CN111003166A

CN111003166A - Tandem electric double-rotor helicopter and control system thereof

Info

Publication number: CN111003166A
Application number: CN201911348761.5A
Authority: CN
Inventors: 吴冲; 鲁功平
Original assignee: Efy Intelligent Control Tianjin Tech Co ltd
Current assignee: Efy Intelligent Control Tianjin Tech Co ltd
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-04-14

Abstract

The invention belongs to the technical field of aviation flight equipment, and discloses a tandem electric double-rotor helicopter and a control system thereof, wherein rotor wing devices are arranged at the front end and the rear end of a helicopter body in tandem; two sets of independent landing gears are flexibly connected to the front end and the rear end of the machine body, and a container is suspended at the bottom of the machine body; the control end of the rotor wing device is provided with an operating device in a matching way, the power end of the rotor wing device is connected with a power device, and the rotor wing device is connected with a control device. Compared with other helicopters, the invention has the advantages of small size of the helicopter body, simple structure, large load capacity, higher pneumatic efficiency and insensitivity to the gravity center position. The two rotors are arranged in a longitudinal row from front to back relative to the helicopter body, and the overall size of the helicopter body is smaller than that of a single-rotor helicopter with tail rotor, a double-rotor transverse-row helicopter and a multi-rotor helicopter. Compared with the conventional helicopter with the same rotor and the tail rotor, the novel helicopter with two basically same rotors can obtain the takeoff weight which is 2 times larger than that of the novel helicopter with the same rotors.

Description

Tandem electric double-rotor helicopter and control system thereof

Technical Field

The invention belongs to the technical field of aviation flight equipment, and particularly relates to a tandem electric double-rotor helicopter and a control system thereof.

Background

Currently, the current state of the art commonly used in the industry is such that: the helicopter is characterized by maneuvering flight with low altitude, hovering, low speed and unchanged nose direction, in particular to take off and land vertically in small-area fields. Based on the characteristics, the helicopter is widely applied to military use and civil use, and the universality of military and civil use is strong. Helicopters typically include a fuselage, landing gear, rotor assemblies, manipulators, power plants, controls, and the like. Helicopters can be generally classified into single-rotor with tail rotor, twin-rotor, and multi-rotor types according to the rotor configuration.

The single-rotor type helicopter with tail rotor is the most common helicopter in the prior art and is widely used on large, medium, small and miniature manned or unmanned helicopters. The novel aircraft is characterized in that a tail rotor is mounted on a tail beam, and the tail rotor rotates to generate pulling force to balance torque which is generated by rotation of a rotor wing and enables an aircraft body to rotate reversely. Because the lift force only depends on a single rotor wing, the helicopter has high requirement on the deviation of the center of gravity position and has more limitations when in use. In addition, the power consumed by the tail rotor is only used for balancing the reaction torque of the rotor wing, and the total power utilization efficiency of the helicopter is low.

The multi-rotor helicopter is generally a helicopter with four or more combined rotors, and has the defects of more rotors, complex control and lower efficiency in hovering and forward flying than the conventional single-rotor helicopter, so the configuration is basically presented on a miniature unmanned helicopter and is mainly used in the fields of aeromodelling, aerial photography and the like.

Twin-rotor helicopters can be basically classified into longitudinal, lateral and coaxial twin-rotor types. The transverse type is that 2 rotors distribute in fuselage both sides, and the preceding resistance of flying is great, generally uses seldom. The coaxial double-rotor type is that two rotors with opposite rotation directions are arranged on a rotor shaft from top to bottom, two rotor disks are completely overlapped, the upper rotor disk and the lower rotor disk interfere with each other pneumatically, and meanwhile, the complex operating mechanism and the special hub greatly increase the waste resistance and reduce the forward flight efficiency. Coaxial twin rotor versions are currently only available on individual small or miniature helicopters.

The tandem helicopter is characterized in that the front and the back of a fuselage are respectively provided with a rotor wing, the existing helicopter with the configuration is basically oil-powered, two pairs of rotor wings are completely the same and have opposite rotating directions, two pairs of rotor wing paddles are overlapped to different degrees, and the rotating phases are synchronous. The purpose of the overlapping of the two rotor disks is to reduce the length of the fuselage, so as to achieve the purpose of reducing the weight. However, in order to prevent the two pairs of rotors from rubbing against each other, the rotation of the rotors requires phase synchronization, a synchronizing shaft penetrating through the machine body is required, and the structural difficulty and the weight and resistance of the machine body are increased invisibly. The two pairs of rotor disks overlap, and there is also a certain degree of aerodynamic interference between the rotors, resulting in a reduction in efficiency. The vertical helicopter adopts oil power, aims to obtain larger power and larger takeoff weight, but has complex integral machinery, large occupied space and high use and maintenance cost.

Although various forms of helicopters have been developed, the disadvantages are also very significant. For example, the power consumption of the tail rotor of a single-rotor and tail-rotor unmanned helicopter commonly used in China accounts for about 10% of the power of an engine, and can be increased to 30% in strong wind. The length of tail is longer, makes helicopter occupation space great. The tail rotor is dangerous to ground personnel and easy to hit obstacles; the tail rotor is pneumatically influenced by a main rotor wing and a tail vortex of a fuselage, the pneumatic efficiency is low, and the load and vibration of the tail rotor are large; hover is sensitive to crosswind. The gravity center range of the helicopter is small, and the gravity center needs to be subjected to strict gravity center balancing before flying;

in the dual-rotor coaxial helicopter, the operating mechanism is complex, the maintenance cost is increased, the upper rotor and the lower rotor have aerodynamic interference, and the lift loss is caused; the blade stiffness requirement is high, causing the hub to generate a vibratory moment. The user cannot do too large maneuvering action; the aircraft is high and inconvenient to transport.

The common machine types have low pneumatic efficiency, complex structure, large machine body space, high use and maintenance cost and the like, need to be optimized, and are difficult to meet some special requirements. There is a great need for a new helicopter configuration that overcomes the above disadvantages.

In summary, the problems of the prior art are as follows: the existing helicopter has the disadvantages of low pneumatic efficiency, complex structure, large fuselage space and high use and maintenance cost.

The difficulty of solving the technical problems is as follows: common model technologies are mature, and helicopters with new rotor wing layouts are rare at home. Lack technical references and related data. The technical points needing verification and research are more, such as overall calculation and pneumatic calculation, overall layout and transmission and other designs.

The significance of solving the technical problems is as follows: the helicopter with the novel rotor wing layout can fundamentally solve the problems of low pneumatic efficiency, complex structure, large fuselage space, high use and maintenance cost, high gravity center requirement and the like of the existing helicopter, can fill the vacancy in the field of the helicopter type in China, and can meet more use requirements.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a tandem electric double-rotor helicopter and a control system thereof.

The invention is realized in such a way that a control system of a tandem electric twin-rotor helicopter comprises:

the container is arranged at the bottom of the machine body and is connected with the machine body through the automatic throwing device;

the landing gear is divided into a front landing gear and a rear landing gear which are respectively fixed at the front and rear positions of the lower part of the fuselage and provide support and landing buffer for the tandem double-rotor helicopter during landing;

the rotor wing device is characterized in that a front rotor wing and a rear rotor wing are respectively arranged in front of and behind the tandem double-rotor helicopter and respectively rotate, and lift force is obtained through flapping rotation of blades;

the front and rear power devices are motors arranged on the machine body, are powered by a power supply arranged on the machine body to rotate, and output the rotational kinetic energy to the rotor shaft to realize the rotation of the rotor;

the front and back control devices comprise three groups of electric steering engines, the steering engine arms are rotated according to received remote controller control signals, and the connecting rods push the inclinations of the inclinators to control the attack angles of the rotor blades, so that the inclination of the plane of the propeller disc is realized;

the throwing device is controlled by the steering engine to realize the aerial automatic throwing of the container.

The invention also aims to provide a tandem electric double-rotor helicopter which is provided with a helicopter body, wherein the front end and the rear end of the helicopter body are provided with rotor wing devices in tandem arrangement;

two sets of independent landing gears are flexibly connected to the front end and the rear end of the machine body, and a container is suspended at the bottom of the machine body;

the control end of the rotor wing device is provided with an operating device in a matching way, the power end of the rotor wing device is connected with a power device, and the rotor wing device and the power device are connected with the control device;

the rotor wing device comprises a first blade and a second blade, and the first blade and the second blade are respectively arranged on two sides of the hub in a straight line; the propeller hub is hinged to the upper end of the rotor shaft through a pin shaft, the rotor shaft is mounted on the fuselage, the lower end of the rotor shaft is connected with a power device, and the upper end of the rotor shaft is connected with the propeller hub.

Further, the fuselage adopts two U type duralumin alloy pieces to splice and rivet the installation or the fuselage wholly adopts fashioned aluminum alloy fuselage.

Further, the section of the machine body is rectangular, square or circular.

Furthermore, the undercarriage adopts one of an aluminum alloy frame, a carbon fiber frame, a metal frame and a non-metal frame.

Furthermore, an automatic throwing device is fixedly installed at the bottom of the machine body.

Further, the hubs of the two sets of rotor wing devices are the same in height relative to the fuselage, or low in front and high in back.

Further, the rotor shaft of the rear-side rotor device is perpendicular to the fuselage, and the front rotor of the rotor device is mounted in a forward-leaning manner relative to the fuselage.

Furthermore, the operating device comprises an automatic inclinator which is arranged on the rotor shaft and comprises a moving ring and a fixed ring, two support arms of the moving ring are respectively connected with the two blades, and three support arms axially and uniformly distributed at the lower end of the fixed ring are respectively connected with three groups of electric steering engines.

Further, power device includes the motor, the motor is installed on the fuselage, the output of motor is direct to be connected with the rotor shaft.

In summary, the advantages and positive effects of the invention are: compared with other helicopters, the electric tandem type double-rotor helicopter has the advantages of small size of a helicopter body, simple structure, large load capacity, higher pneumatic efficiency and insensitivity to gravity center position. The two rotors are arranged in a longitudinal row from front to back relative to the helicopter body, and the overall size of the helicopter body is smaller than that of a single-rotor helicopter with tail rotor, a double-rotor transverse-row helicopter and a multi-rotor helicopter. Compared with the conventional helicopter with the same rotor and the tail rotor, the novel helicopter with two basically same rotors can obtain the takeoff weight which is 2 times larger than that of the novel helicopter with the same rotors. The two pairs of rotors do not intersect, and compared with an intersecting tandem double-rotor helicopter, the aerodynamic interference between the two rotors is reduced, and the aerodynamic efficiency and the control quality are improved. The two pairs of rotors do not intersect, and compared with the intersecting tandem double-rotor helicopter, the two pairs of rotors do not need to rotate synchronously, thereby saving a synchronizing shaft, reducing the cross-sectional area of the helicopter body and reducing the resistance of the helicopter during forward flight. The power and the operation of the double-rotor helicopter adopt an electric mode, so that a large-size engine, a complex transmission system and the like are omitted, the space of the helicopter body is greatly saved, the size of the helicopter body is reduced, and the reliability is improved. The saved machine body space can carry more task devices, such as a cargo box and the like, in a throwing way. The reduced size of the airplane body saves the processing material cost, lightens the weight of the airplane, increases the endurance time, and simultaneously enables the transportation to be more convenient and fast without a large vehicle.

Drawings

Fig. 1 is a schematic structural diagram of a tandem electric twin-rotor helicopter provided in an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a control device according to an embodiment of the present invention;

FIG. 3 is a schematic view of an installation structure of the fuselage provided by the embodiment of the invention;

in the figure: 1. a body; 2. a nose landing gear; 3. a rear landing gear; 4. a rotor device; 5. a first blade; 6. a second blade; 7. a hub; 8. a rotor shaft; 9. a power plant; 10. a motor; 11. an automatic throwing device; 12. a power source; 13. a control device; 14. a cargo box.

Detailed Description

In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.

In view of the problems in the prior art, the present invention provides a tandem electric twin-rotor helicopter, which is described in detail with reference to fig. 1 to 3.

As shown in fig. 1 to 3, the tandem electric twin-rotor helicopter according to the embodiment of the present invention includes a fuselage 1, a landing gear, a rotor unit 4, a steering unit, a power unit 9, a control unit 13, and a cargo box 14.

The undercarriage is provided with two sets of, is nose undercarriage 2 and rear undercarriage 3 respectively, and nose undercarriage 2 and rear undercarriage 3 fix respectively in the front and back position of fuselage 1 lower part. Two groups of rotor wing devices 4 are arranged and respectively fixed at the front and rear positions of the upper part of the fuselage 1; each rotor wing device 4 comprises a pair of blades and two blades, and a first blade 5 and a second blade 6 are respectively arranged on two sides of a hub 7 in a straight line; the propeller hub 7 is a seesaw type propeller hub 7, and the propeller hub 7 is hinged to the upper end of the rotor shaft 8 through a pin shaft; the rotor shaft 8 is arranged on the fuselage 1, the lower end is connected with the power device 9, and the upper end is connected with the hub 7.

The operating device is provided with a set, and the operating device is respectively provided with one set for each group of rotor wing devices 4. Each set of steering devices comprises: the automatic inclinators are arranged on the rotor shaft 8 and comprise moving rings and fixed rings, two support arms of the upper moving ring are respectively connected with the two blades, and three support arms which are axially and uniformly distributed on the lower fixed ring are respectively connected with the three groups of electric steering engines; three groups of electric steering engines: is arranged on the machine body 1, is connected with three support arms of the fixed ring and is controlled by a control device 13.

Two sets of power devices 9 are arranged and respectively provide mechanical power for the rotor wing device 4 and power supply power for the operating system and the control device 13. Each set of power device 9 comprises a motor 10, the motor 10 is arranged on the airframe 1, the output end of the motor is directly connected with the rotor shaft 8, and the motor provides power for the rotor shaft 8 under the control of the control device 13; a power source 12 is mounted on the body 1 to provide power to the motor 10 and to an operating system and control device 13.

The control device 13 controls the operation of three groups of electric steering engines of the control device and the motor 10 of the power device 9 automatically or by ground remote control. The cargo box 14 is mounted at the bottom of the body 1 and is connected to the body 1 by the automatic throwing device 11.

The machine body 1 is a full-mechanical stress and force transmission component and provides an installation interface for each system.

Undercarriage: the landing gear is flexibly connected to the fuselage 1 to provide ground support and necessary landing cushioning for the helicopter.

Rotor device 4: the rotor device 4 provides lift for the helicopter. The two sets of rotor wing devices 4 are longitudinally distributed in tandem in the fuselage 1, have opposite rotation directions and mutually balance the reaction torque. The distance between the centers of the two rotor wing devices is larger than the diameter of the rotor wing, the rotors do not overlap with each other, the pneumatic interference between the two rotor wings is reduced, the rotating phases do not need to be synchronous, a synchronizing shaft is omitted, the structure is simpler, and the weight is reduced.

A pair of paddles: two blades with wing profiles are arranged on a hub 7 and rotate around a rotor shaft 8, and the attack angles of the blades at different rotating positions are controlled by an automatic tilter of an operating system, so that the magnitude and direction of lift force required by the rotor are controlled, and the flying speed, pitching, course, rolling and other postures of the helicopter are further controlled.

Hub 7: the hub 7 belongs to a semi-rigid seesaw type hub 7 and comprises a variable pitch hinge and a flapping hinge of blades. The hub 7 is a main stressed part of the rotor wing device 4, and provides blade installation, transmits and balances bending moments of two blades, transmits the lifting force of the blades to the rotor wing shaft 8, and transmits rotating power to the blades.

The rotor shaft 8: the rotary power transmitted by the motor 10 is transmitted to the hub 7, and the lifting force transmitted by the hub 7 is transmitted to the fuselage 1.

The operating device comprises: under the control of the control device 13, the three groups of electric steering engines are respectively controlled to work, so that the position and the inclination state of the automatic inclinator are controlled, and the attack angle of the paddle at different rotating positions is controlled.

Each set of steering means comprises:

a set of automatic recliners: the movable ring is embedded in the fixed ring, and the whole is arranged on the rotor shaft 8 through a joint bearing. The fixed ring can slide up and down, tilt back and forth and left and right on the rotor shaft 8 under the pulling of three groups of electric steering engines which are annularly and uniformly distributed with the fixed ring, so that the change of the attack angle of the paddle is periodically controlled by driving the rotating ring to rotate.

Three groups of electric steering engines: under the control of the control device 13, the power required for the posture change of the stationary ring is supplied.

The power device 9: and the two sets of power devices 9 are used for respectively providing power for the rotor wing device 4 and the operating system.

The control device 13: three groups of electric steering engines of the control device and motors 10 of the power device 9 are controlled to work independently or remotely on the ground, so that the basic work of taking off, flying and landing of the helicopter is controlled. The throwing device is controlled to realize the automatic throwing of the cargo box 14 in the air.

The cargo box 14: and loading and realizing cargo transportation.

(1) Compared with a single-rotor helicopter, the tandem double-rotor helicopter provided by the invention cancels a tail rotor, and reduces power loss. Simultaneously, compare single rotor area tail rotor helicopter, improved unmanned aerial vehicle's maximum carrying capacity.

(2) Compared with a coaxial dual-rotor helicopter, the tandem dual-rotor helicopter has the advantages that the front and back arrangement of the rotors effectively reduces the aerodynamic interference of the two rotors and improves the efficiency.

(3) Compared with the conventional single-rotor helicopter and the conventional coaxial dual-rotor helicopter, the tandem dual-rotor helicopter has larger front-back variation range of the center of gravity, reduces the requirement of center of gravity balancing, and is very favorable for cargo transportation.

(4) Compared with an oil-driven dual-rotor helicopter, the electric tandem dual-rotor helicopter has the advantages of simple structure, high space utilization rate and low maintenance cost.

(5) Compared with the existing electric tandem double-rotor helicopter on the market, the electric tandem double-rotor helicopter has the advantages that the structure of the helicopter body 1 is more stable and more simple, the weight is light, the expansibility is strong, and the undercarriage is simpler and more portable. The forward-leaning layout of the front rotor wing enables the front flying efficiency to be higher.

(6) Compared with the existing electric tandem double-rotor helicopter in the market, the electric tandem double-rotor helicopter provided by the invention carries the throwable cargo box 14, and can conveniently transport and throw cargo.

The machine body 1 is a full-mechanical stress and force transmission component and provides an installation interface for each system. The cargo box 14 is mounted at the bottom of the fuselage and is connected to the fuselage 1 by the automatic tosser 11. The landing gear is divided into a front landing gear 2 and a rear landing gear 3 which are respectively fixed at the front and rear positions of the lower part of the fuselage 1 to provide support and necessary landing buffer for the tandem double-rotor helicopter during landing. Rotor device 4 divide into preceding rotor and back rotor and arranges respectively around tandem double rotor helicopter, can rotate respectively, waves through the paddle and rotates and obtain lift. The front and rear power devices 9 are motors 10 mounted on the body 1, which are rotated by power supplied from a power source 12 mounted on the body 1 and output rotational kinetic energy to the rotor shaft 8 to rotate the rotor. The front and back control device mainly comprises three groups of electric steering engines which rotate a steering engine arm (disc) according to a received remote controller control signal, and pushes (pulls) the tilter to tilt through a connecting rod so as to control the attack angle of the rotor blade, so that the planar tilting of the paddle disc is realized, and the flight attitude is influenced to realize flight control;

the throwing device is controlled by a steering engine to realize the automatic aerial throwing of the cargo box 14. The cargo box 14 is used for loading and transporting cargo.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A control system of a tandem electric twin-rotor helicopter, comprising:

2. A tandem electric twin-rotor helicopter provided with the control system according to claim 1, wherein the tandem electric twin-rotor helicopter is provided with a fuselage, and the front end and the rear end of the fuselage are provided with rotor devices in tandem arrangement;

3. The tandem electric twin rotor helicopter of claim 2, wherein the fuselage is assembled by splicing and riveting two U-shaped hard aluminum alloy pieces or the fuselage is integrally formed of an aluminum alloy fuselage.

4. A tandem electric twin rotary wing helicopter according to claim 2 wherein the fuselage has a rectangular, square or circular cross-section.

5. The tandem electric twin rotor helicopter of claim 2, wherein the landing gear is one of an aluminum alloy frame, a carbon fiber frame, a metal frame, and a non-metal frame.

6. A tandem electric twin rotary wing helicopter according to claim 2 wherein an automatic throwing device is fixedly mounted to the bottom of the fuselage.

7. A tandem electric twin rotor helicopter according to claim 2 wherein the hubs of both sets of said rotor assemblies are of the same height relative to the fuselage or low front to back.

8. A tandem electric twin rotor helicopter according to claim 2, wherein the rotor shaft of the rear-side rotor unit is perpendicular to the fuselage, and the front rotor of the rotor unit is mounted in a forward-tilted manner with respect to the fuselage.

9. The tandem electric twin rotor helicopter of claim 1, wherein the steering device comprises an automatic tilter mounted on the rotor shaft, the automatic tilter comprising a rotating ring and a stationary ring, two arms of the rotating ring being connected to two blades, respectively, and three arms of the stationary ring at the lower end being axially and uniformly distributed, respectively, connected to three sets of electric steering engines.

10. A tandem electric twin rotor helicopter according to claim 1 wherein said power means comprises an electric motor mounted on the fuselage, the output of said electric motor being connected directly to the rotor shaft.