CN110626494A - Tandem three-rotor helicopter - Google Patents
Tandem three-rotor helicopter Download PDFInfo
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- CN110626494A CN110626494A CN201910896302.4A CN201910896302A CN110626494A CN 110626494 A CN110626494 A CN 110626494A CN 201910896302 A CN201910896302 A CN 201910896302A CN 110626494 A CN110626494 A CN 110626494A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/064—Stringers; Longerons
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- 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
- B64C27/32—Rotors
- B64C27/46—Blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Wind Motors (AREA)
Abstract
A longitudinal three-rotor helicopter is composed of a longitudinal beam on the top of helicopter body, two wing-type small towers at front, middle and back of longitudinal beam, two rotors on each small tower, and a blade swinging unit consisting of swinging hinge, oscillating hinge and variable-pitch hinge, which is linked to the blades of each rotor via blade shell, and a cyclic and cyclic controller for controlling the lift force and direction of rotors, and a driver for making the three rotors rotate at same speed and reverse direction, the rotor synchronizer keeps the phase difference of the three rotors constant all the time, and the undercarriage is arranged below the aircraft body and can be applied to rescue, transportation and the like.
Description
Technical Field
The invention relates to a tandem three-rotor helicopter which does not depend on the vertical lifting, hovering, front-back flying and left-right flying of multiple rotors in an airport.
Background
The single-rotor helicopter has the advantages of simple structure and flexible operation, but the reaction torque of the rotor of the single-rotor helicopter needs to be balanced by a propeller with a vertical rotating surface, the propeller does not generate lift force in the vertical direction and consumes a little power, the reaction torque of the rotors is mutually offset by adopting a pair of positive and negative rotating rotors with the same speed and the same size, the power is saved, but the two rotors participate in the pitching, rolling and course operation, the pitching, rolling and course cannot be independently operated, the operation characteristic is poor compared with that of the single-rotor helicopter, the operation burden of the two rotors is large, and the course operability is poor.
Disclosure of Invention
In order to save the power for balancing the counter torque and improve the operating characteristic of the helicopter, and the helicopter has the advantages of better operating characteristic of a single-rotor helicopter and mutual offset of the counter torques of the rotors of a tandem double-rotor helicopter, the invention provides a tandem three-rotor helicopter, and the aim is achieved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the three rotors are arranged in a longitudinal mode, a longitudinal beam is arranged at the top of the fuselage and is hereinafter referred to as a longitudinal beam, a wing-shaped small tower is arranged on a cantilever at the front end of the longitudinal beam and plays a role of a vertical empennage, the small tower is hereinafter referred to as a first small tower, a first rotor is arranged on the first small tower, the center of the longitudinal beam is positioned above the gravity center, a wing-shaped small tower is arranged at the top of the fuselage above the gravity center and plays a role of a vertical empennage, the small tower is hereinafter referred to as a second small tower, a second rotor is arranged on the second small tower, a wing-shaped small tower is arranged on a cantilever at the rear end of the longitudinal beam and plays a role of a vertical empennage, the small tower is hereinafter referred to as a third small tower.
The interval that sets up three towelettes equals, and the third towelette is higher than the second towelette, and the second towelette is higher than first towelette, can reduce the rotor in front and wash the influence of air current to the rotor behind down.
The interval of three rotors on the three pylons equals, and this interval size is less than the diameter of rotor, makes first rotor rotating surface on the first pylon and the second rotor rotating surface on the second pylon have the part to overlap on the horizontal projection, and the second rotor rotating surface on the second pylon has the part to overlap with the third rotor rotating surface on the third pylon on the horizontal projection, has saved the occupation space of three rotors.
The rotating surface of each rotor wing is horizontally arranged.
The paddle shell of each rotor is connected with a rotor shaft through a paddle shell, the paddle shell is provided with a paddle waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, a total pitch controller is arranged for controlling the lift force of the rotor, and a periodic variable pitch controller is arranged for controlling the dumping angle of a rotating surface of a rotor tip, so that the lift force direction of the rotor is changed.
Set up the engine, drive three rotor simultaneously through transmission, make the rotational speed of three rotor the same, make turning to of first rotor and third rotor the same, make turning to of first rotor and second rotor opposite.
Every rotor adopts the paddle of the same size to constitute, and first rotor and third rotor adopt the paddle that the quantity is the same, and the quantity that the second rotor adopted the paddle is twice more than the quantity that first rotor adopted the paddle, and the sum of the paddle quantity that first rotor and third rotor were adopted equals the paddle quantity of second rotor.
Establish first rotor and adopt two paddles, the third rotor adopts two paddles, then the second rotor adopts four paddles, when adopting this kind of paddle setting, sets up rotor synchronizer and makes, and the phase difference of first rotor and second rotor remains 45 throughout, and the phase difference of second rotor and third rotor remains 45 throughout and prevents rotor paddle collision each other to reduce the height that the towelette needs.
If first rotor adopts three paddle, the third rotor adopts three paddle, then six paddles are adopted to the second rotor, when adopting this kind of paddle setting, set up rotor synchronizer and make, the phase difference of first rotor and second rotor keeps 30 throughout, and the phase difference of second rotor and third rotor keeps 30 throughout and prevents rotor paddle collision each other to reduce the height that the towelette needs.
An undercarriage is arranged under the fuselage near the center of gravity.
The working principle of the tandem three-rotor helicopter is as follows: if first rotor and third rotor anticlockwise rotate, the second rotor clockwise rotates, and first rotor adopts two paddles, and the third rotor adopts two paddles, then the second rotor adopts four paddles.
The rotor synchronizer keeps the phase difference of the first rotor and the second rotor at 45 degrees all the time, and keeps the phase difference of the second rotor and the third rotor at 45 degrees all the time, so that even if the distance between the three rotors is equal and smaller than the diameter of the rotors, the blades of the rotors do not collide with each other.
Since the three rotors rotate at the same speed, the sum of the reactive torques of the first rotor and the third rotor is equal to the reactive torque of the second rotor in number, but opposite in direction, the reactive torques of the three rotors cancel each other out.
The accelerator of an engine for driving the rotors is increased, meanwhile, the total distance of the three rotors is increased, the lift force of the three rotors is increased, and when the total lift force is greater than the weight of the tandem three-rotor helicopter, the tandem three-rotor helicopter vertically ascends.
The throttle of the engine driving the rotor is reduced, and the tandem triple-rotor helicopter hovers when the total lift force is equal to the weight of the tandem triple-rotor helicopter.
The throttle of the engine driving the rotors is continuously reduced and the tandem tri-rotor helicopter is vertically lowered when the total lift is less than the weight of the tandem tri-rotor helicopter.
When the tandem three-rotor helicopter is in the air, the cyclic pitch controller of the first rotor is operated to tilt rightwards, the tip rotating surface of the first rotor tilts rightwards, the lift force of the first rotor tilts rightwards, meanwhile, the cyclic pitch controller of the third rotor is operated to tilt leftwards, the tip rotating surface of the third rotor tilts leftwards, the lift force of the third rotor tilts leftwards, the first rotor and the third rotor jointly generate a right steering moment, and the moment drives the helicopter body to steer rightwards; the cyclic pitch controller of manipulating the first rotor wing inclines to the left, the tip rotating surface of the first rotor wing inclines to the left, the lift force of the first rotor wing inclines to the left, meanwhile, the cyclic pitch controller of manipulating the third rotor wing inclines to the right, the tip rotating surface of the third rotor wing inclines to the right, the lift force of the third rotor wing inclines to the right, the first rotor wing and the third rotor wing jointly generate a left steering moment, and the moment drives the fuselage to steer to the left, so that course manipulation is realized.
When the tandem three-rotor helicopter is in the air, the cyclic controller for operating the second rotor wing inclines forwards, the rotating surface of the blade tip of the second rotor wing inclines forwards, the lifting force of the second rotor wing inclines forwards, and the helicopter body inclines forwards; the pitch controller for operating the second rotor wing tilts backwards, the tip rotating surface of the second rotor wing tilts backwards, the lifting force of the second rotor wing tilts backwards, and the machine body tilts backwards to realize pitching operation.
When the tandem three-rotor helicopter is in the air, the cyclic pitch controller of the second rotor wing is operated to incline to the left, the tip rotating surface of the second rotor wing inclines to the left, and the lift force of the second rotor wing inclines to the left, so that the helicopter body rolls to the left; the cyclic pitch controller for operating the second rotor wing inclines rightwards, the tip rotating surface of the second rotor wing inclines rightwards, and the lift force of the second rotor wing inclines rightwards, so that the aircraft body rolls rightwards, and the roll operation is realized.
When the tandem three-rotor helicopter is in the air, the helicopter body is controlled to bow forwards, meanwhile, an accelerator of an engine for driving the three rotors is increased, and the tandem three-rotor helicopter flies forwards; the helicopter body is controlled to tilt backwards, the accelerator of an engine driving the three rotors is increased at the same time, and the tandem three-rotor helicopter flies backwards; the helicopter body is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter flies leftwards; the fuselage is controlled to roll to the right, the accelerator of the engine driving the three rotors is increased at the same time, and the tandem three-rotor helicopter flies to the right.
The pitching and rolling are controlled by the second rotor, the course is controlled by the first rotor and the third rotor, the second rotor does not participate in the course control, the course control is independent, the control characteristic of the tandem three-rotor helicopter is improved, and the control characteristic is similar to the control of a single-rotor helicopter (the single-rotor helicopter, the rotors control the pitching and rolling, and the tail rotor controls the course).
If first rotor and third rotor rotate clockwise, the second rotor anticlockwise rotates, and first rotor adopts two paddles, and the third rotor adopts two paddles, then the second rotor adopts four paddles.
Since the three rotors rotate at the same speed, the sum of the reactive torques of the first rotor and the third rotor is equal to the reactive torque of the second rotor in number, but opposite in direction, the reactive torques of the three rotors cancel each other out.
The control modes of pitching, rolling and heading are unchanged.
If first rotor and third rotor anticlockwise rotate, the second rotor clockwise rotates, and first rotor adopts three paddle, and the third rotor adopts three paddle, then six paddles are adopted to the second rotor.
The rotor synchronizer keeps the phase difference between the first rotor and the second rotor at 30 degrees all the time, and keeps the phase difference between the second rotor and the third rotor at 30 degrees all the time, so that the blades of the rotors do not collide with each other even if the distances between the three rotors are equal and smaller than the diameters of the rotors.
Since the three rotors rotate at the same speed, the sum of the reactive torques of the first rotor and the third rotor is equal to the reactive torque of the second rotor in number, but opposite in direction, the reactive torques of the three rotors cancel each other out.
The control modes of pitching, rolling and heading are unchanged.
If first rotor and third rotor rotate clockwise, the second rotor anticlockwise rotates, and first rotor adopts three paddle, and the third rotor adopts three paddle, then six paddles are adopted to the second rotor.
Since the three rotors rotate at the same speed, the sum of the reactive torques of the first rotor and the third rotor is equal to the reactive torque of the second rotor in number, but opposite in direction, the reactive torques of the three rotors cancel each other out.
The control modes of pitching, rolling and heading are unchanged.
The invention has the advantages that the three rotors are adopted, the load capacity is much larger than that of a single-rotor helicopter, the reactive torques of the three rotors are mutually offset, and the power consumption for overcoming the reactive torque is reduced; the three rotors are adopted, the course control is executed by the special rotors, the control is similar to that of a single-rotor helicopter, the rotating surfaces are partially overlapped on the horizontal projection, the occupied space of the tandem three-rotor helicopter is saved, and the tandem layout is suitable for flying in a narrow place.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Figure 1 is a three-view illustration of a tandem triple-rotor helicopter of the present invention, the first rotor employing two blades, the third rotor employing two blades, and the second rotor employing four blades.
Figure 2 is a three-view illustration of a tandem triple rotor helicopter of the present invention, with the first rotor employing three blades, the third rotor employing three blades, and the second rotor employing six blades.
In the figure 1, a first rotor with two blades, 2, a second rotor with four blades, 3, a third rotor with two blades, 4, collective and cyclic pitch control for the first rotor, 5, collective and cyclic pitch control for the second rotor, 6, collective and cyclic pitch control for the third rotor, 7, first pylon, 8, second pylon, 9, third pylon, 10, stringer, 11, fuselage, 12, undercarriage, 101, first rotor with three blades, 202, second rotor with six blades, 303, third rotor with three blades, p, center of gravity.
Detailed Description
In the embodiment shown in fig. 1, three rotors are arranged in a longitudinal mode, a longitudinal beam is arranged at the top of a fuselage (11), hereinafter referred to as a longitudinal beam (10), a wing-shaped small tower is arranged on a cantilever at the front end of the longitudinal beam (10) and plays the role of a vertical tail wing, the tower is called a first tower (7) below, a first rotor (1) is arranged on the first tower (7), the center of a longitudinal beam (10) is above the gravity center (P), the top of the machine body (11) above the gravity center (P) is provided with a wing-shaped small tower which plays the role of a vertical tail wing, the small tower is called as a second small tower (8) below, a second rotor wing (2) is arranged on the second small tower (8), an airfoil-shaped small tower is arranged on a cantilever at the rear end of a longitudinal beam (10), the small tower plays the role of a vertical tail wing, the tower is hereinafter referred to as a third tower (9), and a third rotor (3) is provided on the third tower (9).
The interval that sets up three small towers equals, and third small tower (9) are higher than second small tower (8), and second small tower (8) are higher than first small tower (7), can reduce the influence of rotor downwash air current in front to the rotor behind.
The interval of three rotors on the three pylons is equal, and this interval size is less than the diameter of rotor, makes first rotor (1) rotating surface on first pylon (7) and second rotor (2) rotating surface on second pylon (8) have the part to overlap on the horizontal projection, and second rotor (2) rotating surface on second pylon (8) and third rotor (3) rotating surface on third pylon (9) have the part to overlap on the horizontal projection, has saved the occupation space of three rotors.
The rotating surface of each rotor wing is horizontally arranged.
The paddle shell of each rotor is connected with a rotor shaft through a paddle shell, the paddle shell is provided with a paddle waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, a total pitch controller is arranged for controlling the lift force of the rotor, and a periodic variable pitch controller is arranged for controlling the dumping angle of a rotating surface of a rotor tip, so that the lift force direction of the rotor is changed.
The total pitch and cyclic pitch controller (4) is arranged to operate the total pitch and cyclic pitch change of the first rotor (1), the total pitch and cyclic pitch controller (5) is arranged to operate the total pitch and cyclic pitch change of the second rotor (2), and the total pitch and cyclic pitch controller (6) is arranged to operate the total pitch and cyclic pitch change of the third rotor (3).
The engine is arranged, the three rotors are driven by the transmission device at the same time, the rotating speeds of the three rotors are the same, the rotation directions of the first rotor (1) and the third rotor (3) are the same, and the rotation directions of the first rotor (1) and the second rotor (2) are opposite.
Each rotor wing is composed of blades with the same size, the number of the blades adopted by the first rotor wing (1) and the third rotor wing (3) is the same, and the number of the blades adopted by the second rotor wing (2) is one time larger than that of the blades adopted by the first rotor wing (1). Therefore, the sum of the number of blades of the first rotor (1) and the third rotor (3) is equal to the number of blades of the second rotor (2).
First rotor (1) adopts two paddles, and third rotor (3) adopt two paddles, and second rotor (2) adopt four paddles, set up the rotor synchronizer and make, and the phase difference of first rotor (1) and second rotor (2) keeps 45 throughout, and the phase difference of second rotor (2) and third rotor (3) keeps 45 throughout and prevents that the rotor paddle collides with each other.
An undercarriage (12) is arranged under the fuselage (11) and close to the center of gravity (P).
The working principle of the tandem three-rotor helicopter with the blades is as follows: establish first rotor (1) and third rotor (3) anticlockwise rotation, second rotor (2) clockwise rotation, first rotor (1) adopts two paddles, and third rotor (3) adopts two paddles, and second rotor (2) adopts four paddles.
The rotor wing synchronizer enables the phase difference between the first rotor wing (1) and the second rotor wing (2) to be always kept at 45 degrees, enables the phase difference between the second rotor wing (2) and the third rotor wing (3) to be always kept at 45 degrees, and therefore even if the distances between the three rotor wings are equal and smaller than the diameters of the rotor wings, blades of the rotor wings cannot collide with each other.
Since the three rotors have the same rotating speed, the sum of the reactive torques of the first rotor (1) and the third rotor (3) is equal to the reactive torque of the second rotor (2) in number, and the reactive torques are opposite in direction, so that the reactive torques of the three rotors are mutually offset.
The accelerator of an engine for driving the rotors is increased, meanwhile, the total distance of the three rotors is increased, the lift force of the three rotors is increased, and when the total lift force is greater than the weight of the tandem three-rotor helicopter, the tandem three-rotor helicopter vertically ascends.
The throttle of the engine driving the rotor is reduced, and the tandem triple-rotor helicopter hovers when the total lift force is equal to the weight of the tandem triple-rotor helicopter.
The throttle of the engine driving the rotors is continuously reduced and the tandem tri-rotor helicopter is vertically lowered when the total lift is less than the weight of the tandem tri-rotor helicopter.
When the tandem three-rotor helicopter is in the air, the collective pitch and cyclic pitch controller (4) of the first rotor (1) is operated to tilt rightwards, the tip rotating surface of the first rotor (1) tilts rightwards, the lift force of the first rotor (1) tilts rightwards, meanwhile, the collective pitch and cyclic pitch controller (6) of the third rotor (3) tilts leftwards, the tip rotating surface of the third rotor (3) tilts leftwards, the lift force of the third rotor (3) tilts leftwards, and the first rotor (1) and the third rotor (3) jointly generate a rightward steering moment which drives the helicopter body (11) to steer rightwards; the total pitch and cyclic pitch controller (4) of the first rotor (1) is controlled to tilt to the left, the tip rotating surface of the first rotor (1) tilts to the left, the lift force of the first rotor (1) tilts to the left, meanwhile, the total pitch and cyclic pitch controller (6) of the third rotor (3) tilts to the right, the tip rotating surface of the third rotor (3) tilts to the right, the lift force of the third rotor (3) tilts to the right, the first rotor (1) and the third rotor (3) jointly generate a left steering moment, and the moment drives the airframe (11) to steer to the left to realize course control.
When the tandem three-rotor helicopter is in the air, the total pitch and cyclic pitch controller (5) of the second rotor (2) is operated to incline forwards, the rotating plane of the tip of the second rotor (2) inclines forwards, the lifting force of the second rotor (2) inclines forwards, and the fuselage (11) inclines forwards; the total pitch and cyclic pitch controller (5) of the second rotor wing (2) is operated to tilt backwards, the tip rotating surface of the second rotor wing (2) tilts backwards, the lifting force of the second rotor wing (2) tilts backwards, and the machine body (11) tilts backwards to realize pitching operation.
When the tandem three-rotor helicopter is in the air, the collective pitch and cyclic pitch controller (5) of the second rotor (2) is operated to tilt to the left, the tip rotating surface of the second rotor (2) tilts to the left, and the lift force of the second rotor (2) tilts to the left, so that the helicopter body (11) rolls to the left; and the total pitch and cyclic pitch controller (5) for operating the second rotor (2) inclines rightwards, the tip rotating surface of the second rotor (2) inclines rightwards, and the lift force of the second rotor (2) inclines rightwards, so that the fuselage (11) rolls rightwards, and the roll operation is realized.
When the tandem three-rotor helicopter is in the air, the helicopter body (11) is controlled to bow forwards, meanwhile, the accelerator of an engine driving the three rotors is increased, and the tandem three-rotor helicopter flies forwards; the helicopter body (11) is controlled to tilt backwards, the accelerator of an engine driving the three rotors is increased at the same time, and the tandem three-rotor helicopter flies backwards; the helicopter body (11) is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter flies leftwards; the fuselage (11) is operated to roll rightwards, the accelerator of an engine driving the three rotors is simultaneously increased, and the tandem three-rotor helicopter flies rightwards.
Pitching and rolling are controlled by the second rotor (2), the course is controlled by the first rotor (1) and the third rotor (3), the second rotor (2) does not participate in the course control, the course control is independent, the control characteristic of the tandem three-rotor helicopter is improved, and the control characteristic is similar to that of a single-rotor helicopter (the single-rotor helicopter, the rotors control pitching and rolling, and the tail propeller controls the course).
Because the rotating speeds of the three rotors are the same, the sum of the reactive torques of the first rotor (1) and the third rotor (3) is equal to the reactive torque of the second rotor (2) in quantity, and the reactive torques are opposite in direction, the reactive torques of the three rotors are mutually offset, and the consumption of the reactive torque is saved compared with a single-rotor helicopter.
In the embodiment shown in fig. 2, three rotors are arranged in a longitudinal mode, a longitudinal beam is arranged on the top of the fuselage (11), hereinafter referred to as a longitudinal beam (10), a wing-shaped small tower is arranged on a cantilever at the front end of the longitudinal beam (10) and plays the role of a vertical tail wing, the tower is called a first tower (7) below, a first rotor (101) is arranged on the first tower (7), the center of the longitudinal beam (10) is above the gravity center (P), the top of the machine body (11) above the gravity center (P) is provided with a wing-shaped small tower which plays the role of a vertical tail wing, the small tower is called as a second small tower (8) below, a second rotor wing (202) is arranged on the second small tower (8), an airfoil-shaped small tower is arranged on a cantilever at the rear end of the longitudinal beam (10), the small tower plays the role of a vertical tail wing, the tower is hereinafter referred to as a third tower (9), and a third rotor (303) is provided on the third tower (9).
The interval that sets up three small towers equals, and third small tower (9) are higher than second small tower (8), and second small tower (8) are higher than first small tower (7), can reduce the influence of rotor downwash air current in front to the rotor behind.
The intervals of three rotors on the three small towers are equal, the size of the interval is smaller than the diameter of the rotor, the rotating surface of a first rotor (101) on the first small tower (7) is partially overlapped with the rotating surface of a second rotor (202) on the second small tower (8) in horizontal projection, the rotating surface of the second rotor (202) on the second small tower (8) is partially overlapped with the rotating surface of a third rotor (303) on the third small tower (9) in horizontal projection, and therefore the occupied space of the three rotors is saved.
The rotating surface of each rotor wing is horizontally arranged.
The paddle shell of each rotor is connected with a rotor shaft through a paddle shell, the paddle shell is provided with a paddle waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, a total pitch controller is arranged for controlling the lift force of the rotor, and a periodic variable pitch controller is arranged for controlling the dumping angle of a rotating surface of a rotor tip, so that the lift force direction of the rotor is changed.
The collective and cyclic pitch controller (4) is arranged to operate the collective and cyclic pitch changes of the first rotor (101), the collective and cyclic pitch controller (5) is arranged to operate the collective and cyclic pitch changes of the second rotor (202), and the collective and cyclic pitch controller (6) is arranged to operate the collective and cyclic pitch changes of the third rotor (303).
The engine is arranged, the three rotors are driven by the transmission device at the same time, the rotating speeds of the three rotors are the same, the rotation directions of the first rotor (1) and the third rotor (3) are the same, and the rotation directions of the first rotor (1) and the second rotor (2) are opposite.
Each rotor is composed of blades with the same size, the number of the blades adopted by the first rotor (101) and the third rotor (303) is the same, and the number of the blades adopted by the second rotor (202) is twice as large as that of the blades adopted by the first rotor (101). Therefore, the sum of the number of blades of the first rotor (101) and the third rotor (303) is equal to the number of blades of the second rotor (202).
First rotor (101) adopts three paddle, and third rotor (303) adopt three paddle, and second rotor (202) adopt six paddles, sets up the rotor synchronizer and makes, and the phase difference of first rotor (101) and second rotor (202) keeps 30 throughout, and the phase difference of second rotor (202) and third rotor (303) keeps 30 throughout and prevents that the rotor paddle from colliding with each other.
An undercarriage (12) is arranged under the fuselage (11) and close to the center of gravity (P).
The working principle of the tandem three-rotor helicopter with the blades is as follows: if first rotor (101) and third rotor (303) clockwise the needle turn, second rotor (202) anticlockwise the needle turn, three paddle is adopted in first rotor (101), and three paddle is adopted in third rotor (303), and six paddles are adopted in second rotor (202).
The rotor synchronization device keeps the phase difference between the first rotor (101) and the second rotor (202) at 30 degrees all the time, and keeps the phase difference between the second rotor (202) and the third rotor (303) at 30 degrees all the time, so that even if the distances between the three rotors are equal and smaller than the diameter of the rotors, the blades of the rotors do not collide with each other.
Since the three rotors rotate at the same speed, the sum of the reactive torques of the first rotor (101) and the third rotor (303) is equal to the reactive torque of the second rotor (202) in number, and the reactive torques of the three rotors are opposite in direction, so that the reactive torques of the three rotors are mutually cancelled.
The accelerator of an engine for driving the rotors is increased, meanwhile, the total distance of the three rotors is increased, the lift force of the three rotors is increased, and when the total lift force is greater than the weight of the tandem three-rotor helicopter, the tandem three-rotor helicopter vertically ascends.
The throttle of the engine driving the rotor is reduced, and the tandem triple-rotor helicopter hovers when the total lift force is equal to the weight of the tandem triple-rotor helicopter.
The throttle of the engine driving the rotors is continuously reduced and the tandem tri-rotor helicopter is vertically lowered when the total lift is less than the weight of the tandem tri-rotor helicopter.
When the tandem three-rotor helicopter is in the air, the collective pitch and cyclic pitch controller (4) of the first rotor (101) is operated to tilt to the right, the tip rotating surface of the first rotor (101) tilts to the right, the lift force of the first rotor (101) tilts to the right, meanwhile, the collective pitch and cyclic pitch controller (6) of the third rotor (303) is operated to tilt to the left, the tip rotating surface of the third rotor (303) tilts to the left, the lift force of the third rotor (303) tilts to the left, and the first rotor (101) and the third rotor (303) jointly generate a rightward steering moment which drives the fuselage (11) to steer to the right; the collective pitch and cyclic pitch controller (4) of the first rotor (101) is operated to tilt to the left, the tip rotating surface of the first rotor (101) tilts to the left, the lift force of the first rotor (101) tilts to the left, meanwhile, the collective pitch and cyclic pitch controller (6) of the third rotor (303) is operated to tilt to the right, the tip rotating surface of the third rotor (303) tilts to the right, the lift force of the third rotor (303) tilts to the right, the first rotor (101) and the third rotor (303) jointly generate a left steering moment, and the moment drives the airframe (11) to steer to the left to realize course steering.
When the tandem three-rotor helicopter is in the air, the collective pitch and cyclic pitch controller (5) of the second rotor (202) is operated to incline forwards, the tip rotating surface of the second rotor (202) inclines forwards, the lifting force of the second rotor (202) inclines forwards, and the fuselage (11) inclines forwards; and the total pitch and cyclic pitch controller (5) of the second rotor wing (202) is operated to tilt backwards, the tip rotating surface of the second rotor wing (202) tilts backwards, the lifting force of the second rotor wing (202) tilts backwards, and the fuselage (11) tilts backwards to realize pitching operation.
When the tandem three-rotor helicopter is in the air, the collective pitch and cyclic pitch controller (5) of the second rotor (202) is operated to tilt to the left, the tip rotating surface of the second rotor (202) tilts to the left, and the lift force of the second rotor (202) tilts to the left, so that the helicopter body (11) rolls to the left; and operating the collective pitch and cyclic pitch controller (5) of the second rotor (202) to tilt to the right, the tip rotating surface of the second rotor (202) to tilt to the right, and the lift force of the second rotor (202) to tilt to the right, so that the fuselage (11) rolls to the right, and roll operation is realized.
When the tandem three-rotor helicopter is in the air, the helicopter body (11) is controlled to bow forwards, meanwhile, the accelerator of an engine driving the three rotors is increased, and the tandem three-rotor helicopter flies forwards; the helicopter body (11) is controlled to tilt backwards, the accelerator of an engine driving the three rotors is increased at the same time, and the tandem three-rotor helicopter flies backwards; the helicopter body (11) is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter flies leftwards; the fuselage (11) is operated to roll rightwards, the accelerator of an engine driving the three rotors is simultaneously increased, and the tandem three-rotor helicopter flies rightwards.
Pitching and rolling are controlled by the second rotor (202), the course is controlled by the first rotor (101) and the third rotor (303), the second rotor (202) does not participate in the course control, the course control is independent, and the control characteristic of the tandem three-rotor helicopter is improved, and the control characteristic is similar to the control of a single-rotor helicopter (the single-rotor helicopter, the rotors control pitching and rolling, and the tail rotor controls the course).
Because the rotating speeds of the three rotors are the same, the sum of the reactive torques of the first rotor (101) and the third rotor (303) is equal to the reactive torque of the second rotor (202) in number, and the reactive torques are opposite in direction, the reactive torques of the three rotors are mutually offset, and the consumption of the reactive torque is saved compared with a single-rotor helicopter.
Claims (1)
1. A vertical three-rotor helicopter features that a landing gear is arranged near the center of gravity under the helicopter body, a longitudinal beam is arranged at top of the helicopter body, a first small wing-shaped tower is arranged on the cantilever at front end of longitudinal beam, a first rotor is arranged on the first tower, the center of longitudinal beam is above the center of gravity, a second small wing-shaped tower is arranged at top of the helicopter body, a second rotor is arranged on the second tower, a third wing-shaped tower is arranged on the cantilever at back end of longitudinal beam, a third rotor is arranged on the third tower, the three towers are arranged at equal intervals, the third tower is higher than the second tower, the second tower is higher than the first tower, the influence of the washing airflow from front rotor to back rotor is reduced, the wing-shaped towers have vertical tail wing, the three rotors are arranged at equal intervals, and the interval is smaller than the diameter of rotor, so that the first rotary plane on the first tower and the second rotary plane on the second tower have partial horizontal projection Overlap, there is partial overlap second rotor rotating surface on the second towelette and third rotor rotating surface on the third towelette on the horizontal projection, reduce the occupation space of three rotors, the rotating surface level setting of every rotor, the paddle of every rotor is connected with the rotor shaft through the oar shell, the oar shell is furnished with the paddle that waves the hinge, the pendulum vibration hinge and the variable pitch hinge and constitute and waves the device, set up the total pitch controller and control the size of rotor lift, set up the pouring angle that the periodic variable pitch controller controlled the rotor point rotating surface, thereby change the lift direction of rotor, set up the engine, drive three rotors simultaneously through the transmission and rotate, characterized by: the rotating speeds of the three rotors are the same, the rotating directions of the first rotor and the third rotor are the same, the rotating directions of the first rotor and the second rotor are opposite, each rotor is composed of blades with the same size, the first rotor and the third rotor adopt blades with the same number, the number of the blades adopted by the second rotor is one time larger than that of the blades adopted by the first rotor, the sum of the blade numbers adopted by the first rotor and the third rotor is equal to that of the blades adopted by the second rotor, the sum of the reactive torques adopted by the first rotor and the third rotor is equal to that of the reactive torques of the second rotor, the reactive torques of the three rotors are mutually offset, the first rotor adopts two blades, the third rotor adopts two blades, the second rotor adopts four blades, the reactive torques of the three rotors are mutually offset, when the blades are arranged, a rotor synchronizing device is arranged to enable the rotors to be mutually offset, the phase difference of first rotor and second rotor remains 45 throughout, the phase difference of second rotor and third rotor remains 45 throughout and prevents that the rotor blade from colliding with each other, it adopts three paddle to establish first rotor, the third rotor adopts three paddle, the second rotor adopts six paddles, the counter torque of three rotor offsets each other, when adopting this kind of paddle setting, it makes to set up rotor synchronizer, the phase difference of first rotor and second rotor remains 30 throughout, the phase difference of second rotor and third rotor remains 30 throughout and prevents that the rotor blade from colliding with each other.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910896302.4A CN110626494A (en) | 2019-09-22 | 2019-09-22 | Tandem three-rotor helicopter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910896302.4A CN110626494A (en) | 2019-09-22 | 2019-09-22 | Tandem three-rotor helicopter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112416011A (en) * | 2020-11-19 | 2021-02-26 | 清华大学 | Longitudinal control method for tandem helicopter and helicopter using same |
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| US20060054737A1 (en) * | 2004-09-14 | 2006-03-16 | The Boeing Company | Tandem rotor wing rotational position control system |
| CN105667778A (en) * | 2016-04-06 | 2016-06-15 | 江富余 | Rotor wing propcopter |
| CN205738073U (en) * | 2016-04-19 | 2016-11-30 | 倪德玉 | A kind of helicopter of VTOL horizontal flight |
| CN110077583A (en) * | 2019-06-08 | 2019-08-02 | 江富余 | The more rotor heavy-duty helicopters of lap siding |
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2019
- 2019-09-22 CN CN201910896302.4A patent/CN110626494A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060054737A1 (en) * | 2004-09-14 | 2006-03-16 | The Boeing Company | Tandem rotor wing rotational position control system |
| CN105667778A (en) * | 2016-04-06 | 2016-06-15 | 江富余 | Rotor wing propcopter |
| CN205738073U (en) * | 2016-04-19 | 2016-11-30 | 倪德玉 | A kind of helicopter of VTOL horizontal flight |
| CN110077583A (en) * | 2019-06-08 | 2019-08-02 | 江富余 | The more rotor heavy-duty helicopters of lap siding |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112416011A (en) * | 2020-11-19 | 2021-02-26 | 清华大学 | Longitudinal control method for tandem helicopter and helicopter using same |
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