CN111470039B - Rotor control system suitable for heavy-duty rotary wing aircraft with stepped hub - Google Patents
Rotor control system suitable for heavy-duty rotary wing aircraft with stepped hub Download PDFInfo
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- CN111470039B CN111470039B CN202010369304.0A CN202010369304A CN111470039B CN 111470039 B CN111470039 B CN 111470039B CN 202010369304 A CN202010369304 A CN 202010369304A CN 111470039 B CN111470039 B CN 111470039B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/24—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with rotor blades fixed in flight to act as lifting surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/30—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with provision for reducing drag of inoperative rotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
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Abstract
The invention provides a rotor wing control system suitable for a heavy-load type rotary wing airplane with a stepped hub, wherein the stepped hub system is provided with a lower hub capable of moving axially, so that an auxiliary blade can be fused with a fuselage in a fixed wing flight mode, and the disturbance and the resistance of the auxiliary blade in the fixed wing flight mode are greatly reduced; and aiming at the stepped hub system structure, the rotary wing aircraft is also subjected to multi-mode control of a helicopter flight mode, a fixed wing flight mode and a switching flight mode, and particularly, a plurality of control modes are provided for the rotary wing system, so that the novel rotor system of the rotary wing can meet the requirements of different flight states.
Description
Technical Field
The invention relates to a novel rotor wing control system of a rotary wing aircraft, which is suitable for a heavy-load rotary wing aircraft with a stepped hub.
Background
The rotary wing airplane is a novel manned/unmanned airplane which has the vertical take-off and landing performance of a helicopter and the high-speed cruising performance of a fixed wing airplane. The Chinese patent with the patent number ZL201110213680.1 and the name of a rotary wing airplane with variable flight modes is a typical airplane type. Rotary wing aircraft have a three-wing aerodynamic layout. Wherein, rotor wing, the main wing promptly, under helicopter flight mode, can regard as the rotor, through rotatory pulling force that needs when providing the VTOL for the aircraft, simultaneously, after the aircraft has certain flying speed, can lock again for the stationary vane, realize the high-speed, efficient flight of stationary vane. Therefore, during the takeoff, landing and low-speed flight phases, the aircraft adopts the helicopter flight mode, during the cruise and mission phases, the fixed wing flight mode is adopted, and a transition flight mode exists between the fixed wing flight mode and the helicopter flight mode.
In order to give consideration to the flight mode of the helicopter and the flight mode of the fixed wing, the rotary wing adopts a middle-span-ratio and small-root-ratio trapezoidal wing plane design and adopts a symmetrical elliptical wing profile with a front edge and a rear edge, and due to the characteristic of a self blunt rear edge, the flow separation always exists at the rear edge of the elliptical wing profile and brings extra power consumption, so that the required power of the rotary wing is larger than that of the traditional helicopter in the flight mode stage of the helicopter. Meanwhile, compared with a main rotor of a traditional helicopter, the single blade of the rotary wing has large area and large structural weight.
In order to effectively improve the load carrying capacity and the maximum takeoff weight of the rotary wing aircraft, a four-blade rotary wing is provided, for example, in the Chinese patent ZL201910189236.7 of the four-blade rotary wing, the rotary wing aircraft and the control method. The four-blade rotary wing comprises a pair of main blades and a pair of auxiliary blades; the blade section of the main blade adopts a front-edge symmetrical wing type and a rear-edge symmetrical wing type, and the plane shape of the blade adopts a front-rear symmetrical design, so that the performance of a fixed wing during locking is considered; the blade section of the auxiliary blade adopts a rotor wing profile meeting the performance requirement of a helicopter rotor; the main blade and the auxiliary blade are arranged on the same hub in a cross-shaped distribution manner.
Disclosure of Invention
Technical problem to be solved
After further theoretical calculation, wind tunnel test and model test flight verification, we find that, in the fixed-wing flight stage of the four-blade rotary wing aircraft, after a rotor spindle is locked, a main blade is perpendicular to a symmetrical plane of an aircraft body, and auxiliary blades are distributed along a longitudinal symmetrical plane of the aircraft body, at the moment, the auxiliary blades along the longitudinal symmetrical plane of the aircraft body generate airflow interference with the upper surface of the aircraft body, so that resistance is increased, incoming flow of the main blades playing the role of fixed wings is influenced, in addition, as the auxiliary blades along the longitudinal symmetrical plane of the aircraft body are of a long and thin structure, stronger vibration can be generated in the fixed-wing flight stage, and the flight resistance in the cruise stage can be further increased.
Technical scheme
In order to solve the problems, simultaneously improve the takeoff weight of a rotary wing aircraft and avoid the problems of complicated design of hubs, a plurality of control lever systems and a complicated design of a movable disk when four blades are positioned on the same hub, the invention provides a rotor wing control system suitable for a heavy-load rotary wing aircraft with a stepped hub, a lifting type auxiliary propeller mode is realized by adopting the stepped hub system consisting of an upper hub system and a lower hub system, when the aircraft is in a helicopter mode, the control system drives the auxiliary propeller to be at the highest position, the upper hub and the lower hub are driven by a rotor shaft to rotate, the helicopter mode flight is completed, the auxiliary propeller is equivalent to a high lift device for the main propeller in the process, more than half of pulling force is borne under the condition of large load, and effective support is provided for the helicopter mode of the rotary wing aircraft; when the airplane is in a fixed wing mode, the control system drives the auxiliary propellers to be lowered to the sunken positions specially arranged in the longitudinal direction of the airplane body, the main propellers are locked in the transverse direction of the airplane, the auxiliary propellers are locked in the vertical direction of the airplane, the auxiliary propellers are fused with the airplane body, and finally the airplane forms a three-wing-surface airplane to reduce resistance during high-speed flight.
The technical scheme of the invention is as follows:
the rotor control system for a heavy-duty rotary wing aircraft having a stepped hub, comprising: the stepped hub is divided into an upper hub system and a lower hub system;
the upper propeller hub system main body structure is fixedly arranged on the upper part of a rotor wing main shaft of the rotary wing aircraft and is used for installing two main blades in the rotary wing aircraft; the main blades are a pair of blades which are vertical to the longitudinal symmetrical plane of the rotary wing aircraft when the rotary wing aircraft is in a fixed wing flight mode;
the upper hub automatic inclinator in the upper hub system is positioned at the lower part of the lower hub system and is positioned in the fuselage; the upper propeller hub system adopts a long connecting rod positioned in the hollow rotor main shaft to realize the connection of a main body structure positioned at the upper part of the rotor main shaft in the upper propeller hub system and an automatic upper propeller hub tilter positioned in the fuselage;
the lower propeller hub system is arranged on a rotor wing main shaft of the rotary wing aircraft, is positioned at the lower part of the main body structure of the upper propeller hub system and is used for installing two auxiliary blades in the rotary wing aircraft; the auxiliary blades are a pair of blades which are positioned along the longitudinal symmetrical plane of the airplane body when the rotary wing airplane is in a fixed wing flight mode;
the lower propeller hub system comprises a sliding actuator, a lower propeller hub, an upper limiting block, a lower limiting block and a lower propeller hub distance changer; the lower hub is matched with the rotor wing spindle through a spline along the axial direction of the rotor wing spindle, and the rotor wing spindle can drive the lower hub to rotate through the spline; the lower propeller hub can move axially along the spline, and is restrained by the upper limiting block and the lower limiting block to realize upper-in-place and lower-in-place limitation; the lower propeller hub distance changer realizes the distance changing of the auxiliary propeller blades and can be matched with the sliding actuator to realize the axial movement of the lower propeller hub along the spline;
the rotor control system comprises an upper hub control system and a lower hub control system;
when the rotary wing aircraft takes off and lands in a helicopter flight mode, before a power system of the rotary wing aircraft is started, the lower hub control system can send an extending instruction to the sliding actuator and the lower hub distance changer to push the lower hub to slide upwards along the axial direction of the spline and stop after sliding to the upper limiting block;
in the taking-off and landing flight process of the rotary wing aircraft in the helicopter flight mode, the upper hub control system and the lower hub control system can respectively and correspondingly control the upper hub automatic tilter and the lower hub variable pitch device, so that the total pitch control requirement required by the helicopter flight mode taking-off of the rotary wing aircraft is met;
in the process that the rotary wing aircraft flies in a helicopter flying mode, the upper hub control system controls the upper hub automatic tilter and/or the lower hub control system to control the lower hub variable pitch device, so that pitch period variable pitch of the main blades and/or the auxiliary blades is realized, the pitch attitude control is performed on the aircraft, roll period variable pitch of the main blades and/or the auxiliary blades is realized, and the roll attitude control is performed on the aircraft;
when the rotary wing aircraft is in a converted flight mode, the upper hub control system and the lower hub control system can respectively and correspondingly control the upper hub automatic inclinator and the lower hub variable pitch device, so that the total pitch unloading of the main blades and the auxiliary blades is realized; when the rotor main shaft is locked, the lower propeller hub control system can send a contraction instruction to the sliding actuator and the lower propeller hub distance changer to push the lower propeller hub to slide downwards along the axial direction of the spline and stop after sliding to the lower limit moving block, and at the moment, the auxiliary blades are integrally fused into the body of the rotary wing airplane.
Furthermore, in the process that the rotary wing aircraft flies in a helicopter flying mode, the upper hub control system is preferentially used for controlling the automatic upper hub tilter to realize pitch period variable pitch and/or roll period variable pitch of the main blades, and the pitching attitude control and the roll attitude control are carried out on the aircraft.
Furthermore, the bottom of the lower propeller hub is provided with a transition structure matched with the sliding actuator, so that the sliding actuator can drive the lower propeller hub to axially move along the spline, and the body of the sliding actuator does not rotate along with the lower propeller hub.
Furthermore, the transition structure at the bottom of the lower propeller hub is a circular sliding groove structure, and the actuating end of the sliding actuator is positioned in the circular sliding groove, so that the lower propeller hub can be driven to move axially along the spline, and can also slide relative to the lower propeller hub when the lower propeller hub rotates.
Further, the lower hub is in the form of a bearingless hub with a flexible beam structure; the variable-pitch outer sleeves are sleeved at the two ends of the flexible beam, and the outer ends of the variable-pitch outer sleeves are connected with the auxiliary blades through blade mounting seats; the lower propeller hub variable pitch device is connected to the variable pitch outer sleeve to realize the variable pitch of the auxiliary blade.
Further, the lower hub pitch changer comprises a pitch actuator, a fixed disc, a movable disc, a pitch connecting rod and a lower hub pitch rocker arm; when the lower propeller hub moves from bottom to top, the lower propeller hub and the fixed disc move upwards along the axial direction of the rotating main shaft through the cooperation of the sliding actuator and the variable pitch actuator; after the lower propeller hub slides to reach the constraint position of the upper limiting block, the sliding actuator stops acting, the variable-pitch actuator can control the total pitch of the auxiliary propeller blades, and the upper limiting block transmits the lifting force generated by the auxiliary propeller blades to the rotor main shaft.
Furthermore, at least 3 pitch actuators are arranged in the lower propeller hub pitch changer, and the fixed disc and the movable disc are matched with the rotating main shaft through spherical hinges, so that the pitch actuators can control the total pitch and the periodic pitch of the auxiliary blades.
Advantageous effects
Aiming at the requirements of improving the load capacity and the maximum takeoff weight of a rotary wing airplane, the invention provides a stepped propeller hub system on the basis of the concept of a four-blade rotary wing airplane, and by designing a lower propeller hub capable of axially moving, an auxiliary blade can be fused with a fuselage in a fixed wing flight mode, so that the disturbance and the resistance of the auxiliary blade in the fixed wing flight mode are greatly reduced. The invention provides a plurality of control modes for the rotary wing aircraft in a helicopter flight mode, a fixed wing flight mode and a switching flight mode aiming at a stepped hub system structure, and particularly provides a plurality of control modes for the rotary wing system, so that the novel rotor system of the rotary wing can meet the requirements of different flight states.
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 schematic view of a stepped hub;
wherein: 1. an upper hub system, 2 a lower hub system;
FIG. 2 is a schematic view of an upper hub configuration;
wherein: the device comprises a 3-paddle clamp, a 4-pitch hinge shell, a 5-pull torsion bar, a 6-needle bearing, a 7-upper paddle hub, 8-long connecting rods, a 9-steering plate, a 10-pitch pull rod, 11-elastic hinges, 12-paddle hub clamping plates, 13-flapping hinges, 14-upper-paddle hub pitch-variable rocker arms and 15-paddle hub supporting arms;
FIG. 3 is a schematic lower hub configuration;
wherein: 16 blade mounting seats, 17 variable-pitch outer sleeves, 18 upper limiting blocks, 19 splines, 20 hub flexible beams, 21 lower hub variable-pitch rocker arms, 22 lower limiting blocks, 23 variable-pitch connecting rods, 24 movable disks, 25 fixed disks, 26 sliding actuators and 27 variable-pitch actuators;
FIG. 4 is a schematic representation of a full aircraft aerodynamic layout of an aircraft having a stepped hub rotor wing, shown without the rudder surfaces;
in the figure: 28 fuselages, 29 canard wings, 30 horizontal tails, 31 vertical tails, 32 forward-pulling propellers, 33 four-blade rotary wings, 34 landing gears and 35 tail propellers;
FIG. 5 is a schematic diagram of the variation of the motions of the main and auxiliary propellers of a full flight rotary wing aircraft.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
The invention provides a rotor wing control system suitable for a heavy-duty rotary wing airplane with a stepped hub, which realizes a lifting type auxiliary rotor mode by adopting the stepped hub system consisting of an upper hub system and a lower hub system, when the airplane is in a helicopter mode, the control system drives an auxiliary rotor to be at the highest position, the upper hub and the lower hub are driven to rotate by a rotor shaft, and the helicopter mode flight is completed; when the airplane is in a fixed wing mode, the control system drives the auxiliary propellers to be lowered to the sunken positions specially arranged in the longitudinal direction of the airplane body, the main propellers are locked in the transverse direction of the airplane, the auxiliary propellers are locked in the vertical direction of the airplane, the auxiliary propellers are fused with the airplane body, and finally the airplane forms a three-wing-surface airplane to reduce resistance during high-speed flight.
The stepped hub in this embodiment is divided into an upper hub system and a lower hub system.
As shown in fig. 1, the upper hub system main structure is fixedly installed at the top of a rotor main shaft of a rotary wing aircraft, and is used for installing two main blades in the rotary wing aircraft and realizing the transmission and pitch-changing functions of the main blades. The main blades are a pair of blades which are perpendicular to the longitudinal symmetrical plane of the rotary wing airplane when the rotary wing airplane is in a fixed wing flight mode. The blade section of the main blade adopts a symmetrical airfoil design at the front edge and the rear edge, the plane shape of the blade adopts a symmetrical design in the downstream direction, such as an elliptical paddle, a trapezoid, a rectangle and the like, and when the rotary wing aircraft is in a fixed wing flight mode, the main blade serves as a middle airfoil surface.
In the embodiment shown in fig. 2, the main structure of the upper hub system mounted on the top of the rotor main shaft includes a blade clamp 3, a pitch hinge housing 4, a tension torsion bar 5, a needle bearing 6, an upper hub 7, a long connecting rod 8, a steering plate 9, a pitch tension bar 10, an elastic hinge 11, a hub clamping plate 12, a flapping hinge 13, an upper hub pitch rocker 14 and a hub arm 15.
Wherein, the upper hub 7 adopts a seesaw type hub with elastic constraint; hub clamp 12 connects hub arms 15 on opposite sides of the hub to enable up and down flapping about flapping hinge 13, and elastic hinge 11 provides elastic restraint to the flapping motion to increase rotor handling torque. The paddle clamp 3 adopts a pull-torsion rod type paddle clamp, the pull-torsion rod 5 is arranged in a paddle hub support arm 15, one end of the pull-torsion rod is connected with the variable-pitch hinge shell 4, and the other end of the pull-torsion rod is connected with the upper paddle hub 7 to bear centrifugal force and variable-pitch torsion, so that the structure reduces the using number of bearings, and reduces the number of parts, the maintenance complexity and the lubrication problem; the pitch hinge housing 4 is mounted on the hub arm 15 by means of needle bearings 6 for transmitting torque in the plane of rotation of the upper hub.
In order to reduce resistance and match with the installation space of the lower propeller hub, an operating system of the upper propeller hub system adopts in-shaft operation, namely, a variable pitch hinge shell is connected with a variable pitch pull rod through a variable pitch rocker arm, the variable pitch pull rod is connected with a long connecting rod in a hollow rotating main shaft through a steering plate, the long connecting rod is connected with an upper propeller hub automatic inclinator which is positioned at the lower part of the lower propeller hub system and in the fuselage, and variable pitch control of main blades is realized through the upper propeller hub automatic inclinator.
As shown in fig. 1, the lower hub system is installed on a rotor main shaft of a rotary wing aircraft and is located at the lower part of a main body structure of the upper hub system, and is used for installing two auxiliary blades in the rotary wing aircraft and realizing the transmission and pitch changing functions of the auxiliary blades. The auxiliary blades are a pair of blades which are positioned along the longitudinal symmetrical plane of the airplane body when the rotary wing airplane is in a fixed wing flight mode. The auxiliary blade section adopts a rotor wing profile meeting the performance requirement of a helicopter rotor, and the auxiliary blade has higher rotor wing aerodynamic efficiency and lighter structural weight compared with the main blade.
The lower propeller hub system can control the auxiliary blades to axially move along the main shaft and limit the axial in-place positions of the auxiliary blades after the main shaft of the rotor wing of the rotary wing aircraft is locked; when the auxiliary blades move in place from top to bottom along the axial direction of the main shaft, the auxiliary blades are integrally fused into the fuselage of the rotary wing aircraft, so that disturbance of the auxiliary blades in a fixed wing flight mode is avoided, and resistance is reduced.
In the present embodiment, as shown in fig. 3, the lower hub system includes a sliding actuator, a lower hub, an upper stop block, a lower stop block, and a lower hub pitch changer.
The lower propeller hub is matched with the rotor main shaft through a spline along the axial direction of the rotor main shaft, and the rotor main shaft can drive the lower propeller hub to rotate through the spline; when the rotor main shaft is locked, the lower propeller hub can move axially along the spline under the driving of the sliding actuator, and the upper in-place and the lower in-place limitation is realized under the constraint of the upper limiting block and the lower limiting block; the lower propeller hub pitch changer realizes the pitch change of the auxiliary propeller blades and can be matched with the sliding actuator to realize that the lower propeller hub axially moves along the spline.
In this embodiment, the lower hub is in the form of a bearingless hub with a flexible beam structure; the variable-pitch outer sleeves are sleeved at the two ends of the flexible beam, and the outer ends of the variable-pitch outer sleeves are connected with the auxiliary blades through blade mounting seats; the lower propeller hub pitch changer is connected to the pitch-changing outer sleeve to realize the pitch changing of the auxiliary propeller blades.
The lower propeller hub distance changer comprises a distance changing actuator, a fixed disc, a movable disc, a distance changing connecting rod and a lower propeller hub distance changing rocker arm.
When the lower propeller hub moves from bottom to top, the lower propeller hub and the fixed disc move upwards along the axial direction of the rotating main shaft through the cooperation of the sliding actuator and the variable pitch actuator; after the lower propeller hub slides to reach the constraint position of the upper limiting block, the sliding actuator stops acting, the variable-pitch actuator can control the auxiliary propeller blades to change the total pitch by driving the fixed disc and the movable disc to move, and the upper limiting block transmits the lifting force generated by the auxiliary propeller blades to the rotor main shaft. In other words, as shown in fig. 3, in this case, the lower hub pitch changer only has two pitch actuators, and can realize total pitch change of the secondary blades, but cannot realize periodic pitch change, and the relative structure is simple, and at this time, the rotary wing can realize periodic pitch change operation by controlling the main blades only through the upper hub automatic tilter.
Of course, the lower hub pitch changer may also have at least 3 pitch actuators therein, and the fixed and moving disks are coupled to the rotating main shaft by ball joints, so that the pitch actuators can control the collective pitch and the cyclic pitch of the secondary blades.
When the lower propeller hub moves from top to bottom, the lower propeller hub and the fixed disc move downwards along the axial direction of the rotating main shaft through the cooperation of the sliding actuator and the variable pitch actuator; and after the lower propeller hub slides to reach the lower limiting block restraining position, the sliding actuator and the variable pitch actuator stop acting, and the auxiliary propeller blade is integrally fused into the aircraft body of the rotary wing aircraft.
In addition, in order to isolate the rotary motion of the lower propeller hub from the sliding actuator body, a transition structure matched with the sliding actuator is arranged at the bottom of the lower propeller hub, specifically, a circular sliding groove structure can be adopted, and the actuating end of the sliding actuator is positioned in the circular sliding groove, so that the lower propeller hub can be driven to move axially along the spline, and can also slide relative to the lower propeller hub when the lower propeller hub rotates. In addition, a fixed disk structure similar to that of an automatic tilter can be adopted to realize that the rotating motion of the lower propeller hub is isolated from the sliding actuator body.
As shown in fig. 4, a high capacity, high takeoff weight rotary wing aircraft with four blades using a stepped hub includes: the aircraft comprises a fuselage, a duck wing arranged at the longitudinal front part of the fuselage, a four-blade rotary wing arranged at the longitudinal middle part of the fuselage, an empennage arranged at the longitudinal tail part of the fuselage, a propeller arranged on the fuselage and used for providing forward flight power of the rotary wing aircraft, a counter-torque device arranged on the fuselage, a power system and a flight control system arranged in the fuselage, and an undercarriage arranged at the lower part of the fuselage. The upper surface of the machine body is provided with a recess at the longitudinal symmetrical plane of the machine body, and the size of the recess is matched with that of the locked auxiliary blade, so that the auxiliary blade is fused into the machine body; preferably, the fuselage depression position of the rotary wing aircraft is provided with a shape-preserving retractable baffle plate for realizing shape preservation of the fuselage depression opening position and the fuselage as a whole, and the shape-preserving retractable baffle plate is opened when the auxiliary blade descends into or ascends out of the fuselage.
As shown in fig. 5, the full flight process includes five stages of helicopter mode take-off, helicopter-to-fixed wing conversion mode, fixed wing-to-helicopter conversion mode, and helicopter mode landing, and a schematic diagram of the motion changes of the main rotor and the auxiliary rotor of the rotary wing aircraft at different stages is shown in the figure. The rotor control system controls the upper hub and the lower hub, respectively, at each necessary stage.
The rotor control system includes an upper hub control system and a lower hub control system.
When the rotary wing aircraft flies in a helicopter flying mode, before a power system of the rotary wing aircraft is started, the lower hub control system can send an extending instruction to the sliding actuator and the lower hub distance changer to push the lower hub to slide upwards along the axial direction of the spline and stop after sliding to the upper limiting block, and at the moment, the lower hub control system sends an in-place signal of the auxiliary blades to a flight control system of the rotary wing aircraft, and then the rotor main shaft can be driven to rotate.
In the taking-off and landing flight process of the rotary wing aircraft in the helicopter flight mode, the upper hub control system and the lower hub control system can respectively and correspondingly control the upper hub automatic tilter and the lower hub variable pitch device, and the total pitch control requirement required by the helicopter flight mode take-off of the rotary wing aircraft is met. The main propeller generates M tensile force by controlling the collective pitch, the auxiliary propeller generates N tensile force by controlling the collective pitch, and the total weight of the M + N and the airplane can meet the control requirement during take-off and landing flight. In order to balance the torque brought by the main rotor and the auxiliary rotor of the rotor system, a reaction torque device such as a tail rotor and the like is arranged at the tail part of the airplane.
When the rotary wing aircraft flies in a helicopter flying mode, the upper hub control system controls the automatic inclinator of the upper hub, so that pitch periodic variable pitch and roll periodic variable pitch of the main blades are realized, and the pitch attitude control and the roll attitude control are performed on the aircraft. If the lower hub pitch changer also has at least 3 pitch actuators, the periodic pitch change of the auxiliary blades can be realized, and at this time, the lower hub control system can also control the lower hub pitch changer to realize the pitch periodic pitch change and the roll periodic pitch change of the auxiliary blades. At this time, the pitch/roll cyclic pitch control strategy can be selected in two ways: 1) the input instructions of the main paddle and the auxiliary paddle are consistent, namely the main paddle and the auxiliary paddle move together; 2) the main propeller changes pitch/roll period variable distance preferentially, and when the pitch/roll period variable distance reaches a specified value, the auxiliary propeller supplement instructions are superposed.
When the rotary wing aircraft has a certain ground clearance and a certain forward flying speed, the canard and the horizontal tail can generate enough lift force, and the flight mode can be switched at the moment. At the moment, the upper propeller hub control system and the lower propeller hub control system respectively control the upper propeller hub automatic inclinator and the lower propeller hub variable pitch device correspondingly, so that the total pitch unloading of the main blade and the auxiliary blade is realized, and the pulling force provided by the rotary wing is gradually reduced; when the rotating speed of the rotor wing is reduced to a certain value through a pneumatic resistance or a brake mechanism, a main shaft of the rotor wing is locked through a known disclosed locking mechanism, then a lower propeller hub control system sends a contraction instruction to a sliding actuator and a lower propeller hub distance changer to push a lower propeller hub to slide downwards along the axial direction of a spline and stop after sliding to a lower limit moving block, and at the moment, the auxiliary propeller blades are integrally blended into the body of the rotary wing airplane.
As for the fixed-wing flight mode, the control strategy of the aircraft is the same as that of a normal aircraft: controlling the propeller to provide forward flying power for the rotary wing aircraft; the canard wing provides pitching and/or rolling control and/or balancing moment in a full-motion canard wing or canard wing control surface mode; the horizontal tail adopts a full-motion horizontal tail or a horizontal tail control surface mode to provide pitching and/or rolling control and/or balancing moment, and the vertical tail controls the yawing motion of the airplane.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (7)
1. A rotor control system for a heavy-duty rotary wing aircraft having a stepped hub, characterized by: the stepped hub is divided into an upper hub system and a lower hub system;
the upper propeller hub system main body structure is fixedly arranged on the upper part of a rotor wing main shaft of the rotary wing aircraft and is used for installing two main blades in the rotary wing aircraft; the main blades are a pair of blades which are vertical to the longitudinal symmetrical plane of the rotary wing aircraft when the rotary wing aircraft is in a fixed wing flight mode;
the upper hub automatic inclinator in the upper hub system is positioned at the lower part of the lower hub system and is positioned in the fuselage; the upper propeller hub system adopts a long connecting rod positioned in the hollow rotor main shaft to realize the connection of a main body structure positioned at the upper part of the rotor main shaft in the upper propeller hub system and an automatic upper propeller hub tilter positioned in the fuselage;
the lower hub system is arranged on a rotor wing main shaft of the rotary wing airplane, is positioned at the lower part of the main body structure of the upper hub system and is used for installing two auxiliary blades in the rotary wing airplane; the auxiliary blades are a pair of blades which are positioned along the longitudinal symmetrical plane of the airplane body when the rotary wing airplane is in a fixed wing flight mode;
the lower propeller hub system comprises a sliding actuator, a lower propeller hub, an upper limiting block, a lower limiting block and a lower propeller hub distance changer; the lower hub is matched with the rotor wing spindle through a spline along the axial direction of the rotor wing spindle, and the rotor wing spindle can drive the lower hub to rotate through the spline; the lower propeller hub can move axially along the spline and is limited by the upper limit stop block and the lower limit stop block to realize upper-in-place and lower-in-place limitation; the lower propeller hub distance changer realizes the distance changing of the auxiliary propeller blades and can be matched with the sliding actuator to realize the axial movement of the lower propeller hub along the spline;
the rotor control system comprises an upper hub control system and a lower hub control system;
when the rotary wing aircraft flies in a take-off and landing mode by using a helicopter flight mode, before a power system of the rotary wing aircraft is started, the lower hub control system can send an extending instruction to the sliding actuator and the lower hub distance changer to push the lower hub to slide upwards along the axial direction of the spline and stop after sliding to the upper limiting block;
in the taking-off and landing flight process of the rotary wing aircraft in the helicopter flight mode, the upper hub control system and the lower hub control system can respectively and correspondingly control the upper hub automatic tilter and the lower hub variable pitch device, so that the total pitch control requirement required by the helicopter flight mode taking-off of the rotary wing aircraft is met;
in the process that the rotary wing aircraft flies in a helicopter flying mode, the upper hub control system controls the upper hub automatic tilter and/or the lower hub control system to control the lower hub variable pitch device, so that pitch period variable pitch of the main blades and/or the auxiliary blades is realized, the pitch attitude control is performed on the aircraft, roll period variable pitch of the main blades and/or the auxiliary blades is realized, and the roll attitude control is performed on the aircraft;
when the rotary wing aircraft is in a converted flight mode, the upper hub control system and the lower hub control system can respectively and correspondingly control the upper hub automatic inclinator and the lower hub variable pitch device, so that the total pitch unloading of the main blades and the auxiliary blades is realized; when the rotor main shaft is locked, the lower propeller hub control system can send a contraction instruction to the sliding actuator and the lower propeller hub distance changer to push the lower propeller hub to slide downwards along the axial direction of the spline and stop after sliding to the lower limit moving block, and at the moment, the auxiliary blades are integrally fused into the body of the rotary wing airplane.
2. A rotor control system suitable for use with a heavy duty rotary wing aircraft having a stepped hub according to claim 1, wherein: in the process that the rotary wing aircraft flies in a helicopter flying mode, the upper hub control system is preferentially used for controlling the automatic upper hub tilter to realize pitch period variable pitch and/or roll period variable pitch of the main blades, and the pitch attitude control and the roll attitude control are carried out on the aircraft.
3. A rotor control system adapted for use with a heavy-duty rotary wing aircraft having a stepped hub, according to claim 1, wherein: the bottom of the lower propeller hub is provided with a transition structure matched with the sliding actuator, so that the sliding actuator can drive the lower propeller hub to axially move along the spline, and the sliding actuator body does not rotate along with the lower propeller hub.
4. A rotor control system adapted for use with a heavy duty rotary wing aircraft having a stepped hub according to claim 3, wherein: the transition structure of lower propeller hub bottom is circular spout structure, and the sliding actuator actuates the end and is located circular spout, can drive lower propeller hub along spline axial displacement, also can slide relative lower propeller hub when lower propeller hub rotates.
5. A rotor control system suitable for use with a heavy duty rotary wing aircraft having a stepped hub according to claim 1, wherein: the lower hub is in a bearing-free hub form of a flexible beam structure; the variable-pitch outer sleeves are sleeved at the two ends of the flexible beam, and the outer ends of the variable-pitch outer sleeves are connected with the auxiliary blades through blade mounting seats; the lower propeller hub pitch changer is connected to the pitch-changing outer sleeve to realize the pitch changing of the auxiliary propeller blades.
6. A rotor control system suitable for use with a heavy duty rotary wing aircraft having a stepped hub according to claim 1, wherein: the lower propeller hub distance changer comprises a distance changing actuator, a fixed disc, a movable disc, a distance changing connecting rod and a lower propeller hub distance changing rocker arm; when the lower propeller hub moves from bottom to top, the lower propeller hub and the fixed disc move upwards along the axial direction of the rotating main shaft through the cooperation of the sliding actuator and the variable pitch actuator; after the lower propeller hub slides to reach the constraint position of the upper limiting block, the sliding actuator stops acting, the variable pitch actuator can control the total pitch of the auxiliary propeller blades, and the upper limiting block transmits the lifting force generated by the auxiliary propeller blades to the rotor main shaft.
7. A rotor control system according to claim 6, adapted for use with a heavy-duty rotary wing aircraft having a stepped hub, wherein: the lower propeller hub distance changer is internally provided with at least 3 distance changing actuators, and the fixed disc and the movable disc are matched with the rotating main shaft through a spherical hinge, so that the distance changing actuators can control the total distance changing and the periodic distance changing of the auxiliary blades.
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| CN202010369304.0A CN111470039B (en) | 2020-05-04 | 2020-05-04 | Rotor control system suitable for heavy-duty rotary wing aircraft with stepped hub |
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| CN202010369304.0A CN111470039B (en) | 2020-05-04 | 2020-05-04 | Rotor control system suitable for heavy-duty rotary wing aircraft with stepped hub |
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| CN111470039B true CN111470039B (en) | 2022-09-13 |
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| CN111470039A (en) | 2020-07-31 |
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