CN113002766B - Variable-pitch multi-rotor unmanned aerial vehicle with noise reduction function by adopting scissor type blades - Google Patents
Variable-pitch multi-rotor unmanned aerial vehicle with noise reduction function by adopting scissor type blades Download PDFInfo
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- CN113002766B CN113002766B CN202110335010.0A CN202110335010A CN113002766B CN 113002766 B CN113002766 B CN 113002766B CN 202110335010 A CN202110335010 A CN 202110335010A CN 113002766 B CN113002766 B CN 113002766B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/32—Blade pitch-changing mechanisms mechanical
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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
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/68—Transmitting means, e.g. interrelated with initiating means or means acting on blades using electrical energy, e.g. having electrical power amplification
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D35/00—Transmitting power from power plant to propellers or rotors; Arrangements of transmissions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The invention discloses a variable-pitch multi-rotor unmanned aerial vehicle adopting scissor blades for noise reduction, which comprises a frame, a power transmission system, a variable-pitch rotor system and a flight control system, wherein the power transmission system is connected with the variable-pitch rotor system; the power transmission system comprises a motor, a first belt pulley, a second belt pulley, a transmission belt, a synchronous belt pulley and an auxiliary shaft; the variable-pitch rotor system is provided with four groups and is distributed at the end part of the stander; and each group of variable-pitch rotor systems comprises a spindle, a first rocker arm, a first connecting rod, a second rocker arm, a second connecting rod, a sliding block variable-pitch ring and a hub. The invention discloses a variable-pitch multi-rotor unmanned aerial vehicle capable of reducing noise by adopting scissor blades, wherein a power transmission system takes a motor as power output, a belt transmission mode is adopted, a transmission terminal is connected with a variable-pitch rotor system, a first rocker arm of a side multi-link mechanism is connected with the output end of a steering engine, a flight control system controls the output of the steering engine to change the total pitch of the blades through the multi-link mechanism, and the flight attitude is changed by changing the pitch and quickly and accurately controlling the change of lift force.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a variable-pitch multi-rotor unmanned aerial vehicle with a scissor-type blade for noise reduction.
Background
At present, the attitude control of a four-rotor aircraft mainly adopts a mode of changing the rotating speed of blades, and is mainly divided into an odd shaft and an even shaft. The flying states of the aircraft such as takeoff, forward flight and hovering can be realized by changing the relative rotating speeds of the four blades.
However, the existing four-rotor aircraft has the following disadvantages:
first, the flight control system is complex: the change of the rotating speed requires longer response time, obvious overshoot can occur in the adjusting process, and the flying state deviates from the target and then recovers, so that the precise flying attitude regulation and control under the same flying condition needs quite complex flying control programs and the guarantee of hardware such as a high-precision motor and the like;
second, the payload is limited: because the fixed-pitch blades are adopted, the optimal lift force can be ensured only in a certain flight state, and when the fixed-pitch blades deviate from the flight state, the lift force can reduce and influence normal flight, so that if the load capacity is increased, the number of the rotor wings can be increased, the increase of the structural weight can be brought, the increase amplitude of the load capacity is reduced, and finally, the saturation can be achieved, and the load capacity can not break through the limitation;
third, the flight attitude is limited: the fixed-pitch propeller blade only keeps optimal efficiency under one working condition, and when the attitude of the fixed-pitch propeller blade is greatly changed (the inclination angle is close to 90 degrees), the lift force of the propeller is not enough to stabilize the attitude, so that the existing four-rotor wing can only finish stable attitude flight under the conditions of forward flight and small inclination angle, and can not finish continuous actions of side flight, even reverse flight and the like;
fourthly, the utilization rate of the motor is not high, and the motor must be ensured to complete the regulation and control at rich power because the rotating speed regulation and control posture needs to be changed. Therefore, in the operating state, the power of the motor cannot be fully utilized, and the use efficiency is limited.
Fifthly, current variable pitch multi-rotor aircraft is because variable pitch paddle and fixed pitch paddle are different in the operating mode, and the variable pitch paddle can reach optimum paddle efficiency under multiple operating modes, leads to it under the same load like this, compares with the fixed pitch paddle that specific operating mode is optimum, and the rotational speed is bigger, and its basic noise is ordinary four rotors relatively great.
Therefore, how to provide a pitch-variable multi-rotor unmanned aerial vehicle with less noise is a problem to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of the above, the present invention provides a variable-pitch multi-rotor unmanned aerial vehicle with scissors blades for noise reduction, which at least solves one of the above technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme: a variable-pitch multi-rotor unmanned aerial vehicle adopting scissor blades for noise reduction comprises a rack, a power transmission system, a variable-pitch rotor system and a flight control system, wherein the rack is H-shaped;
the power transmission system comprises a motor, a first belt pulley, a second belt pulley, a transmission belt, a synchronous belt pulley and an auxiliary shaft, wherein the motor is fixed on the rack, and an output shaft of the motor is fixedly connected with the first belt pulley and the second belt pulley; the first belt pulley and the second belt pulley are connected through the auxiliary shaft;
the variable-pitch rotor system is provided with four groups which are distributed at the end part of the stander; each group of the variable-pitch rotor systems comprises a spindle, a first rocker arm, a first connecting rod, a second rocker arm, a second connecting rod, a slider variable-pitch ring and a hub, the synchronous belt wheel is fixedly mounted on the spindle, one end of the first rocker arm is connected with the flight control system, and the other end of the first rocker arm is connected with the first connecting rod; the other end of the first connecting rod is movably connected with the second rocker arm; the other end of the second rocker arm is connected with the sliding block variable pitch ring; the sliding block variable-pitch ring sleeve is arranged on the periphery of the main shaft; the propeller hub is fastened at the end part of the spindle; blades are fixed at two ends of the propeller hub; the other end of the sliding block variable-pitch ring is connected with a V-shaped transmission seat, and the V-shaped transmission seat is hinged with two convex lugs extending outwards from the propeller hub through the second connecting rod in central symmetry.
According to the variable-pitch multi-rotor unmanned aerial vehicle adopting the scissor type blades for noise reduction, the power transmission system takes the motor as power output, the output power of the motor is the optimal power in a normal state, and the output power is kept constant. The flight control system controls the steering engine to output and change the total pitch of the blades without changing the output power of the motor, and the change of the lift force is quickly and accurately controlled by changing the pitch so as to change the flight attitude; the motor keeps constant optimal power output, thereby avoiding the problem of low surplus utilization rate of the motor power. Meanwhile, the variable-pitch system can be enlarged according to conditions, the lift force range can be effectively adjusted, and the load capacity can be effectively increased.
Preferably, each group of the variable-pitch rotor systems comprises an upper paddle disk and a lower paddle disk, and the two paddle disks are arranged at a scissor angle.
The beneficial effects who takes above-mentioned technical scheme are that, adopt two oar dishes from top to bottom, can guarantee bigger lift and payload relatively, overlook the contained angle between two pairs of paddles about in the plane and be the scissors angle, through setting up the scissors angle, two oar dishes from top to bottom appear natural frequency modulation because the scissors angle is arranged, make the energy of oar dish aerodynamic noise redistribute, become wide band wide area noise with high frequency noise to reach the purpose of making an uproar falls.
Preferably, the included angle of the blades of the two paddle disks is 35-55 degrees.
The technical scheme has the beneficial effects that the arrangement of the included angle of 35-55 degrees ensures the optimal combination of the lifting efficiency and the noise reduction of the two paddle disks.
Preferably, the downgoing paddle disk is forward and the upgoing paddle disk is aft.
The technical scheme has the advantages that the upper and lower paddle disks are arranged in an L shape, namely the lower paddle disk is arranged in front, the upper paddle disk is arranged in back, and the distance between the paddle disks is adjusted at the same time, so that the paddle vortex interference of the two paddle disks can be reduced, the vortex-induced noise is inhibited, and the lift efficiency is properly improved.
Preferably, the two sets of motors are connected by an electronic synchronizer.
The technical scheme has the beneficial effect that the electronic synchronizer is adopted to ensure that the output power of the electronic synchronizer and the output power of the electronic synchronizer are kept consistent.
According to the technical scheme, compared with the prior art, the invention discloses the variable-pitch multi-rotor unmanned aerial vehicle adopting the scissor type blades for noise reduction, and the flight attitude can be changed by changing the pitch to quickly and accurately control the lift force change; the variable-pitch blade can ensure that the attack angle of the blade is negative and the pulling force is upward when the aircraft flies backwards, thereby ensuring the stable flight of the aircraft; the motor keeps constant and optimal power output, so that the problems of surplus motor power and low utilization rate are avoided; meanwhile, the variable pitch system can be enlarged according to the situation, the lift force range can be effectively adjusted, and the load capacity can be effectively increased; in order to ensure effective lift efficiency and noise reduction characteristics, an upper paddle disk and a lower paddle disk are arranged, the included angle of the shear angle is 35-55 degrees, and the optimal lift efficiency and noise reduction efficiency of the two paddle disks are matched.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram provided by the present invention.
Fig. 2 is a schematic view of a pitch rotor system according to the present invention at position a.
Fig. 3 is a schematic structural diagram of a power transmission system at B according to the present invention.
Wherein the reference symbols are:
1-frame, 2-power transmission system, 3-variable pitch rotor system, 4-flight control system, 21-motor, 22-first belt pulley, 23-second belt pulley, 24-driving belt, 25-synchronous belt pulley, 26-auxiliary shaft, 31-main shaft, 32-first rocker arm, 33-first connecting rod, 34-second rocker arm, 35-second connecting rod, 36-slide block pitch-changing ring, 37-propeller hub, 38-blade and 39-V type driving seat.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-2, the embodiment of the invention discloses a variable-pitch multi-rotor unmanned aerial vehicle adopting scissor blades to reduce noise, which comprises a rack 1, a power transmission system 2, a variable-pitch rotor system 3 and a flight control system 4, wherein the rack 1 is in an "H" shape.
The power transmission system 2 comprises two groups, namely a first belt pulley 22, a second belt pulley 23, a transmission belt 24, a synchronous belt pulley 25 and an auxiliary shaft 26, the two groups of motors 21 are connected by an electronic synchronizer, the electronic synchronizer ensures that the output power of the two motors is consistent, the output power of the motors is the optimal power in a normal state, and the output power is kept constant. The motor 21 is fixed on the frame 1, and the output shaft of the motor is fixedly connected with a first belt pulley 22 and a second belt pulley 23; the first belt pulley 22 and the second belt pulley 23 are connected through an auxiliary shaft 26; the variable-pitch rotor system 3 is provided with four groups and is distributed at the end part of the stander 1; each group of variable-pitch rotor systems 3 comprises a spindle 31, a first rocker arm 32, a first connecting rod 33, a second rocker arm 34, a second connecting rod 35, a slider variable-pitch ring 36 and a hub 37, wherein the spindle 31 is fixedly provided with a synchronous pulley 25, one end of the first rocker arm 32 is connected with the flight control system 4, and the other end of the first rocker arm is connected with the first connecting rod 33; the other end of the first connecting rod 33 is movably connected with a second rocker arm 34; the other end of the second rocker arm 34 is connected with a sliding block pitch-changing ring 36; the slide block variable pitch ring 36 is sleeved on the periphery of the main shaft 31; a hub 37 is fastened outside the main shaft 31 and at the end; blades 38 are fixed at both ends of the hub 37; the other end of the slider pitch ring 36 is connected with a V-shaped driving seat 39, and the V-shaped driving seat 39 is hinged with two lugs extending outwards from the hub 37 through the second connecting rod 35 with central symmetry.
The motor 21 rotates the first pulley 21, transmitting the rotation to the synchronous pulley 25 through the belt engaged therewith, the synchronous pulley 25 rotating the rotor system 3, while the first pulley 21 transmits the rotation to the other set of pulleys juxtaposed thereto through the auxiliary shaft 26, the second pulley 23 and the transmission belt 24.
The unmanned aerial vehicle has four groups of variable-pitch rotor systems 3, and each group of variable-pitch rotor systems 3 comprises an upper propeller disc and a lower propeller disc which are the same in steering; and the adjacent two groups of rotors are opposite in rotation direction. The different turning directions are realized by different twisting modes of the transmission belt among the power input first belt pulley 21, the second belt pulley 23 and the synchronous belt pulley 25, and the purpose of the method is to offset the reaction torque generated by the rotation of each group of rotors so as to influence the stability of the aircraft. And the included angle of the blades of the two paddle disks is an acute angle. The upper and lower two oar dishes of every group rotor respectively realize the displacement by a steering wheel drive, and two steering wheel drive first rocking arm 32 of every group rotor system rotate the same angle, make two oar dishes change the same pitch about two.
The flight control system 4, i.e. the steering engine, controls the first rocker arm 32 to rotate in the horizontal plane, drives the second rocker arm 34 connected with the first connecting rod 33 to rotate in the vertical plane, and the slider variable pitch ring 36 moves up and down along the main shaft 31 through the displacement of the second rocker arm 34. The V-shaped transmission seat connected with the sliding block variable-pitch ring 36 is hinged with two lugs extending outwards from a hub 37 connected to the end of the main shaft 31 through a second connecting rod 35 with central symmetry; the steering engine indirectly controls the propeller pitch of the propeller blades by controlling the vertical movement of the sliding block variable pitch ring 36, and finally realizes the control of the lift and the torque of the rotor.
As shown in fig. 2, the blades of the two paddles are arranged at a scissor angle, the pitch-variable system in the conventional arrangement has the characteristic of high noise, and the natural frequency modulation generated by changing the scissor angles of the two pairs of blades redistributes the energy of the aerodynamic noise of the paddles, namely, the high-frequency noise is changed into the wide-frequency wide-area noise, so that the noise reduction is realized.
To determine the optimum scissor angle, the following experiments were designed and performed:
under the hovering state of the variable-pitch four-rotor, the determined rotating speed and the determined pitch are provided at the moment, the scissor type included angle is changed, the noise condition and the tension condition of different scissor angles in the state are measured, the measurement range is 0-90 degrees, the measurement graduation is 5 degrees, and according to data measured by experiments, the scissor angles are set at 35-55 degrees, and the lift efficiency and the noise reduction are optimally matched. Therefore, the included angle of the shear angle of the blade is 35-55 degrees.
The lower paddle disk is in front of the upper paddle disk. Meanwhile, the distance between the two propeller disks is adjusted, the propeller vortex interference of the two propeller disks is reduced, the noise generated by redundant vortex is inhibited, and the lift efficiency is properly improved.
The blades 38 are variable-pitch blades, and the variable-pitch blades can ensure that the attack angle of the blades is negative and the pulling force is upward when the aircraft flies backwards, so that the stability of the aircraft is ensured.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A variable-pitch multi-rotor unmanned aerial vehicle adopting scissor blades to reduce noise is characterized by comprising a frame (1), a power transmission system (2), a variable-pitch rotor system (3) and a flight control system (4),
the rack (1) is H-shaped;
the power transmission system (2) comprises two groups, each group comprises a motor (21), a first belt pulley (22), a second belt pulley (23), a transmission belt (24), a synchronous belt pulley (25) and an auxiliary shaft (26), the motor (21) is fixed on the rack (1), and an output shaft of the motor is fixedly connected with the first belt pulley (22) and the second belt pulley (23); the first belt pulley (22) and the second belt pulley (23) are connected through the auxiliary shaft (26);
the variable-pitch rotor system (3) is provided with four groups and is distributed at the end part of the rack (1) in an H shape; each group of the variable-pitch rotor systems (3) comprises a spindle (31), a first rocker arm (32), a first connecting rod (33), a second rocker arm (34), a second connecting rod (35), a slider variable-pitch ring (36) and a hub (37), the synchronous belt wheel (25) is fixedly mounted on the spindle (31), one end of the first rocker arm (32) is connected with the flight control system (4), and the other end of the first rocker arm is connected with the first connecting rod (33); the other end of the first connecting rod (33) is movably connected with the second rocker arm (34); the other end of the second rocker arm (34) is connected with the sliding block variable pitch ring (36); the sliding block variable-pitch ring (36) is sleeved on the periphery of the main shaft (31); the hub (37) is fastened to the end of the main shaft (31); blades (38) are fixed at two ends of the propeller hub (37); the other end of the sliding block variable-pitch ring (36) is connected with a V-shaped transmission seat (39), and the V-shaped transmission seat (39) is hinged with two lugs extending outwards from the propeller hub (37) through the second connecting rod (35) with central symmetry;
each group of the variable-pitch rotor systems (3) also comprises an upper paddle disk and a lower paddle disk, and the included angle of the two paddle disks is an acute angle and is arranged in a scissor angle; two oar dishes about adopting can guarantee bigger lift and payload relatively, overlook the contained angle between two pairs of paddles about in the plane and be the scissors angle, through setting up the scissors angle, two oar dishes are because the scissors angle arranges and natural frequency modulation appears, make the energy of oar dish aerodynamic noise redistribute, become the wide band wide area noise with high frequency noise to reach the purpose of making an uproar falls.
2. A pitch controlled multi-rotor drone with noise reduction by means of scissor blades according to claim 1, characterized in that said acute angle is 35 ° -55 °.
3. The variable pitch multi-rotor drone with noise reduction by scissor blades according to claim 1, wherein the down going paddle tray is forward and the up going paddle tray is aft.
4. A pitch-controlled multi-rotor drone with noise reduction by means of scissor blades according to claim 1, characterized in that the two sets of motors (21) are connected by means of electronic synchronizers.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110335010.0A CN113002766B (en) | 2021-03-29 | 2021-03-29 | Variable-pitch multi-rotor unmanned aerial vehicle with noise reduction function by adopting scissor type blades |
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| CN202110335010.0A CN113002766B (en) | 2021-03-29 | 2021-03-29 | Variable-pitch multi-rotor unmanned aerial vehicle with noise reduction function by adopting scissor type blades |
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| CN113002766A CN113002766A (en) | 2021-06-22 |
| CN113002766B true CN113002766B (en) | 2022-05-10 |
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| CN117419885B (en) * | 2023-12-19 | 2024-03-19 | 中国空气动力研究与发展中心低速空气动力研究所 | Scissor type tail rotor wind tunnel test bed |
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| CN110979660A (en) * | 2019-12-26 | 2020-04-10 | 湖南韬讯航空科技有限公司 | Three-steering-engine direct-drive coaxial rotor system and control strategy |
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| EP2990332A1 (en) * | 2014-08-19 | 2016-03-02 | Tau Emerald Rotors Inc. | Controlling rotary wing aircraft |
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| CN103803064A (en) * | 2012-11-15 | 2014-05-21 | 西安韦德沃德航空科技有限公司 | Belt-transmission four-rotor-wing aircraft |
| CN105270618A (en) * | 2015-11-04 | 2016-01-27 | 中航维拓（北京）科技有限责任公司 | Variable-pitch coaxial oil-driven six-rotor helicopter |
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