CN113525712A - Helicopter rotor balance real-time monitoring and adjusting device - Google Patents
Helicopter rotor balance real-time monitoring and adjusting device Download PDFInfo
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- CN113525712A CN113525712A CN202110696631.1A CN202110696631A CN113525712A CN 113525712 A CN113525712 A CN 113525712A CN 202110696631 A CN202110696631 A CN 202110696631A CN 113525712 A CN113525712 A CN 113525712A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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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 discloses a helicopter rotor wing balance real-time monitoring and adjusting device, which comprises an intelligent variable-pitch pull rod, a data acquisition unit, an information processing module, an airborne control module and a collector ring, wherein the intelligent variable-pitch pull rod is arranged on each blade of a helicopter; the data acquisition unit is used for acquiring the height of a cone and a vibration signal of a rotor wing and transmitting the height and the vibration signal to the information processing module; the information processing module is used for resolving and filtering and sending the processed cone height and vibration signals to the airborne control module; the airborne control module inputs the height of the cone and the vibration signal into the control model, and transmits the driving moment of the intelligent variable-pitch pull rod output by the control model to the intelligent variable-pitch pull rod through the collector ring to adjust the expansion amount of the stroke pull rod. The invention can effectively overcome the defects that the adjustment capability of a hub adding balance weight mode is limited and the helicopter needs to be shut down for adjustment, adjust the height of the rotor wing cone in real time to reduce vibration, and integrally improve the technical level of balance maintenance of the rotor wing of the helicopter.
Description
Technical Field
The invention belongs to the field of helicopter tests, and particularly relates to a device for monitoring and adjusting the balance of a helicopter rotor wing in real time.
Background
Because of the operating characteristics of helicopter rotors and other rotating parts, vibration becomes the inherent characteristic of helicopters, and the vibration of helicopters cannot be eliminated completely based on the prior art, and the modes of reducing vibration mainly have three kinds: trailing edge tab adjustment, hub weight adjustment, and rotor cone adjustment.
Trailing edge tab adjustment is a method of reducing vibration by adjusting the trailing edge tab on the blade. The method can realize real-time adjustment, but because the shape of the trailing edge adjusting sheet is small, the adjusting sheet of some blades is not sensitive in practical operation, and the dynamic balance value is not changed or is changed very little even the trailing edge adjusting sheet is adjusted to the maximum angle.
Hub weight adjustment is a method of reducing vibration by adjusting the hub weight of each blade, but the location on each hub arm for adding weight is limited to the amount of weight added, and under certain conditions, it may be calculated that in the case of a full weight on the hub arm, it is also necessary to add weight to that arm.
Rotor-cone tuning is a method of reducing vibration by adjusting the rotor-cone state. The tradition is based on rotor balanced maintenance mode can't realize real-time adjustment, still needs the mode through manual adjustment displacement pull rod to realize balanced adjustment after shutting down on ground, and still need restart after the adjustment and verify the adjustment effect, can't cover the helicopter and use full cycle and all flight states, and the adjustment is the compromise of vibration level under the local state in addition.
However, no helicopter maneuvering balance adjusting method which has strong adjusting capability and real-time adjusting capability covers the full period and all flight states of the helicopter is available at present.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a device for monitoring and adjusting the balance of a rotor wing of a helicopter in real time, which can adjust the height of a rotor wing cone in real time and has the adjusting capability covering the whole using period and the whole flying state of the helicopter.
A helicopter rotor wing balance real-time monitoring and adjusting device comprises an intelligent variable-pitch pull rod, a data acquisition unit, an information processing module, an airborne control module and a collector ring;
the intelligent variable-pitch pull rod is arranged on each blade of the helicopter;
the data acquisition unit is used for acquiring the height of a cone and a vibration signal of a rotor wing in real time and transmitting the signals to the information processing module through a cable;
the information processing module is used for resolving and filtering the acquired height of the original cone and the acquired vibration signal of the rotor wing, and transmitting the processed height of the cone and the processed vibration signal to the airborne control module through a cable;
the airborne control module inputs the height of the cone and the vibration signal into the control model, and transmits the driving moment of the intelligent variable-pitch pull rod output by the control model to the intelligent variable-pitch pull rod through the collector ring to adjust the expansion amount of the stroke pull rod.
Preferably, the data acquisition unit comprises a cone height measuring instrument and a vibration measuring sensor, the cone height measuring instrument is installed at the junction of a front windshield of the helicopter and the upper part of the electronic cabin and is required to ensure that a measuring light path of the cone height measuring instrument is not blocked, the cone height measuring instrument uses an optical measuring mode for wireless measurement, the height difference of the blades is calculated based on the time difference of the blades passing through the measuring light path, one blade is designated as a reference blade, and the difference between the other blades and the reference blade is used for reflecting different conicity degrees of the rotor system;
the vibration measuring sensor is arranged on a hub to measure a vibration signal of the rotor wing, and vibration values in three directions of x, y and z are measured respectively based on the 3 vibration sensors, wherein the x direction is the running direction of the helicopter, the y direction is the vertical direction of the plane of the rotor wing and the x direction, and the z direction is the vertical direction of the rotor wing.
Preferably, the information processing module further transmits the processed cone height and vibration signal to the ground station by using a wireless transmission mode.
Preferably, the control model is obtained by inducing the expansion and contraction quantity value of the travel pull rod of the intelligent variable-pitch pull rod and the adjustment rule of the rotor cone of the corresponding model and then training through a neural network.
Preferably, the amplitude and the phase of the rotor vibration, the height measurement value of a rotor cone and the expansion and contraction quantity value of the intelligent variable-pitch pull rod are used as training data of a neural network, and a control model of the intelligent variable-pitch pull rod is obtained through off-line training at a ground station; in the flying process, the control model takes the rotor vibration amplitude and phase, the cone value and the rotating speed signal which are monitored in real time during flying as model input, the control model makes the difference between the obtained signal and the control expectation to obtain the error at the current moment, and then the driving moment of the intelligent pitch-variable pull rod is calculated according to the error.
Preferably, the collecting ring is connected with the airborne control module through a cable, interacts with a motor and a planetary reducer assembly for controlling the intelligent variable-pitch pull rod in a wireless mode, and transmits the received driving torque of the intelligent variable-pitch pull rod to the motor and the planetary reducer assembly for the intelligent variable-pitch pull rod; the collector ring realizes the transmission of signals between the rotating part and the static part through the contact of the internal brush wires and the grooves, and plays a role in connection.
Preferably, the intelligent torque conversion pull rod comprises a bearing support 7, a torque limiter 8, a motor and planetary reducer assembly 9, a rod end 10, a travel pull rod 11, a planetary roller screw nut 12, an angle encoder 13 and a rod end bearing 14; the bearing support 7 is fixed on the hub by a rod end bearing 14, and the rod end 10 is connected to the root of the blade; after the motor and planetary reducer assembly 9 receives the driving torque, the motor and planetary reducer assembly outputs a rotating torque to drive the travel pull rod 11 to perform telescopic motion to realize variable-pitch adjustment of the rotor wing, the planetary roller screw nut 12 moves along with the travel pull rod 11, the angle encoder 13 calculates the moving distance of the travel pull rod 11 by monitoring the rotating angle of the planetary roller screw nut 12, whether the travel pull rod 11 actuates to a given position is judged, and the torque limiter 8 is used for limiting the telescopic range of the travel pull rod 11.
Compared with the prior art, the invention has the following remarkable advantages: the real-time adjusting capability of the invention covers the full period and all flight states of the helicopter, and the intelligent variable-pitch pull rod is used for adjusting the height of the blade, so that the invention has higher adjusting capability compared with the trailing edge adjusting piece. The dynamic balance of the rotor wing is adjusted in a real-time adjusting mode through the intelligent variable-pitch pull rod, the moment arm change caused by the change of the cone is similar to the dynamic balance adjustment in a mode of adding the balance weight to the hub, the defect that the mode of adding the balance weight to the hub needs to be stopped for adjustment can be overcome, and the starting times of the helicopter are greatly reduced.
Drawings
Figure 1 is a schematic view of a rotor-cone situation.
FIG. 2 is an airborne closed-loop control diagram of a helicopter rotor balance real-time adjustment method.
Fig. 3 is a diagram of a device for monitoring and adjusting the balance of a rotor wing of a helicopter in real time.
Wherein: represents a wireless connection, represents an electrical connection, and represents a mechanical connection.
Fig. 4 is a structure diagram of the intelligent pitch-variable tie rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in more detail with reference to the following embodiments and accompanying drawings.
Referring to fig. 1, it is shown that when the tips of the helicopters are in the same plane, the situation is called a homocone, and when the blades are in the same plane, the vibration of the rotor is minimal in this state, and when the tips of the helicopters are not in the same plane, the situation is called a different cone, and the vibration of the rotor is greater in this state. The device for monitoring and adjusting the balance of the helicopter rotor wing in real time monitors the height and the vibration of the rotor wing cone in real time, and adjusts the rotor wing cone when the condition of different cones of the rotor wing cone is larger, namely the vibration amplitude generated by the rotor wing cone is larger than 0.2 ips. Referring to fig. 2, the device for monitoring and adjusting the balance of the helicopter rotor in real time comprises an intelligent variable-pitch pull rod, a collector ring, an airborne control module, a ground station, a data acquisition unit, an information processing module and the like, wherein the intelligent variable-pitch pull rod and the data acquisition unit are arranged outside the helicopter body, and the collector ring, the airborne control module and the information processing module are arranged inside the helicopter body.
The data acquisition unit comprises a cone height measuring instrument and a vibration measuring sensor, wherein the cone height measuring instrument is installed at the junction of a front windshield of the helicopter and the upper part of the electronic cabin, a measuring light path is ensured to be free from shielding, a support is used for fixing, the measuring instrument uses an optical measuring mode for wireless measurement, the height difference of the blades is calculated based on the time difference of the blades passing through the measuring light path, one blade is designated as a reference blade, and the difference between the other blades and the reference blade is used for reflecting different conicity degrees of the rotor system. The vibration measuring sensor is arranged on a hub to measure a vibration signal of the rotor wing, and vibration values in x, y and z directions are measured respectively based on 3 vibration sensors, wherein the x direction is the helicopter running direction, the y direction is the rotor wing plane and the x direction vertical direction, and the z direction is the rotor wing vertical direction. And the vibration signal acquired by the vibration measuring sensor and the cone height signal acquired by the cone height measuring instrument are transmitted to the information processing module through cables.
The information processing module is used for resolving and filtering the acquired original height and vibration signals, sending the processed signals to the airborne control module through a cable, and transmitting the same signals to the ground station in a wireless transmission mode.
The airborne control module is a computer program module, the height of the cone and the vibration signal are used as model input and input into the control model, and the driving torque of the intelligent variable-pitch pull rod output by the control model is transmitted to the intelligent variable-pitch pull rod through the collector ring to complete the actuation adjustment of the pull rod.
The control model is a model for establishing the balance adjustment of the helicopter rotor cone based on data driving, and is obtained by firstly classifying the extension and contraction quantity value of the pull rod of the intelligent variable-pitch pull rod and the adjustment rule of the rotor cone of the corresponding model and then training through intelligent algorithms such as a neural network and the like.
Preferably, the amplitude and the phase of the rotor vibration, the height measured value of the rotor cone and the expansion and contraction quantity value of the intelligent variable-pitch pull rod are used as training data of the neural network, and the control model of the intelligent variable-pitch pull rod is obtained through off-line training at a ground station. The trained control model is preset in airborne equipment, in the flying process, the control model takes the vibration amplitude and phase of a rotor wing monitored in real time during flying, a cone value and a rotating speed signal as model input, the control model makes a difference between the obtained signal and a control expectation (same cone) to obtain a current moment error, then a driving moment of the intelligent variable-pitch pull rod is calculated in real time according to the error, and the driving moment is transmitted through a collector ring.
The collecting ring is connected with the airborne control module through a cable, interacts with a motor for controlling the intelligent variable-pitch pull rod in a wireless mode, and transmits the received driving torque of the intelligent variable-pitch pull rod to the motor and the planetary reducer assembly of the intelligent variable-pitch pull rod. The collector ring realizes the transmission of signals between the rotating part and the static part through the contact of the internal brush wires and the grooves, and plays a role in connection.
Referring to fig. 4, the intelligent torque conversion pull rod comprises a bearing support 7, a torque limiter 8, a motor and planetary reducer assembly 9, a rod end 10, a travel pull rod 11, a planetary roller screw nut 12, an angle encoder 13 and a rod end bearing 14. After the motor and planetary reducer assembly 9 receives the driving torque of the pull rod, the output rotating torque drives the stroke pull rod 11 to implement telescopic motion so as to realize variable-pitch adjustment of the rotor wing. The planetary roller screw nut 12 moves as the travel link 11 moves. The angle encoder 13 calculates the moving distance of the intelligent pitch-variable pull rod by monitoring the rotating angle of the planetary roller screw nut 12, and judges whether the intelligent pitch-variable pull rod moves to a given position. To prevent potential hazards during movement, the torque limiter 8 prevents the output torque from being excessive and damaging the tie rod. Wherein the bearing support 7, the rod end 10 provides a rigid support, the bearing support 7 is fixed to the hub by a rod end bearing 14, and the rod end 10 on the other side is connected to the blade root of the blade. According to the difference of helicopter paddle quantity, every paddle all installs an intelligent displacement pull rod, realizes the balanced regulation of rotor.
The method for adjusting the helicopter rotor balance real-time monitoring and adjusting device shown in the embodiment is as follows:
firstly, the degree of the blade tension recovering same cone is changed by adjusting the intelligent variable-pitch pull rod, and the expansion and contraction quantity value of the travel pull rod 11 and the adjustment rule of the rotor cone of the corresponding model are summarized. The process data is collected by a data collection unit. Through repeated experiments, an exhaustive database is formed, covering most of the possible occurrences.
And updating the summarized control rate to the airborne control module, finishing the initialization of the airborne control module and participating in the real-time dynamic balance adjustment of the helicopter rotor.
The rotor cone vibration detection device is characterized in that the rotor cone vibration detection device monitors and collects vibration signals of a rotor cone and the situation of whether the rotor cone is in the same cone or not based on a data collection unit in a flight state, the data collection is based on a vibration measurement sensor installed on a propeller hub, and sensor signals are transmitted based on a cable. When different cones of the rotor wing are detected, the signals are processed through the signal processing unit and transmitted to the airborne control module.
The airborne control module resolves control output in real time, control signals are transmitted to the collector ring through cables, the collector ring transmits the control signals to the intelligent variable-pitch pull rod through the established signal channel, the intelligent variable-pitch pull rod moves and changes the position of the blade, the state of the rotor wing changes, the data acquisition unit continues to monitor and acquire the state information of the rotor wing, the acquired signals are transmitted to the airborne control module after being processed by the signal processing module to complete control, and meanwhile, the signals are transmitted to the ground station in a wireless mode.
And continuously repeating the steps to realize the real-time dynamic adjustment of the dynamic balance of the helicopter rotor.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any modifications or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. The utility model provides a balanced real-time supervision of helicopter rotor and adjusting device, contains intelligent displacement pull rod, data acquisition unit, information processing module, machine carries control module and collector ring, its characterized in that:
the intelligent variable-pitch pull rod is arranged on each blade of the helicopter;
the data acquisition unit is used for acquiring the height of a cone and a vibration signal of a rotor wing in real time and transmitting the signals to the information processing module through a cable;
the information processing module is used for resolving and filtering the acquired height of the original cone and the acquired vibration signal of the rotor wing, and transmitting the processed height of the cone and the processed vibration signal to the airborne control module through a cable;
the airborne control module inputs the height of the cone and the vibration signal into the control model, and transmits the driving moment of the intelligent variable-pitch pull rod output by the control model to the intelligent variable-pitch pull rod through the collector ring to adjust the expansion amount of the stroke pull rod.
2. A helicopter rotor balance real-time monitoring and adjustment apparatus according to claim 1, further comprising: the data acquisition unit comprises a cone height measuring instrument and a vibration measuring sensor, the cone height measuring instrument is arranged at the junction of a front windshield of the helicopter and the upper part of the electronic cabin and is used for ensuring that a measuring light path of the cone height measuring instrument is not shielded, the cone height measuring instrument uses an optical measuring mode for wireless measurement, the height difference of the blades is calculated based on the time difference of the blades passing through the measuring light path, one of the blades is designated as a reference blade, and the difference between the other blades and the reference blade is used for reflecting different conicity degrees of the rotor system;
the vibration measuring sensor is arranged on a hub to measure a vibration signal of the rotor wing, and vibration values in three directions of x, y and z are measured respectively based on the 3 vibration sensors, wherein the x direction is the running direction of the helicopter, the y direction is the vertical direction of the plane of the rotor wing and the x direction, and the z direction is the vertical direction of the rotor wing.
3. A helicopter rotor balance real-time monitoring and adjustment apparatus according to claim 1, further comprising: the information processing module is also used for transmitting the processed cone height and the vibration signal to the ground station in a wireless transmission mode.
4. A helicopter rotor balance real-time monitoring and adjustment apparatus according to claim 1, further comprising: the control model is obtained by firstly summarizing the expansion and contraction quantity value of the stroke pull rod of the intelligent variable-pitch pull rod and the adjustment rule of the rotor cone of the corresponding model and then training through a neural network.
5. A helicopter rotor balance real-time monitoring and adjustment apparatus according to claim 4, wherein: the amplitude and the phase of the rotor wing vibration, the height measurement value of a rotor wing cone and the expansion and contraction quantity value of the intelligent variable-pitch pull rod are used as training data of a neural network, and a control model of the intelligent variable-pitch pull rod is obtained through off-line training at a ground station; in the flying process, the control model takes the rotor vibration amplitude and phase, the cone value and the rotating speed signal which are monitored in real time during flying as model input, the control model makes the difference between the obtained signal and the control expectation to obtain the error at the current moment, and then the driving moment of the intelligent pitch-variable pull rod is calculated according to the error.
6. A helicopter rotor balance real-time monitoring and adjustment apparatus according to claim 1, further comprising: the collecting ring is connected with the airborne control module through a cable, interacts with the motor and the planetary reducer assembly for controlling the intelligent variable-pitch pull rod in a wireless mode, and transmits the received driving torque of the intelligent variable-pitch pull rod to the motor and the planetary reducer assembly for the intelligent variable-pitch pull rod; the collector ring realizes the transmission of signals between the rotating part and the static part through the contact of the internal brush wires and the grooves, and plays a role in connection.
7. A helicopter rotor balance real-time monitoring and adjustment apparatus according to claim 1, further comprising: the intelligent torque conversion pull rod comprises a bearing support (7), a torque limiter (8), a motor and planetary reducer assembly (9), a rod end (10), a stroke pull rod (11), a planetary roller screw nut (12), an angle encoder (13) and a rod end bearing (14); the bearing support (7) is fixed on the propeller hub through a rod end bearing (14), and the rod end (10) is connected to the root part of the propeller blade; after the motor and planetary reducer assembly (9) receives driving torque, the motor and planetary reducer assembly outputs rotating torque to drive the stroke pull rod (11) to implement telescopic motion to realize variable-pitch adjustment of a rotor wing, the planetary roller screw nut (12) moves along with the movement of the stroke pull rod (11), the angle encoder (13) calculates the moving distance of the stroke pull rod (11) by monitoring the rotating angle of the planetary roller screw nut (12), whether the stroke pull rod (11) moves to a given position or not is judged, and the torque limiter (8) is used for limiting the telescopic range of the stroke pull rod (11).
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| CN202110696631.1A CN113525712A (en) | 2021-06-23 | 2021-06-23 | Helicopter rotor balance real-time monitoring and adjusting device |
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| CN202110696631.1A CN113525712A (en) | 2021-06-23 | 2021-06-23 | Helicopter rotor balance real-time monitoring and adjusting device |
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Application publication date: 20211022 |