade 322 is 0, at this time the second motor
22 have same angular speed with first motor 21 and third motor 23, and opposing stationary.When the first blade 312 rotates clockwise
When close to 90 degree, first motor 21 and third motor 23 second motor 22 that slows down simultaneously accelerate, and the first blade 312 is at healthy tendency at this time
Dynamic the second blade of angle of attack blade 322 generates upward lift at the angrily dynamic angle of attack, the first blade 312, and the second blade of blade 322 produces
Raw downward negative lift.And then a yawing for making aircraft vert to heading is generated, when the first blade 312 turns over
At 90 degree, first motor 21 and third motor 23 accelerate the second motor 22 to slow down, and make the first blade 312, the gas of the second blade 322
Dynamic angle of attack difference is zeroed again.When operating is close to 270 degree clockwise for the first blade 312, first motor 21 and third motor
23 accelerate, and the second motor 22 slows down, and the first blade 312 is made to be negative the pneumatic angle of attack, and the second blade of blade 322 is positive the pneumatic angle of attack,
First blade 312 generates negative lift, and the second blade 322 generates upward lift.And then aircraft generates a forward deflection
Torque.When the first blade 312 turns over 270 degree, first motor 21 and deceleration the second motor 22 acceleration of third motor 23 make
The pneumatic angle of attack difference of first blade 312, the second blade 322 is zeroed again.And then complete an operating control period.
Such as Figure 11 and Figure 12, in above-mentioned control process, the relative angular difference and of first motor 21 and the second motor 22
The relative angular difference of two motors 22 and third motor 23 can independent independent control, that is, adjusts while periodically adjusting the angle of attack
Total pitch.
In three embodiments, first motor 21, the second motor 22 and third motor 23 are separately provided for detection rotation
The position detecting device of 3 position of wing component and position command for being detected according to position detecting device generate control instruction driving
Motor reaches the control device of required relative position or revolving speed.
Further, first motor 21, the second motor 22 and third motor 23 with for adjusting the dynamic of 3 angle of rotor assemblies
Force transfer unit 4 can be rigid connection or flexible connection.
Further, first motor 21, the electric current loop of the second motor 22 and third motor 23, torque ring, speed ring and position
It is controllable to set the equal closed loop of ring.Closed loop is controllably also named closed-loop control, i.e., according to control object output feedback come corrected controlling party
Formula, it is to be corrected when measuring reality and plan is deviated by quota or standard.Closed-loop control, from output
Amount variation takes out control signal as comparative quantity and feeds back to input terminal control input quantity, this general withdrawal amount and input quantity phase
On the contrary, automatically controlling is usually closed-loop control so being negative feedback control.In the present embodiment, electric current loop refers to that electric current is anti-
The method that output electric current is accessed processing links by feedback system by the way of positive feedback or negative-feedback, passes through and improves the steady of electric current
It is qualitative to improve the performance of system.Similarly, torque ring, speed ring and position ring are used to improve the performance of system.
Another object of the present invention is to provide a kind of rotor crafts, including above-mentioned rotor control device.
Rotor craft with above-mentioned rotor control device has pneumatic efficiency high, realizes the structure letter of full gesture stability
List and maintenance cost is low.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of rotor control device, it is characterised in that: including fixed link；
Power output component, the second motor including first motor and with first motor coaxial arrangement, the first motor
Coaxially and it is rotatably dispose in the fixed link, second motor coaxle is set to the fixed link；
Rotor assemblies, can be around the first motor, the center axis thereof of second motor and the fixed link, the rotor
Component includes the first propeller and the second propeller for being correspondingly arranged with first propeller；
Power transfer assembly is connected between the power output component and the rotor assemblies；
Wherein, the first motor and second motor can relatively rotate, and the periodic rotary relative position that the two generates becomes
Change and is transferred to the rotor assemblies through the power transfer assembly so that the rotor assemblies generating period pitch changes.
2. rotor control device as described in claim 1, it is characterised in that: the power transfer assembly is described including being set to
First driving member of first motor, the second driving member for being set to second motor and be set to first propeller and
The first Passive part for driving first propeller to rotate based on the axis of itself, first driving member and second transmission
Part is connect with first Passive part and drives first Passive part to be rotated based on the axis of itself so that described
The pitch of one propeller changes.
3. rotor control device as claimed in claim 2, it is characterised in that: first driving member includes the first driving cog
Wheel, the first motor drive first transmission gear around the center axis thereof of the first motor, second transmission
Part includes the second transmission gear, and second motor drives second transmission gear to turn around the central axis of the first motor
Dynamic, first Passive part includes the first driven gear, first transmission gear and second transmission gear respectively with institute
The engagement of the first driven gear is stated, relative rotation between first transmission gear and second transmission gear is so that described the
One driven gear occurs to rotate based on the central axis of itself.
4. rotor control device as claimed in claim 2, it is characterised in that: first driving member includes the first driving cog
Wheel, the first motor drive first transmission gear passive around the center axis thereof of the first motor, described first
Part includes the first driven gear, second driving member include be connected to first driven gear and based on described second
First drive rod of the center axis thereof of motor, first drive rod are inserted in the centre bore of first driven gear,
First transmission gear is engaged with first driven gear, and first drive rod drives the first passive tooth crop rotation axis
To rotation.
5. such as claim 1,2 or 4 described in any item rotor control devices, it is characterised in that: the first motor is set to
The top of second motor, the power output component further include third motor, and the third motor is set to described second
The lower section of motor and with the first motor, second motor and the fixed link be coaxially disposed, the third motor turn
It is dynamic to be set in the fixed link；
Wherein, second motor and the third motor can relatively rotate, and the periodic rotary relative position that the two generates becomes
Change and is transferred to second propeller through the power transfer assembly so that the second propeller generating period pitch becomes
Change；
Wherein, it is realized by the pitch of the pitch of superposition first propeller and second propeller to the total paddle of aircraft
Away from control.
6. rotor control device as claimed in claim 5, it is characterised in that: the power transfer assembly further includes being set to institute
The 4th transmission stated the third driving member being oppositely arranged on the second motor with second driving member, be set to the third motor
Part and the second Passive part for being set to second propeller and second propeller being driven to rotate based on the axis of itself,
The third driving member and the 4th driving member connect with second Passive part and second Passive part are driven to be based on
The axis of itself rotates so that the pitch of second propeller changes.
7. rotor control device as claimed in claim 6, it is characterised in that: the third driving member includes the second drive rod,
Second motor drives second drive rod around the center axis thereof of second motor, and second Passive part includes
Second driven gear, second drive rod be inserted in the centre bore of second driven gear with drive the second driven gear around
The center axis thereof of second motor, the 4th driving member include the 4th transmission gear, the 4th transmission gear with it is described
The engagement of second driven gear, second drive rod and the 4th transmission gear drive the second passive tooth crop rotation axially to turn
It is dynamic.
8. rotor control device as claimed in claim 7, it is characterised in that: the first motor, second motor and institute
It states third motor and is separately provided for the position detecting device of detection rotor assemblies position and for according to the position detection
The position command of device detection generates the control device that control instruction driving motor reaches required relative position or revolving speed.
9. rotor control device as claimed in claim 8, it is characterised in that: the position detecting device includes that hall position passes
Sensor, photoelectric code disk or passive position detection device.
10. a kind of rotor craft, it is characterised in that: including the described in any item rotor control devices of such as claim 1-9.
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| CN201811321566.9A CN109455295B (en) | 2018-11-07 | 2018-11-07 | Rotor control device and rotor craft |
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|---|---|---|---|
| CN201811321566.9A CN109455295B (en) | 2018-11-07 | 2018-11-07 | Rotor control device and rotor craft |
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| CN110127038A (en) * | 2019-05-27 | 2019-08-16 | 安徽卓尔航空科技有限公司 | A kind of propeller hub of adjustable-piston |
| CN111776208A (en) * | 2020-07-25 | 2020-10-16 | 陈维康 | Aircraft, rotor head assembly thereof and control method |
| CN115042959A (en) * | 2022-06-22 | 2022-09-13 | 亿航智能设备（广州）有限公司 | Electrically-controlled variable-pitch propeller, multi-axis aircraft and control method of multi-axis aircraft |
| CN115180139A (en) * | 2022-06-22 | 2022-10-14 | 亿航智能设备（广州）有限公司 | Rotor wing installation assembly, multi-rotor wing aircraft and control method of multi-rotor wing aircraft |
| CN115042959B (en) * | 2022-06-22 | 2024-10-25 | 亿航智能设备（广州）有限公司 | Electric control variable-pitch propeller, multi-axis aircraft and control method of multi-axis aircraft |
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| CN110127038A (en) * | 2019-05-27 | 2019-08-16 | 安徽卓尔航空科技有限公司 | A kind of propeller hub of adjustable-piston |
| CN111776208A (en) * | 2020-07-25 | 2020-10-16 | 陈维康 | Aircraft, rotor head assembly thereof and control method |
| CN111776208B (en) * | 2020-07-25 | 2021-11-23 | 陈维康 | Aircraft and rotor head assembly thereof |
| CN115042959A (en) * | 2022-06-22 | 2022-09-13 | 亿航智能设备（广州）有限公司 | Electrically-controlled variable-pitch propeller, multi-axis aircraft and control method of multi-axis aircraft |
| CN115180139A (en) * | 2022-06-22 | 2022-10-14 | 亿航智能设备（广州）有限公司 | Rotor wing installation assembly, multi-rotor wing aircraft and control method of multi-rotor wing aircraft |
| CN115042959B (en) * | 2022-06-22 | 2024-10-25 | 亿航智能设备（广州）有限公司 | Electric control variable-pitch propeller, multi-axis aircraft and control method of multi-axis aircraft |
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