CN110884643A - Tandem helicopter front-flying control method and helicopter - Google Patents
Tandem helicopter front-flying control method and helicopter Download PDFInfo
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- CN110884643A CN110884643A CN201911139586.9A CN201911139586A CN110884643A CN 110884643 A CN110884643 A CN 110884643A CN 201911139586 A CN201911139586 A CN 201911139586A CN 110884643 A CN110884643 A CN 110884643A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
- B64C19/02—Conjoint controls
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Abstract
The invention discloses a tandem helicopter and a control method for forward flight of the tandem helicopter, wherein the control method for forward flight of the tandem helicopter comprises the following steps: detecting a pitch angle of the helicopter; judging whether the absolute value of the pitch angle is larger than a threshold value; carrying out collective pitch identical control or collective pitch differential control on a front rotor and a rear rotor of the helicopter; and judging whether the collective pitch of the front rotor and the rear rotor is the same or not in the collective pitch differential control. According to the tandem helicopter forward flight control method, the total distance between the front rotor and the rear rotor can be independently controlled, so that the decoupling of the attitude and the forward flight speed of the helicopter is realized, the problem of course correction is reduced, and the reduction of flight resistance and the improvement of flight efficiency are facilitated.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to a tandem helicopter front flight control method and a helicopter.
Background
The existing tandem helicopter realizes the control of the pitching attitude of the helicopter and the forward flying speed of the helicopter through longitudinal variable pitch. Specifically, the two paddles are longitudinally inclined by controlling the longitudinal cyclic pitch of the two rotors, so that the forward pulling force and the pitching moment are provided. In order to ensure that the tandem helicopter can fly at a high speed, the pitching attitude angle of the helicopter body needs to be smaller as much as possible in the forward flying process, so that the resistance of the helicopter body is reduced, and therefore, the two rotor shafts have certain forward inclination angles.
In the mode of realizing front flight of the tandem helicopter by longitudinal periodic variable pitch, the rotor wing can generate a certain pitching moment, so that the body of the helicopter tilts forward, the body resistance of the helicopter is increased, and the required power of the helicopter is higher in the high-speed front flight process. Although the forward inclination angle of the helicopter body in the forward flight process can be reduced by increasing the forward inclination angle of the rotor shaft, so that the resistance of the helicopter body in the forward flight process is reduced, the posture of the helicopter body cannot be leveled during hovering and taking off and landing, and the difficulty of taking off and landing of the helicopter is high. Therefore, there is room for improvement in the above-described technology.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, one object of the present invention is to provide a tandem helicopter forward flight control method, which can control the total distance between the front rotor and the rear rotor individually, so as to decouple the attitude and forward flight speed of the helicopter and reduce the problem of course correction, thereby being more beneficial to reducing flight resistance and improving flight efficiency.
The invention also provides a helicopter adopting the tandem helicopter forward flight control method.
The tandem helicopter forward flight control method provided by the embodiment of the invention comprises the following steps of:
s1, detecting the pitch angle of the helicopter;
s2, judging whether the absolute value of the pitch angle is larger than a threshold value, if so, entering the step S4, if not, entering the step S3, and then entering the step S1 again;
s3, carrying out collective pitch identical control on a front rotor and a rear rotor of the helicopter, wherein when the helicopter is in the collective pitch identical control, the collective pitch manipulated variable of the front rotor is identical to the collective pitch manipulated variable of the rear rotor;
s4, carrying out collective differential control on the front rotor and the rear rotor, wherein when the helicopter is in the collective differential control, the collective control amount of the front rotor is larger than that of the rear rotor;
and S5, judging whether the collective pitch of the front rotor and the rear rotor is the same or not during the collective pitch differential control, if so, entering the step S3, and then entering the step S1 again, and if not, entering the step S4 again.
According to the tandem helicopter forward flight control method, the total distance between the front rotor and the rear rotor can be independently controlled, so that the decoupling of the attitude and the forward flight speed of the helicopter is realized, the problem of course correction is reduced, and the reduction of flight resistance and the improvement of flight efficiency are facilitated.
According to the tandem helicopter forward flight control method provided by the embodiment of the invention, when the pitch angle of the helicopter exceeds the threshold value, the total pitch differential control is used for adjusting the pitch angle.
According to the tandem helicopter forward flight control method provided by the embodiment of the invention, when the helicopters are under the control of the same collective pitch, the control of the helicopters is realized by adopting the longitudinal cyclic pitch variation of the rotor wings.
According to the front-flying control method of the tandem helicopter provided by the embodiment of the invention, the longitudinal cyclic pitch of the rotor wing is used for controlling the front-flying speed of the helicopter.
According to a second aspect of the present invention, the helicopter employing the tandem helicopter forward flight control method according to any one of the first aspects further includes: total distance differential adjustment controller and altitude controller, preceding rotor with the back rotor is the tandem type distribution just preceding rotor with back rotor is controlled alone, total distance differential adjustment controller is through setting for the threshold value with the angle of pitch obtains the differential value of rotor total distance, through altitude controller obtains the total distance manipulation volume of rotor. Compared with the prior art, the advantages of the helicopter and the tandem helicopter forward flight control method are the same, and are not described again.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a tandem helicopter forward flight control method according to an embodiment of the present invention;
fig. 2 is a flowchart of collective differential control according to an embodiment of the present invention.
Reference numerals:
100-helicopter, 1-front rotor, 2-rear rotor, 3-collective differential adjustment controller and 4-height controller.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically connected, electrically connected or can communicate with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The tandem helicopter forward flight control method according to the embodiment of the present invention is described below with reference to fig. 1 to 2. As shown in fig. 1, the method for controlling forward flight of a tandem helicopter according to an embodiment of the present invention includes the following steps:
s1, detecting the pitch angle of the helicopter 100;
s2, judging whether the absolute value of the pitch angle is larger than a threshold value, if so, entering the step S4, if not, entering the step S3, and then entering the step S1 again;
s3, carrying out collective pitch identical control on the front rotor 1 and the rear rotor 2 of the helicopter 100, wherein when the helicopter 100 is in the collective pitch identical control, the collective pitch manipulated variable of the front rotor 1 is identical to the collective pitch manipulated variable of the rear rotor 2;
s4, carrying out collective pitch differential control on the front rotor wing 1 and the rear rotor wing 2, wherein when the helicopter 100 is in the collective pitch differential control, the collective pitch manipulated variable of the front rotor wing 1 is larger than that of the rear rotor wing 2;
s5, it is determined whether the collective pitch of the front rotor 1 and the rear rotor 2 is the same during collective pitch differential control, and if yes, the process proceeds to step S3, and then the process proceeds to step S1 again, and if no, the process proceeds to step S4 again.
That is, when helicopter 100 is flying forward, it is necessary to detect whether the current pitch angle exceeds the set pitch angle, i.e., whether the absolute value is greater than the threshold value. When the absolute value is not greater than the threshold value, collective control is performed on the front rotor 1 and the rear rotor 2 of the helicopter 100. When the absolute value is greater than the threshold value, the total pitch differential control is performed on the front rotor 1 and the rear rotor 2, at this time, the total pitch manipulated variable of the front rotor 1 is greater than the total pitch manipulated variable of the rear rotor 2, the helicopter 100 adjusts the pitch angle, and specifically, the helicopter 100 can reduce the pitch angle, which is beneficial to reducing the flight resistance and improving the flight efficiency. Further, when the collective pitch manipulated variable of the front rotor 1 and the collective pitch manipulated variable of the rear rotor 2 are adjusted to be the same, the helicopter 100 is switched to the collective pitch identical control mode and reenters the state of detection of the pitch angle.
In the related art, a front rotor and a rear rotor of a helicopter are in linkage control, and the control of the helicopter is realized through the longitudinal cyclic pitch variation of the rotors. In the forward flight process, the front rotor and the rear rotor can generate certain pitching moment, so that the body of the helicopter tilts forward, the body resistance of the helicopter is increased, and the required power of the helicopter is higher in the high-speed forward flight process. Although the fuselage drag during forward flight can be reduced by increasing the inclination angle of the fore-aft rotor shaft, the helicopter cannot be kept level during hovering and taking off and landing, which leads to an increase in the difficulty of taking off and landing the helicopter. The tandem helicopter forward flight control method can independently control the front rotor wing 1 and the rear rotor wing 2, and can reduce forward tilting and flight resistance of the helicopter 100 through a total distance differential control mode in the high-speed forward flight process so as to improve flight efficiency; under the conditions of low-speed flight, hovering and taking off and landing, the helicopter 100 can keep the helicopter horizontal through the same control mode of the collective pitch, so that the decoupling of the attitude and the forward flight speed of the helicopter 100 is realized, and the problem of course correction is reduced.
According to the tandem helicopter forward flight control method, the forward rotor 1 and the rear rotor 2 can be controlled independently, so that the decoupling of the attitude and the forward flight speed of the helicopter 100 is realized, the problem of course correction is reduced, and the reduction of flight resistance and the improvement of flight efficiency are facilitated.
According to the tandem helicopter forward flight control method of one embodiment of the invention, as shown in fig. 1, when the pitch angle of the helicopter 100 exceeds a threshold value, and the total distance manipulated variable of the front rotor 1 is greater than the total distance manipulated variable of the rear rotor 2, the pitch angle can be adjusted by using total distance differential control, which is beneficial to ensuring that the pitch angle of the body attitude of the helicopter 100 is reduced during high-speed flight, thereby reducing the flight resistance during forward flight.
According to the tandem helicopter forward flight control method of one embodiment of the present invention, as shown in fig. 1, when the helicopter 100 is in the collective pitch same control mode, and the collective pitch manipulated variable of the front rotor 1 is equal to the collective pitch manipulated variable of the rear rotor 2, the control of the helicopter 100 can be realized by using the longitudinal cyclic variation of the rotors, which can be used to control the forward flight speed of the helicopter 100, which is advantageous to improve the flight efficiency. Further, during low speed flight of helicopter 100, the pitch angle of helicopter 100 is also controlled by the longitudinal cyclic pitch of the rotors, while the collective pitch manipulated variable of front rotor 1 and the collective pitch manipulated variable of rear rotor 2 remain the same.
In conclusion, according to the tandem helicopter forward flight control method provided by the invention, the front rotor 1 and the rear rotor 2 can be controlled independently, so that the decoupling of the attitude and the forward flight speed of the helicopter 100 is realized, the problem of course correction is reduced, and the reduction of flight resistance and the improvement of flight efficiency are facilitated.
The second aspect of the present invention also provides a helicopter 100, the helicopter 100 employing the tandem helicopter forward flight control method according to any one of the first aspect. Further, as shown in fig. 2, helicopter 100 of the embodiment of the present invention may further include: a collective differential adjustment controller 3 and a height controller 4. Specifically, the altitude controller 4 may obtain a total pitch manipulated variable of the rotor from signals of a current flight altitude and a target altitude of the helicopter 100, and the total pitch differential adjustment controller 3 may perform the total pitch differential adjustment control by setting a threshold pitch angle and a current pitch angle of the helicopter 100, and may obtain a differential value of the total pitch of the rotor, and specifically, the differential value of the total pitch of the rotor is provided with an upper limit, so that torque imbalance between the front rotor 1 and the rear rotor 2 may be prevented. Further, the differential value of the rotor collective pitch is a positive value, in the collective pitch differential control mode of helicopter 100, the collective pitch manipulated variable of front rotor 1 is the collective pitch manipulated variable of the rotor plus the differential value of the rotor collective pitch, and the collective pitch manipulated variable of rear rotor 2 is the differential value obtained by subtracting the rotor collective pitch from the collective pitch manipulated variable of the rotor, that is, the collective pitch manipulated variable of front rotor 1 is greater than the collective pitch manipulated variable of rear rotor 2, which is beneficial to reducing the pitch angle of the body attitude of helicopter 100, thereby reducing the flight resistance during forward flight and improving the flight efficiency. Furthermore, the front rotor wing 1 and the rear rotor wing 2 are distributed in a longitudinal mode, and the front rotor wing 1 and the rear rotor wing 2 are independently controlled, so that decoupling of the attitude and the forward flying speed of the helicopter 100 is facilitated, and the problem of course correction is reduced.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A tandem helicopter forward flight control method is characterized by comprising the following steps:
s1, detecting the pitch angle of the helicopter;
s2, judging whether the absolute value of the pitch angle is larger than a threshold value, if so, entering the step S4, if not, entering the step S3, and then entering the step S1 again;
s3, carrying out collective pitch identical control on a front rotor and a rear rotor of the helicopter, wherein when the helicopter is in the collective pitch identical control, the collective pitch manipulated variable of the front rotor is identical to the collective pitch manipulated variable of the rear rotor;
s4, carrying out collective differential control on the front rotor and the rear rotor, wherein when the helicopter is in the collective differential control, the collective control amount of the front rotor is larger than that of the rear rotor;
and S5, judging whether the collective pitch of the front rotor and the rear rotor is the same or not during the collective pitch differential control, if so, entering the step S3, and then entering the step S1 again, and if not, entering the step S4 again.
2. The tandem helicopter forward flight control method of claim 1, wherein when the pitch angle of the helicopter exceeds the threshold value, the collective differential control is used to adjust the pitch angle.
3. The tandem helicopter forward flight control method according to claim 1, wherein when the helicopters are in the collective pitch identical control, the control of the helicopters is achieved using a longitudinal cyclic pitch of rotors.
4. A tandem helicopter forward flight control method according to claim 3, wherein the longitudinal cyclic pitch of said rotor is used to control the forward flight speed of said helicopter.
5. A helicopter controlled by the tandem helicopter forward flight control method according to any one of claims 1 to 4.
6. A helicopter according to claim 5, characterized in that said front and rear rotors are distributed in tandem and are independently piloted.
7. A helicopter according to claim 5, characterized in that it further comprises: the total distance differential adjustment controller obtains a differential value of the total distance of the rotor wing through the set threshold value and the set pitch angle, and obtains the total distance control quantity of the rotor wing through the height controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911139586.9A CN110884643B (en) | 2019-11-20 | 2019-11-20 | Tandem helicopter front-flying control method and helicopter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911139586.9A CN110884643B (en) | 2019-11-20 | 2019-11-20 | Tandem helicopter front-flying control method and helicopter |
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| CN110884643A true CN110884643A (en) | 2020-03-17 |
| CN110884643B CN110884643B (en) | 2021-06-29 |
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Cited By (2)
| 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 |
| CN113076601A (en) * | 2021-04-20 | 2021-07-06 | 中国直升机设计研究所 | Helicopter slope take-off and landing calculation and test flight method |
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| CN106347650A (en) * | 2016-10-09 | 2017-01-25 | 北京理工大学 | Tandem double-duct type flight robot and dynamics cooperative control method thereof |
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2019
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| US3905565A (en) * | 1973-09-27 | 1975-09-16 | Herman Gopp Kolwey | Tilt axis dual rotor helicopter and control system |
| CN106347650A (en) * | 2016-10-09 | 2017-01-25 | 北京理工大学 | Tandem double-duct type flight robot and dynamics cooperative control method thereof |
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| 严强强: "纵列式双旋翼无人直升机飞行控制研究", 《中国优秀硕士学位论文全文数据库》 * |
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Cited By (2)
| 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 |
| CN113076601A (en) * | 2021-04-20 | 2021-07-06 | 中国直升机设计研究所 | Helicopter slope take-off and landing calculation and test flight method |
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| Publication number | Publication date |
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| CN110884643B (en) | 2021-06-29 |
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