CN109969388B - Control system for coaxial unmanned helicopter - Google Patents
Control system for coaxial unmanned helicopter Download PDFInfo
- Publication number
- CN109969388B CN109969388B CN201910319513.1A CN201910319513A CN109969388B CN 109969388 B CN109969388 B CN 109969388B CN 201910319513 A CN201910319513 A CN 201910319513A CN 109969388 B CN109969388 B CN 109969388B
- Authority
- CN
- China
- Prior art keywords
- course
- lower rotor
- automatic inclinator
- steering engine
- steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000011295 pitch Substances 0.000 claims description 76
- 230000002829 reductive effect Effects 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000002441 reversible effect Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000009699 differential effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a control system for a coaxial unmanned helicopter, which specifically comprises an upper rotor control system, a lower rotor control system, an upper rotor automatic inclinator connecting rod, a lower rotor automatic inclinator connecting rod and a course control system, wherein the upper rotor control system comprises an upper rotor automatic inclinator, an inner ring torque arm and an outer ring torque arm of the upper rotor automatic inclinator; the lower rotor wing control system comprises a lower rotor wing automatic inclinator, a total-pitch longitudinal and transverse steering engine control system and an inner ring and an outer ring torque arm of the lower rotor wing automatic inclinator; the upper rotor automatic inclinator connecting rod and the lower rotor automatic inclinator connecting rod connect an upper rotor automatic inclinator outer ring and a lower rotor automatic inclinator inner ring; the course steering system comprises a course steering slip ring system, a course pitch-changing rocker arm, a course steering engine steering system and a course stay bar. The invention not only ensures the collective pitch, longitudinal, transverse and heading manipulation of the helicopter, reduces the variation of lift force during the heading manipulation of the helicopter, but also reduces the processing difficulty and weight of the lower rotor wing automatic inclinator.
Description
Technical Field
The invention relates to the technical field of aircraft design, in particular to a control system for a coaxial unmanned helicopter.
Background
Compared with a single-rotor unmanned helicopter, the coaxial unmanned helicopter has the advantages of compact structure, high pneumatic efficiency and high hovering efficiency, and is an important layout form of the current small unmanned helicopter.
In order to realize course control, a traditional off-axis control system of the coaxial unmanned helicopter generally adopts a semi-differential structural form, namely, only the blade angle of a pair of rotors is controlled to change during course control, thereby changing the torque of the rotor shaft and realizing the course deflection of the coaxial helicopter. The structure has the advantages of simpler structure compared with the fully differential structure, and the defect that the lift force of the helicopter is changed during the course control, so that the coupling of the course deflection motion and the lifting motion of the helicopter is caused. The semi-differential structure mainly adopts a mode of controlling the blade angle of the lower rotor wing, so that the control of the variable pitch angle of the blade of the lower rotor wing is required to be realized on the basis of not interfering with the motion of the lower rotor wing automatic inclinator, the hollowed-out design of the lower rotor wing automatic inclinator is generally adopted at present, so that a course control mechanism can conveniently pass through the lower rotor wing automatic inclinator, and meanwhile, the lower rotor wing automatic inclinator is prevented from interfering with the course control mechanism in the longitudinal and transverse motion, but the structure of the lower rotor wing automatic inclinator is excessively complex and the size is excessively large.
Therefore, how to improve the structure of the existing small coaxial unmanned helicopter control system, ensure the collective pitch, longitudinal direction, transverse direction and course control of the helicopter, reduce the variation of lift force during the course control of the helicopter, and simultaneously reduce the processing difficulty and weight of the lower rotor automatic inclinator is a problem which needs to be solved by the person skilled in the art.
Disclosure of Invention
In order to overcome the technical defects, the invention provides a control system for a coaxial unmanned helicopter.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A steering system for a coaxial unmanned helicopter, the steering system being mounted on an upper rotor shaft, a lower rotor shaft and a fuselage of the helicopter, the steering system comprising an upper rotor steering system, a lower rotor steering system, an upper and lower rotor automatic tilter link, a heading steering system, wherein,
The upper rotor wing control system comprises an upper rotor wing automatic inclinator, an upper rotor wing automatic inclinator inner ring torque arm and an upper rotor wing automatic inclinator outer ring torque arm; the upper rotor automatic inclinator comprises an upper rotor automatic inclinator inner ring and an upper rotor automatic inclinator outer ring, and the upper rotor automatic inclinator inner ring and the upper rotor automatic inclinator outer ring are connected through a bearing; one end of a torque arm of the inner ring of the upper rotor automatic inclinator is connected with the inner ring of the upper rotor automatic inclinator, and the other end of the torque arm is fixed on the upper rotor shaft; one end of a torque arm of an outer ring of the upper rotor automatic inclinator is connected with the outer ring of the upper rotor automatic inclinator, and the other end of the torque arm is fixed on a lower rotor shaft;
The lower rotor wing control system comprises a lower rotor wing automatic inclinator, a lower rotor wing automatic inclinator inner ring torque arm, a lower rotor wing automatic inclinator outer ring torque arm and a total-distance longitudinal and transverse steering engine control system; the lower rotor automatic inclinator comprises a lower rotor automatic inclinator inner ring and a lower rotor automatic inclinator outer ring, and the lower rotor automatic inclinator inner ring and the lower rotor automatic inclinator outer ring are connected through a bearing; one end of a torque arm of the inner ring of the lower rotor automatic inclinator is connected with the inner ring of the lower rotor automatic inclinator, and the other end of the torque arm is fixed on the lower rotor shaft; one end of a torque arm of the outer ring of the lower rotor automatic inclinator is connected with the outer ring of the lower rotor automatic inclinator, and the other end of the torque arm is fixed on the machine body; the total-pitch longitudinal and transverse steering engine operating system comprises a comprehensive electric steering engine, a steering engine operating pull rod and a steering engine mounting support, wherein the comprehensive electric steering engine is mounted on the steering engine mounting support, the steering engine mounting support is fixed on the machine body, and the steering engine operating pull rod is driven by the comprehensive electric steering engine and is connected with an outer ring torque arm of the lower rotor automatic inclinator;
The upper rotor automatic inclinator connecting rod and the lower rotor automatic inclinator connecting rod connect the upper rotor automatic inclinator outer ring and the lower rotor automatic inclinator inner ring, so that the upper rotor automatic inclinator and the lower rotor automatic inclinator jointly generate consistent collective pitch, longitudinal and transverse movements;
The course steering system comprises a course steering slip ring system, a course pitch-changing rocker arm, a course steering engine steering system and a course stay bar, wherein,
The heading manipulation slip ring system includes: a course steering slip ring and a course slip ring outer ring torque arm; the course manipulation slip ring comprises a course manipulation slip ring inner ring and a course manipulation slip ring outer ring; the lower rotor shaft is provided with a shaft sleeve, the course control slip ring is sleeved outside the shaft sleeve, and the bottom of the course control slip ring is fixed on the course stay bar; the course control slip ring outer ring is connected with the course pitch-changing rocker arm, and the course control slip ring outer ring is connected with the course control slip ring inner ring through a bearing; the course steering slip ring outer ring torque arm is fixedly connected with the lower rotor shaft;
the lower rotor wing control system further comprises a lower rotor wing automatic inclinator variable-pitch pull rod and a lower rotor wing variable-pitch pull rod, two ends of the course variable-pitch rocker arm are respectively connected with the course control slip ring outer ring and the lower rotor wing automatic inclinator variable-pitch pull rod, and the middle position of the course variable-pitch rocker arm is connected with the lower rotor wing variable-pitch pull rod;
the course steering engine operating system comprises a course sliding sleeve, a course steering engine operating rocker arm support, a course steering engine pull rod and a course steering engine; the course sliding sleeve is sleeved on the outer side of the shaft sleeve, the circumferential rotation of the course sliding sleeve is limited through a guide flat key fixed on the outer side of the shaft sleeve, the upper end of the course sliding sleeve is fixedly connected with a course stay bar, and the course sliding sleeve and a course control slip ring system slide up and down simultaneously through the course stay bar; the course steering engine operating rocker arm takes a course steering engine operating rocker arm support as a fulcrum, and two ends of the course steering engine operating rocker arm are respectively connected with the course sliding sleeve and the course steering engine pull rod; the upper end of the heading steering engine operating rocker arm support is connected with the heading steering engine operating rocker arm, and the lower end of the heading steering engine operating rocker arm support is connected with the shaft sleeve; the course steering engine is used for controlling the course sliding sleeve and the course control sliding ring system to slide up and down through the course steering engine pull rod.
The upper end of the course brace rod is fixedly connected with the inner ring of the course control slip ring, and the lower end of the course brace rod is fixedly connected with the course sliding sleeve.
By adopting the technical scheme, the control system for the coaxial unmanned helicopter ensures the collective pitch, longitudinal direction, transverse direction and course control of the helicopter, reduces the variation of lift force during the course control of the helicopter, simplifies the structure of the lower rotor automatic inclinator, and reduces the processing difficulty and weight of the lower rotor automatic inclinator.
Based on the technical scheme, the invention can also make the following improvements:
preferably, the upper rotor shaft and the lower rotor shaft are rotated at the same speed and in opposite directions coaxially through a gear mechanism.
Preferably, the integrated electric steering engine comprises four steering engines.
Preferably, the steering engine in the integrated electric steering engine is arranged in a mode of 45 degrees or 90 degrees around the shaft, and can be arranged according to space requirements so as to obtain better structure and longitudinal and transverse steering effects.
Preferably, the course brace rod is fixedly connected with the course control slip ring inner ring and the course sliding sleeve through a reserved gap between the spherical hinge inner ring and the shaft sleeve of the lower rotor automatic inclinator.
Preferably, the lower rotor wing automatic inclinator and the shaft sleeve slide up and down under the guidance of the guide flat key fixed on the outer side of the shaft sleeve, and do not generate circumferential rotation, so that interference with the heading stay bar is avoided.
Preferably, the heading steering engine comprises only one steering engine.
Preferably, the steering engine in the course steering engine is arranged in a form of 0 DEG, 90 DEG, 180 DEG or 270 DEG around the shaft.
The steering engine of the course steering engine can be arranged at the position of 0 degree, 90 degree, 180 degree or 270 degree and any other reasonable position according to space requirements so as to obtain smaller size and weight.
Preferably, when the pitch of the rotor wing is increased and decreased under the heading steering engine operation of the heading steering system, the collective pitch of the coaxial unmanned helicopter is subjected to corresponding collective pitch compensation operation by the longitudinal and transverse steering engine operation system.
The lift force of the coaxial unmanned helicopter is increased and reduced due to the fact that the pitch of the rotor wing is increased and reduced under the independent control of the heading steering engine of the heading control system, and in order to avoid the lift motion coupling of the helicopter caused by the independent control of the heading steering engine of the coaxial unmanned helicopter, the collective control of the coaxial unmanned helicopter is required to be correspondingly conducted in a collective compensation mode.
Preferably, the collective pitch compensation of the coaxial unmanned helicopter is controlled as follows: the number of simultaneously reduced pitches of the upper rotor wing and the lower rotor wing caused by the comprehensive electric steering gear collective pitch manipulation is half of the number of increased pitches of the lower rotor wing caused by the heading steering gear manipulation, or the number of simultaneously increased pitches of the upper rotor wing and the lower rotor wing caused by the comprehensive electric steering gear collective pitch manipulation is half of the number of reduced pitches of the lower rotor wing caused by the heading steering gear manipulation.
The total distance compensation strategy of the comprehensive electric steering engine during course control can be further refined according to experiments and theoretical analysis, so that good course control effect and smaller lift force change are achieved.
Compared with the prior art, the coaxial unmanned helicopter control system enables the aircraft to realize collective pitch, longitudinal and transverse control and course control, and the reserved gap of the spherical hinge inner ring of the lower rotor automatic inclinator can allow the course control to be independently controlled on the premise of not influencing the movement of the lower rotor automatic inclinator, so that the structure of the lower rotor automatic inclinator is simplified, and the weight of the lower rotor automatic inclinator is reduced; meanwhile, the collective pitch control is further compensated and controlled during the course control, so that the change of lift force of the helicopter during yaw can be reduced, and the course control efficacy of the helicopter is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is an isometric view of a steering system for a coaxial unmanned helicopter of the present invention;
FIG. 2 is a front view of a steering system for a coaxial unmanned helicopter of the present invention;
FIG. 3 is a side view of a steering system for a coaxial unmanned helicopter of the present invention;
FIG. 4 is a top view of a steering system for a coaxial unmanned helicopter of the present invention;
Wherein, in the figure:
A rotor-up handling system, which is a rotor-up handling system,
The upper rotor automatic inclinator comprises an upper rotor automatic inclinator inner ring 110, an upper rotor automatic inclinator outer ring 120, an upper rotor automatic inclinator inner ring torque arm 130, an upper rotor automatic inclinator outer ring torque arm 140 and an upper rotor variable-pitch pull rod 150;
2-lower rotor handling system;
210-lower rotor automatic inclinator inner ring, 220-lower rotor automatic inclinator outer ring, 230-lower rotor automatic inclinator inner ring torque arm, 240-lower rotor automatic inclinator outer ring torque arm, 250-total pitch longitudinal and transverse steering engine operating system, 260-lower rotor automatic inclinator variable-pitch pull rod, 270-lower rotor variable-pitch pull rod;
251-comprehensive electric steering engine, 252-steering engine operating pull rod, 253-steering engine mounting support;
3-upper and lower rotor automatic tilter links;
4-heading manipulation system
410-Course steering slip ring system, 420-course pitch-changing rocker arm, 430-course steering engine steering system, 440-course stay bar
411-Course manipulation slip ring inner ring, 412-course manipulation slip ring outer ring, 413-course slip ring outer ring torque arm;
431-course sliding sleeve, 432-course steering engine operating rocker arm, 433-course steering engine operating rocker arm support, 434-course steering engine pull rod and 435-course steering engine.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Examples:
As shown in fig. 1-4, an embodiment of the present invention discloses a steering system for a coaxial unmanned helicopter, the steering system is mounted on an upper rotor shaft, a lower rotor shaft and a fuselage of the helicopter, bushings are arranged on the lower rotor shaft, and coaxial reverse constant-speed rotation is performed between the upper rotor shaft and the lower rotor shaft through a gear mechanism.
The steering system comprises an upper rotor steering system 1, a lower rotor steering system 2, an upper and lower rotor automatic recliner link 3 and a heading steering system 4, wherein,
The upper rotor handling system 1 includes an upper rotor autorecliner, an upper rotor autorecliner inner ring torque arm 130, and an upper rotor autorecliner outer ring torque arm 140.
The upper rotor autorecliner includes an upper rotor autorecliner inner ring 110 and an upper rotor autorecliner outer ring 120, the upper rotor autorecliner inner ring 110 and the upper rotor autorecliner outer ring 120 being connected by bearings.
One end of an upper rotor automatic inclinator inner ring torque arm 130 is connected with the upper rotor automatic inclinator inner ring 110, and the other end is fixed on an upper rotor shaft; the upper rotor automatic recliner outer ring torque arm 140 is connected at one end to the upper rotor automatic recliner outer ring 120 and is fixed at the other end to the lower rotor shaft.
Lower rotor steering system 2 includes a lower rotor autorecliner, a lower rotor autorecliner inner ring torque arm 230, a lower rotor autorecliner outer ring torque arm 240, and a collective pitch and yaw steering system 250. The lower rotor wing automatic inclinator and the shaft sleeve slide up and down guided by a guide flat key fixed on the outer side of the shaft sleeve.
The lower rotor autorecliner includes a lower rotor autorecliner inner ring 210 and a lower rotor autorecliner outer ring 220, the lower rotor autorecliner inner ring 210 and the lower rotor autorecliner outer ring 220 being connected by bearings.
One end of a lower rotor automatic tilter inner ring torque arm 230 is connected with the lower rotor automatic tilter inner ring 210, and the other end is fixed on a lower rotor shaft; one end of the lower rotor automatic recliner outer ring torque arm 240 is connected to the lower rotor automatic recliner outer ring 220 and the other end is fixed to the fuselage.
The collective pitch longitudinal and transverse steering engine operating system 250 comprises an integrated electric steering engine 251, a steering engine operating pull rod 252 and a steering engine mounting support 253; the comprehensive electric steering engine 251 is arranged on a steering engine mounting support 253, and the steering engine mounting support 253 is fixed on the machine body; steering gear control lever 252 is driven by integrated electric steering gear 251 and is connected to lower rotor automatic recliner outer ring torque arm 240. The comprehensive electric steering engine 251 comprises four steering engines, and the arrangement forms of the four steering engines are 45 degrees or 90 degrees around an axis.
Upper and lower rotor autorecliner links 3 connect upper rotor autorecliner outer ring 120 and lower rotor autorecliner inner ring 210 such that the upper and lower rotor autorecliners collectively produce consistent collective pitch, longitudinal and lateral movement.
The heading manipulation system 4 comprises a heading manipulation slip ring system 410, a heading pitch horn 420, a heading steering engine manipulation system 430, a heading stay 440, wherein,
The heading manipulation slip ring system 410 includes: a heading manipulation slip ring and a heading slip ring outer ring torque arm 413; the course steering slip ring comprises a course steering slip ring inner ring 411 and a course steering slip ring outer ring 412; the course steering slip ring inner ring 411 is sleeved outside the shaft sleeve, and the bottom is fixed on the course stay 440; the course control slip ring outer ring 412 is connected with the course pitch-changing rocker arm 420, and the course control slip ring outer ring 412 is connected with the course control slip ring inner ring 411 through a bearing; the course steering slip ring outer ring torque arm 413 is fixedly connected with the lower rotor shaft.
The lower rotor steering system further comprises a lower rotor automatic tilter variable-pitch pull rod 260 and a lower rotor variable-pitch pull rod 270, wherein the two ends of the course variable-pitch rocker arm 420 are respectively connected with the course steering slip ring outer ring 412 and the lower rotor automatic tilter variable-pitch pull rod 260, and the middle position of the course variable-pitch rocker arm 420 is connected with the lower rotor variable-pitch pull rod 270.
The course steering engine operating system 430 comprises a course sliding sleeve 431, a course steering engine operating rocker 432, a course steering engine operating rocker support 433, a course steering engine pull rod 434 and a course steering engine 435; the course sliding sleeve 431 is sleeved on the outer side of the shaft sleeve, the circumferential rotation of the course sliding sleeve 431 is limited through a guide flat key fixed on the outer side of the shaft sleeve, the upper end of the course sliding sleeve 431 is fixedly connected with the course supporting rod 440, and the course sliding sleeve 431 and the course operating slip ring system 410 slide up and down simultaneously through the course supporting rod 440; the heading steering engine operating rocker arm 432 takes a heading steering engine operating rocker arm support 433 as a fulcrum, and two ends of the heading steering engine operating rocker arm are respectively connected with a heading sliding sleeve 431 and a heading steering engine pull rod 434; the upper end of the heading steering engine operating rocker arm support 433 is connected with the heading steering engine operating rocker arm 432, and the lower end is connected with the shaft sleeve; the heading steering engine 435 is operated by the heading steering engine pull rod 434 to slide up and down through the heading sliding sleeve 431 and the heading steering slip ring system 410, and the heading steering engine 435 only comprises one steering engine, and the steering engine is arranged in a form of 0 DEG, 90 DEG, 180 DEG or 270 DEG around the axis.
The upper end of the heading stay 440 is fixedly connected with the heading manipulation slip ring inner ring 411, and the lower end is fixedly connected with the heading sliding sleeve 431. Specifically, the heading stay 440 is fixedly connected with the heading control slip ring inner ring 411 and the heading sliding sleeve 431 through a reserved gap between the spherical hinge inner ring and the shaft sleeve of the lower rotor automatic inclinator.
When the rotor pitch is increased and decreased under the control of the heading steering engine 435 of the heading control system 4, the collective pitch of the coaxial unmanned helicopter is subjected to corresponding collective pitch compensation control by the longitudinal and transverse steering engine control system 250. The specific strategy for collective compensation manipulation is: the pitch of the upper rotor and the lower rotor caused by the collective pitch manipulation of the integrated electric steering gear 251 is reduced by half the pitch of the lower rotor caused by the collective pitch manipulation of the heading steering gear 435, or the pitch of the upper rotor and the lower rotor caused by the collective pitch manipulation of the integrated electric steering gear 251 is reduced by half the pitch of the lower rotor caused by the collective pitch manipulation of the heading steering gear 435.
The invention relates to a specific working process of an operating system for a coaxial unmanned helicopter, which comprises the following steps:
The integrated electric steering engine 251 of the collective pitch longitudinal and transverse steering engine operating system 250 moves up and down at the same time, drives the lower rotor automatic inclinator to slide up and down on the shaft sleeve, and enables the upper rotor automatic inclinator to move up and down together with the lower rotor automatic inclinator through the upper rotor automatic inclinator connecting rod 3, the lower rotor pitch-changing pull rod 270 and the upper rotor pitch-changing pull rod 150 can be controlled, the total pitch angle of the blades of the lower rotor and the upper rotor is changed at the same time, and the degrees of the total pitch angle of the blades of the upper rotor and the lower rotor are increased and reduced at the same time are consistent so as to avoid course coupling, thereby realizing the collective pitch operation of the coaxial helicopter and causing the lifting motion of the helicopter.
The front steering engine, the rear steering engine, the left steering engine and the right steering engine of the total-pitch longitudinal and transverse steering engine operating system 250 coordinate differential operation, drive the longitudinal or transverse operation of the lower rotor wing automatic inclinator, simultaneously the upper rotor wing automatic inclinator is wound around the longitudinal or transverse operation together, the periodic pitch variation of the lower rotor wing and the upper rotor wing can be controlled, the longitudinal and transverse deflection of the rotation planes of the upper rotor wing and the lower rotor wing can be realized, the longitudinal or transverse operation of the coaxial helicopter can be realized, and the longitudinal and transverse movement of the helicopter can be generated.
The course steering system 4 steers the course steering slip ring system 410 to slide up and down through the course steering engine 435, the lower rotor pitch-changing pull rod 270 can be controlled through the course pitch-changing rocker arm 420, the increase and decrease of the total pitch angle of the lower rotor blades are controlled, and the torque of the lower rotor shaft is changed, so that the course steering of the helicopter is realized; at this time, the course steering engine 435 is independently operated, only the total pitch angle of the blades of the lower rotor wing is changed, and the lift force of the helicopter is changed, so that the coupling of yaw motion and lifting motion caused by independent course operation is avoided, a flight control system program is required, a total distance compensation strategy is adopted, and a total distance longitudinal and transverse steering engine operation system 250 generates a total distance compensation action, so that the change of the lift force of the coaxial helicopter during course operation is reduced.
The initial scheme of the collective compensation strategy is as follows: the degree of increase or decrease of the upper rotor blade angle and the lower rotor blade angle generated by the collective compensation is half of the degree of decrease or increase of the lower rotor blade angle during the course manipulation, namely, when the course manipulation and the collective compensation manipulation are performed simultaneously, the degree of increase or decrease of the upper rotor blade angle is consistent with the degree of decrease or increase of the lower rotor blade angle, and the full differential effect of the course manipulation is physically realized.
In order to reduce the lift force variation during the course control of the coaxial helicopter as much as possible, the collective pitch compensation strategy can be further optimized on the initial scheme through theoretical analysis and test flight test, and reasonable parameters are selected to reach the minimum value of the lift force variation of the helicopter during the course control.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Finally, it should be noted that: the foregoing is merely an example of the design concept of the present invention, and the present invention is not limited thereto, but it is obvious to those skilled in the art that modifications and equivalent substitutions of some of the technical features described in the foregoing examples can be made. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A control system for a coaxial unmanned helicopter, which is mounted on an upper rotor shaft, a lower rotor shaft and a fuselage of the helicopter, characterized in that the control system comprises an upper rotor control system, a lower rotor control system, an upper and lower rotor automatic inclinator connecting rod and a course control system, wherein,
The upper rotor wing control system comprises an upper rotor wing automatic inclinator, an upper rotor wing automatic inclinator inner ring torque arm and an upper rotor wing automatic inclinator outer ring torque arm; the upper rotor automatic inclinator comprises an upper rotor automatic inclinator inner ring and an upper rotor automatic inclinator outer ring, and the upper rotor automatic inclinator inner ring and the upper rotor automatic inclinator outer ring are connected through a bearing; one end of a torque arm of the inner ring of the upper rotor automatic inclinator is connected with the inner ring of the upper rotor automatic inclinator, and the other end of the torque arm is fixed on the upper rotor shaft; one end of a torque arm of an outer ring of the upper rotor automatic inclinator is connected with the outer ring of the upper rotor automatic inclinator, and the other end of the torque arm is fixed on a lower rotor shaft;
The lower rotor wing control system comprises a lower rotor wing automatic inclinator, a lower rotor wing automatic inclinator inner ring torque arm, a lower rotor wing automatic inclinator outer ring torque arm and a total-distance longitudinal and transverse steering engine control system; the lower rotor automatic inclinator comprises a lower rotor automatic inclinator inner ring and a lower rotor automatic inclinator outer ring, and the lower rotor automatic inclinator inner ring and the lower rotor automatic inclinator outer ring are connected through a bearing; one end of a torque arm of the inner ring of the lower rotor automatic inclinator is connected with the inner ring of the lower rotor automatic inclinator, and the other end of the torque arm is fixed on the lower rotor shaft; one end of a torque arm of the outer ring of the lower rotor automatic inclinator is connected with the outer ring of the lower rotor automatic inclinator, and the other end of the torque arm is fixed on the machine body; the total-pitch longitudinal and transverse steering engine operating system comprises a comprehensive electric steering engine, a steering engine operating pull rod and a steering engine mounting support, wherein the comprehensive electric steering engine is mounted on the steering engine mounting support, the steering engine mounting support is fixed on the machine body, and the steering engine operating pull rod is driven by the comprehensive electric steering engine and is connected with an outer ring torque arm of the lower rotor automatic inclinator; the comprehensive electric steering engine comprises four steering engines;
The upper rotor automatic inclinator connecting rod and the lower rotor automatic inclinator connecting rod connect the upper rotor automatic inclinator outer ring and the lower rotor automatic inclinator inner ring, so that the upper rotor automatic inclinator and the lower rotor automatic inclinator jointly generate consistent collective pitch, longitudinal and transverse movements;
The course steering system comprises a course steering slip ring system, a course pitch-changing rocker arm, a course steering engine steering system and a course stay bar, wherein,
The heading manipulation slip ring system includes: a course steering slip ring and a course slip ring outer ring torque arm; the course manipulation slip ring comprises a course manipulation slip ring inner ring and a course manipulation slip ring outer ring; the lower rotor shaft is provided with a shaft sleeve, the course control slip ring is sleeved outside the shaft sleeve, and the bottom of the course control slip ring is fixed on the course stay bar; the course control slip ring outer ring is connected with the course pitch-changing rocker arm, and the course control slip ring outer ring is connected with the course control slip ring inner ring through a bearing; the course steering slip ring outer ring torque arm is fixedly connected with the lower rotor shaft;
the lower rotor wing control system further comprises a lower rotor wing automatic inclinator variable-pitch pull rod and a lower rotor wing variable-pitch pull rod, two ends of the course variable-pitch rocker arm are respectively connected with the course control slip ring outer ring and the lower rotor wing automatic inclinator variable-pitch pull rod, and the middle position of the course variable-pitch rocker arm is connected with the lower rotor wing variable-pitch pull rod;
The course steering engine operating system comprises a course sliding sleeve, a course steering engine operating rocker arm support, a course steering engine pull rod and a course steering engine; the course sliding sleeve is sleeved on the outer side of the shaft sleeve, the circumferential rotation of the course sliding sleeve is limited through a guide flat key fixed on the outer side of the shaft sleeve, the upper end of the course sliding sleeve is fixedly connected with a course stay bar, and the course sliding sleeve and a course control slip ring system slide up and down simultaneously through the course stay bar; the course steering engine operating rocker arm takes a course steering engine operating rocker arm support as a fulcrum, and two ends of the course steering engine operating rocker arm are respectively connected with the course sliding sleeve and the course steering engine pull rod; the upper end of the heading steering engine operating rocker arm support is connected with the heading steering engine operating rocker arm, and the lower end of the heading steering engine operating rocker arm support is connected with the shaft sleeve; the course steering engine operates the course sliding sleeve and the course operation sliding ring system to slide up and down through the course steering engine pull rod;
The upper end of the course brace rod is fixedly connected with the inner ring of the course control slip ring, and the lower end of the course brace rod is fixedly connected with the course sliding sleeve;
when the pitch of the rotor wing is increased and reduced under the heading steering engine operation of the heading operating system, the collective pitch of the coaxial unmanned helicopter is subjected to corresponding collective pitch compensation operation by the longitudinal and transverse steering engine operating system;
The collective pitch compensation operation of the coaxial unmanned helicopter is as follows: the number of simultaneously reduced pitches of the upper rotor wing and the lower rotor wing caused by the comprehensive electric steering gear collective pitch manipulation is half of the number of increased pitches of the lower rotor wing caused by the heading steering gear manipulation, or the number of simultaneously increased pitches of the upper rotor wing and the lower rotor wing caused by the comprehensive electric steering gear collective pitch manipulation is half of the number of reduced pitches of the lower rotor wing caused by the heading steering gear manipulation.
2. A steering system for a coaxial unmanned helicopter according to claim 1, wherein: and the upper rotor shaft and the lower rotor shaft perform coaxial reverse constant-speed rotation through a gear mechanism.
3. A steering system for a coaxial unmanned helicopter according to claim 1, wherein: the arrangement form of the four steering gears in the comprehensive electric steering gear is 45 degrees or 90 degrees around the shaft.
4. A steering system for a coaxial unmanned helicopter according to claim 1, wherein: the course brace rod is fixedly connected with the course control slip ring inner ring and the course sliding sleeve through a reserved gap between the spherical hinge inner ring and the shaft sleeve of the lower rotor wing automatic inclinator.
5. A steering system for a coaxial unmanned helicopter according to claim 1, wherein: the lower rotor wing automatic inclinator and the shaft sleeve slide up and down guided by a guide flat key fixed on the outer side of the shaft sleeve.
6. A steering system for a coaxial unmanned helicopter according to claim 1, wherein: the heading steering engine only comprises one steering engine.
7. A steering system for a coaxial unmanned helicopter according to claim 6, wherein: the course steering engine is arranged in a mode of 0 DEG, 90 DEG, 180 DEG or 270 DEG around the shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319513.1A CN109969388B (en) | 2019-04-19 | 2019-04-19 | Control system for coaxial unmanned helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319513.1A CN109969388B (en) | 2019-04-19 | 2019-04-19 | Control system for coaxial unmanned helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109969388A CN109969388A (en) | 2019-07-05 |
| CN109969388B true CN109969388B (en) | 2024-05-28 |
Family
ID=67085421
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910319513.1A Active CN109969388B (en) | 2019-04-19 | 2019-04-19 | Control system for coaxial unmanned helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109969388B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723277B (en) * | 2019-11-28 | 2021-05-07 | 湖南捷飞科技有限公司 | Unmanned digital telex control mechanism based on mosquito manned helicopter |
| CN110979651B (en) * | 2019-12-24 | 2021-04-13 | 苏州韬讯航空科技有限公司 | Coaxial helicopter and control method |
| CN111605702B (en) * | 2020-06-09 | 2023-07-14 | 湖南优玄科技有限公司 | Operating system and operating method for coaxial double-rotor unmanned helicopter |
| CN113772118B (en) * | 2021-09-03 | 2022-10-21 | 南京航空航天大学 | Method for operating rotor mechanism of coaxial rigid double-rotor test bed |
| CN113942640B (en) * | 2021-10-09 | 2023-04-28 | 中国直升机设计研究所 | Inner control rotor wing supporting piece structure |
Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3570786A (en) * | 1969-08-07 | 1971-03-16 | United Aircraft Corp | Control apparatus and method for operating an aircraft |
| US5511947A (en) * | 1995-02-17 | 1996-04-30 | The Boeing Company | Cyclic pitch control having torsion spring system |
| CN103318407A (en) * | 2013-06-05 | 2013-09-25 | 王开林 | Standalone control system of coaxial double-rotor unmanned helicopter control system |
| CN104139855A (en) * | 2014-07-15 | 2014-11-12 | 北京航空航天大学 | Course control system for coaxial helicopter |
| CN104527975A (en) * | 2014-12-10 | 2015-04-22 | 北京航空航天大学 | Dual-redundancy propeller pitch sub-control operation system of coaxial type unmanned helicopter |
| 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 |
| CN105217025A (en) * | 2015-11-09 | 2016-01-06 | 德奥通用航空股份有限公司 | A kind of aircraft coaxial double-rotary wing system |
| CN105235900A (en) * | 2015-11-04 | 2016-01-13 | 中航维拓（北京）科技有限责任公司 | Upper rotor semi differential yawing control system for coaxial unmanned helicopter |
| CN205087141U (en) * | 2015-11-04 | 2016-03-16 | 中航维拓（北京）科技有限责任公司 | Oil moves coaxial rotor - control system of six coaxial rotor unmanned aerial vehicle of displacement |
| CN205087145U (en) * | 2015-11-04 | 2016-03-16 | 中航维拓（北京）科技有限责任公司 | Half differential course control's of upper rotor unmanned helicopter control system of close coupled type |
| CN205186524U (en) * | 2015-11-09 | 2016-04-27 | 德奥通用航空股份有限公司 | Coaxial two rotor system of aircraft |
| CN106081094A (en) * | 2016-08-16 | 2016-11-09 | 葛讯 | A kind of coaxal helicopter |
| CN106428542A (en) * | 2016-08-16 | 2017-02-22 | 葛讯 | Manipulation mechanism of coaxial helicopter |
| CN106915457A (en) * | 2017-02-22 | 2017-07-04 | 北京航空航天大学 | A kind of variable co-axial helicopter steerable system of upper and lower rotor inclinator depth of parallelism |
| CN107651183A (en) * | 2017-05-02 | 2018-02-02 | 北京深远世宁科技有限公司 | Unmanned plane drive shaft, unmanned machine actuating device and unmanned plane |
| CN108528695A (en) * | 2018-06-03 | 2018-09-14 | 王继华 | Electronic coaxial aircraft control dynamical system design |
| CN108750084A (en) * | 2018-06-04 | 2018-11-06 | 北京海空行科技有限公司 | A kind of co-axial helicopter steerable system |
| CN108773494A (en) * | 2018-06-04 | 2018-11-09 | 北京海空行科技有限公司 | A kind of three leaf paddle coaxial unmanned helicopter pitch sub-control steerable systems |
| CN109018306A (en) * | 2018-07-03 | 2018-12-18 | 北京海空行科技有限公司 | A kind of directional control mechanism of co-axial helicopter |
| CN109131861A (en) * | 2018-07-03 | 2019-01-04 | 北京海空行科技有限公司 | A kind of coaxal helicopter steerable system of the upper rotor with servo winglet |
| CN109263877A (en) * | 2018-10-30 | 2019-01-25 | 佛山市神风航空科技有限公司 | A kind of more rotors are taken photo by plane manned helicopter |
| CN210063358U (en) * | 2019-04-19 | 2020-02-14 | 北京海空行科技有限公司 | Control system for coaxial unmanned helicopter |
-
2019
- 2019-04-19 CN CN201910319513.1A patent/CN109969388B/en active Active
Patent Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3570786A (en) * | 1969-08-07 | 1971-03-16 | United Aircraft Corp | Control apparatus and method for operating an aircraft |
| US5511947A (en) * | 1995-02-17 | 1996-04-30 | The Boeing Company | Cyclic pitch control having torsion spring system |
| CN103318407A (en) * | 2013-06-05 | 2013-09-25 | 王开林 | Standalone control system of coaxial double-rotor unmanned helicopter control system |
| CN104139855A (en) * | 2014-07-15 | 2014-11-12 | 北京航空航天大学 | Course control system for coaxial helicopter |
| CN104527975A (en) * | 2014-12-10 | 2015-04-22 | 北京航空航天大学 | Dual-redundancy propeller pitch sub-control operation system of coaxial type unmanned helicopter |
| 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 |
| CN205087145U (en) * | 2015-11-04 | 2016-03-16 | 中航维拓（北京）科技有限责任公司 | Half differential course control's of upper rotor unmanned helicopter control system of close coupled type |
| CN105235900A (en) * | 2015-11-04 | 2016-01-13 | 中航维拓（北京）科技有限责任公司 | Upper rotor semi differential yawing control system for coaxial unmanned helicopter |
| CN205087141U (en) * | 2015-11-04 | 2016-03-16 | 中航维拓（北京）科技有限责任公司 | Oil moves coaxial rotor - control system of six coaxial rotor unmanned aerial vehicle of displacement |
| CN205186524U (en) * | 2015-11-09 | 2016-04-27 | 德奥通用航空股份有限公司 | Coaxial two rotor system of aircraft |
| CN105217025A (en) * | 2015-11-09 | 2016-01-06 | 德奥通用航空股份有限公司 | A kind of aircraft coaxial double-rotary wing system |
| CN106081094A (en) * | 2016-08-16 | 2016-11-09 | 葛讯 | A kind of coaxal helicopter |
| CN106428542A (en) * | 2016-08-16 | 2017-02-22 | 葛讯 | Manipulation mechanism of coaxial helicopter |
| CN106915457A (en) * | 2017-02-22 | 2017-07-04 | 北京航空航天大学 | A kind of variable co-axial helicopter steerable system of upper and lower rotor inclinator depth of parallelism |
| CN107651183A (en) * | 2017-05-02 | 2018-02-02 | 北京深远世宁科技有限公司 | Unmanned plane drive shaft, unmanned machine actuating device and unmanned plane |
| CN108528695A (en) * | 2018-06-03 | 2018-09-14 | 王继华 | Electronic coaxial aircraft control dynamical system design |
| CN108750084A (en) * | 2018-06-04 | 2018-11-06 | 北京海空行科技有限公司 | A kind of co-axial helicopter steerable system |
| CN108773494A (en) * | 2018-06-04 | 2018-11-09 | 北京海空行科技有限公司 | A kind of three leaf paddle coaxial unmanned helicopter pitch sub-control steerable systems |
| CN109018306A (en) * | 2018-07-03 | 2018-12-18 | 北京海空行科技有限公司 | A kind of directional control mechanism of co-axial helicopter |
| CN109131861A (en) * | 2018-07-03 | 2019-01-04 | 北京海空行科技有限公司 | A kind of coaxal helicopter steerable system of the upper rotor with servo winglet |
| CN109263877A (en) * | 2018-10-30 | 2019-01-25 | 佛山市神风航空科技有限公司 | A kind of more rotors are taken photo by plane manned helicopter |
| CN210063358U (en) * | 2019-04-19 | 2020-02-14 | 北京海空行科技有限公司 | Control system for coaxial unmanned helicopter |
Non-Patent Citations (1)
| Title |
|---|
| 共轴双旋翼直升机的技术特点及发展;陈铭;;航空制造技术;20090901(第17期);26-31页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109969388A (en) | 2019-07-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109969388B (en) | Control system for coaxial unmanned helicopter | |
| US11597507B2 (en) | Coaxial helicopter and control method thereof | |
| CN104743111B (en) | Rotorcraft fitted with an anti-torque tail rotor that contributes selectively to providing the rotorcraft with lift and with propulsion | |
| CA2856907C (en) | Rotorcraft rotor including primary pitch horns and secondary horns | |
| CN110550207B (en) | Flapping wing system and flapping wing machine | |
| CN104843183B (en) | A kind of tail-rotor distance changing mechanism of depopulated helicopter | |
| CN106488873B (en) | Helicopter | |
| CN110816814A (en) | Coaxial helicopter control-transmission system based on single automatic inclinator | |
| CN113386954A (en) | Upper and lower rotor independent control device of coaxial double-rotor helicopter | |
| CN111605702B (en) | Operating system and operating method for coaxial double-rotor unmanned helicopter | |
| CN104139855A (en) | Course control system for coaxial helicopter | |
| CN104369859A (en) | Swash plate device of pilotless helicopter and control method of swash plate device | |
| CN108791857B (en) | Coaxial full-rigid double-rotor helicopter | |
| CN210063358U (en) | Control system for coaxial unmanned helicopter | |
| JP2002316699A (en) | Coaxial reverse rotation type helicopter | |
| CN216734823U (en) | Rotor mechanism for coaxial rigid double-rotor test bed | |
| CN100591400C (en) | Steering mechanism for model helicopter | |
| CN110539881A (en) | Unmanned autorotation gyroplane control system | |
| CN215285253U (en) | Upper and lower rotor independent control device of coaxial double-rotor helicopter | |
| CN114394228B (en) | Aircraft and control method thereof | |
| CN211281442U (en) | Coaxial helicopter control-transmission system based on single automatic inclinator | |
| CN107891976A (en) | A kind of unmanned plane propeller set and its unmanned plane | |
| CN113772118A (en) | Method for operating rotor mechanism of coaxial rigid double-rotor test bed | |
| CN208515806U (en) | Universal shaft type full rigidity twin-rotor helicopter altogether | |
| CN113306713A (en) | Coaxial dual-rotor unmanned aerial vehicle based on parallelogram control rotor shaft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |