CN113734424B - Unmanned helicopter and control system thereof - Google Patents

Unmanned helicopter and control system thereof Download PDF

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Publication number
CN113734424B
CN113734424B CN202111303413.3A CN202111303413A CN113734424B CN 113734424 B CN113734424 B CN 113734424B CN 202111303413 A CN202111303413 A CN 202111303413A CN 113734424 B CN113734424 B CN 113734424B
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Prior art keywords
unmanned helicopter
main rotor
wing
pitch angle
control system
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CN113734424A (en
Inventor
陈明非
姜文辉
闫志敏
孙昕
齐维维
于海生
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Jiangxi Zhuang Long Uav Technology Co ltd
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Shangliang Zhongyi Shenyang High Tech Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • B64C19/02—Conjoint controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/06—Helicopters with single rotor
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Abstract

The invention discloses an unmanned helicopter and a control system thereof, comprising a controller, a main rotor, a first control mechanism, wings arranged at two sides of the unmanned helicopter and a propelling mechanism arranged on the wings, wherein the wings comprise main wings, ailerons arranged on the main wings in a longitudinally deflectable way and a second control mechanism used for controlling the longitudinal deflection angle of the ailerons; when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller is used for controlling the first control mechanism to reduce the pitch angle of the main rotor wing to zero, and simultaneously controlling the second control mechanism to adjust the longitudinal deflection angle of the auxiliary wing, so that the overall lift force of the unmanned helicopter is equal to the gravity of the unmanned helicopter. According to the control system, the controller controls the first control mechanism to reduce the pitch angle of the main rotor to zero, the main rotor does not generate lift force at the moment, resistance and interference generated when the main rotor flies forwards on the unmanned helicopter are reduced, and then the flying speed of the unmanned helicopter is promoted.

Description

Unmanned helicopter and control system thereof
Technical Field
The invention relates to the technical field of aviation, in particular to an unmanned helicopter and a control system thereof.
Background
The current unmanned helicopters on the market mostly adopt a conventional configuration, and the main rotor is used for providing the propelling force required in the whole flight, so that the maximum flying speed is limited. In order to increase the maximum flight speed of the helicopter, wings are designed on two sides of a fuselage of some helicopters, and meanwhile, a propulsion mechanism is arranged on the wings, so that the flight speed is increased through the propulsion mechanism.
In summary, how to solve the problem that the flight speed of the unmanned helicopter is limited to be increased becomes a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide an unmanned helicopter and a control system thereof, and aims to solve the problem that the unmanned helicopter is limited in flying speed increase.
In order to achieve the above object, the present invention provides a control system of an unmanned helicopter, comprising a controller, a main rotor, a first control mechanism for controlling the pitch of the main rotor, wings mounted on both sides of the unmanned helicopter and a propulsion mechanism mounted on the wings, wherein the wings comprise a main wing, an aileron mounted on the main wing in a longitudinally deflectable manner and a second control mechanism for controlling the longitudinal deflection angle of the aileron;
when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller is used for controlling the first control mechanism to reduce the pitch angle of the main rotor wing to zero, and simultaneously controlling the second control mechanism to adjust the longitudinal deflection angle of the aileron, so that the overall lift force of the unmanned helicopter is equal to the gravity of the unmanned helicopter.
Preferably, the unmanned helicopter further comprises a tail wing, wherein the tail wing comprises a horizontal tail wing and a vertical tail wing, the horizontal tail wing is provided with an elevator for adjusting the lifting moment of the horizontal tail wing, and the vertical tail wing is provided with a rudder for adjusting the guiding direction of the vertical tail wing;
when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller controls the second control mechanism to adjust the longitudinal deflection angle of the ailerons so as to lift the ascending torque of the wings, and controls the elevator to lift the ascending torque of the horizontal tail wing, so that the overall lift force of the unmanned helicopter is equal to the gravity of the unmanned helicopter.
Preferably, when the forward flying speed of the unmanned helicopter reaches a first preset speed and does not reach a second preset speed, the controller controls the first control mechanism to reduce the pitch angle of the main rotor, and controls the second control mechanism to adjust the longitudinal deflection angle of the aileron, so that the overall lift force generated by the main rotor and the wings is equal to the gravity of the unmanned helicopter, wherein the first preset speed is less than the second preset speed.
Preferably, when the first control mechanism controls the pitch angle of the main rotor to decrease, the controller controls the first control mechanism to perform cyclic pitch change on the main rotor, and keeps the pitch angle of the forward blades on the main rotor lower than the pitch angle of the backward blades on the main rotor, so that the lift force of the forward blades is balanced with the lift force of the backward blades.
Preferably, when the first control mechanism controls the pitch angle of the main rotor to decrease, the pitch angle of the backward blade is maintained at a preset maximum value, and the pitch angle of the forward blade is decreased.
Preferably, the pitch angle of the forward blade and the pitch angle of the aft blade are obtained according to the following formulas:
Figure 899333DEST_PATH_IMAGE002
Figure 894970DEST_PATH_IMAGE004
Figure 376898DEST_PATH_IMAGE006
Figure 370262DEST_PATH_IMAGE008
wherein s is the rotor solidity of the main rotor, θ0Is a fixed geometric parameter of the main rotor; c is the slope of the lifting line of the airfoil of the blade;v is the flight speed of the unmanned helicopter; omega is the angular speed of the main rotor rotation; r is the main rotor radius; ρ is the atmospheric density; t is the pulling force generated by the main rotor; v. ofiThe air flow speed for blowing the main rotor wing downwards; theta1Is the pitch angle of the advancing side blade; theta2The pitch angle of the trailing blade.
Preferably, the preset maximum value of the pitch angle of the trailing blade is 15-20 °.
Preferably, said first preset speed v1The calculation formula of (2) is as follows:
Figure 452488DEST_PATH_IMAGE010
in the formula, omega is main rotor pivoted angular velocity, and R is main rotor's radius, and k is the design coefficient, and the value of k is 0.2~ 0.5.
Preferably, said second preset speed v2The calculation formula of (2) is as follows:
Figure 189500DEST_PATH_IMAGE011
wherein m is the weight of the unmanned helicopter, g is the acceleration of gravity, rho is the atmospheric density, S is the wing area of the unmanned helicopter, ClαThe slope of the lifting line of the wing airfoil is shown, and beta is the mounting angle of the wing.
Preferably, the unmanned helicopter further comprises a power mechanism for driving the main rotor to rotate, and when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller controls the power mechanism and the main rotor to be disconnected in transmission.
Compared with the introduction content of the background art, the control system of the unmanned helicopter comprises a controller, a main rotor, a first control mechanism for controlling the variable pitch of the main rotor, wings arranged on two sides of the unmanned helicopter and a propelling mechanism arranged on the wings, wherein the wings comprise a main wing, an aileron arranged on the main wing in a longitudinally-deflecting mode and a second control mechanism for controlling the longitudinal deflection angle of the aileron; when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller is used for controlling the first control mechanism to reduce the pitch angle of the main rotor wing to zero, and simultaneously controlling the second control mechanism to adjust the longitudinal deflection angle of the auxiliary wing, so that the overall lift force of the unmanned helicopter is equal to the gravity of the unmanned helicopter. In the practical application process, when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller controls the first control mechanism to reduce the pitch angle of the main rotor to zero, at the moment, the main rotor does not generate lift force, and the controller controls the second control mechanism to adjust the longitudinal deflection angle of the auxiliary wing to realize that the overall lift force of the unmanned helicopter is equal to the gravity of the unmanned helicopter, so that the influence of the unbalanced aerodynamic force of the main rotor on the flying of the unmanned helicopter can be reduced; meanwhile, the included angle between the rotating plane of the main rotor and the flying direction can be ensured to be 0 degree in the horizontal flying process, so that the resistance and the interference of the main rotor to the forward flying of the unmanned helicopter are reduced, and the flying speed of the unmanned helicopter is promoted.
In addition, the invention also provides an unmanned helicopter, which comprises a control system, wherein the control system is the control system of the unmanned helicopter described in any scheme above, and the control system of the unmanned helicopter has the technical effects, so the unmanned helicopter with the control system also has the corresponding technical effects, and the details are not repeated herein.
Drawings
Fig. 1 is a schematic overall structural diagram of an unmanned helicopter provided in an embodiment of the present invention;
fig. 2 is a schematic partial structural view of an unmanned helicopter provided in an embodiment of the present invention;
FIG. 3 is a schematic view of a partially cut-away structure of an unmanned helicopter provided in an embodiment of the present invention;
FIG. 4 is a schematic pitch angle diagram of a leading side blade provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic pitch angle diagram of a trailing blade according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a corresponding relationship between a pitch angle of a main rotor and a forward flying speed of an unmanned helicopter according to an embodiment of the present invention;
FIG. 7 is a schematic view of an installation angle of a wing provided by an embodiment of the invention;
fig. 8 is a schematic structural diagram of positions of a forward side blade and a backward side blade of a main rotor according to an embodiment of the present invention.
In the context of figures 1-8,
the main rotor wing 1, the forward side blade 1a, the backward side blade 1b, the first control mechanism 2, the wing 3, the main wing 31, the aileron 32, the propulsion mechanism 4, the empennage 5, the horizontal empennage 51, the elevator 51a, the vertical empennage 52, the rudder 52a, the power mechanism 6, the driving motor 61, the transmission mechanism 62, the first sensor 7 and the second sensor 8.
Detailed Description
The core of the invention is to provide an unmanned helicopter and a control system thereof, which are used for solving the problem that the unmanned helicopter is limited in flying speed increase.
In order to make those skilled in the art better understand the technical solutions provided by the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 8, the embodiment of the present invention provides a control system of an unmanned helicopter, comprising a controller, a main rotor 1, a first control mechanism 2 for controlling the pitch of the main rotor 1, wings 3 mounted on both sides of the unmanned helicopter and a propulsion mechanism 4 mounted on the wings 3, wherein the wings 3 comprise a main wing 31, an aileron 32 mounted on the main wing 31 in a longitudinally deflectable manner and a second control mechanism for controlling the longitudinal deflection angle of the aileron 32; when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller is used for controlling the first control mechanism 2 to reduce the pitch angle of the main rotor wing 1 to zero, and simultaneously controlling the second control mechanism to adjust the longitudinal deflection angle of the auxiliary wing 32, so that the overall lift force of the unmanned helicopter is equal to the gravity of the unmanned helicopter.
In the practical application process, when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller controls the first control mechanism to reduce the pitch angle of the main rotor to zero, at the moment, the main rotor does not generate lift force, and the controller controls the second control mechanism to adjust the longitudinal deflection angle of the auxiliary wing to realize that the overall lift force of the unmanned helicopter is equal to the gravity of the unmanned helicopter, so that the influence of the unbalanced aerodynamic force of the main rotor on the flying of the unmanned helicopter can be reduced; meanwhile, the included angle between the rotating plane of the main rotor and the flying direction can be ensured to be 0 degree in the horizontal flying process, so that the resistance and the interference of the main rotor to the forward flying of the unmanned helicopter are reduced, and the flying speed of the unmanned helicopter is promoted.
It should be noted that, depending on the model of the specific model, the propulsion mechanism 4 may be specifically a ducted fan, a propeller, a small turbine engine, or the like, and is not limited in more detail herein.
In some specific embodiments, the unmanned helicopter further includes a tail 5, and the tail 5 may specifically include a horizontal tail 51 and a vertical tail 52, wherein the horizontal tail 51 may be provided with an elevator 51a for adjusting a lifting moment of the horizontal tail 51, and the vertical tail 52 is provided with a rudder 52a for adjusting a guiding direction of the vertical tail 52; when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller controls the second control mechanism to adjust the longitudinal deflection angle of the ailerons 32 to raise the lifting moment of the wings 3, and controls the elevators 51a to raise the lifting moment of the horizontal tail wing, so that the overall lift force of the unmanned helicopter is kept equal to the gravity of the unmanned helicopter. By designing the horizontal tail wing and the elevator, the lift force control can be realized by matching with the wings, and the problem of insufficient lift force regulation of the ailerons can be avoided. Meanwhile, the control of the flight direction can be facilitated through the vertical tail fin and the rudder.
In some specific embodiments, when the forward flying speed of the unmanned helicopter reaches a first preset speed and does not reach a second preset speed, the controller controls the first control mechanism 2 to decrease the pitch angle of the main rotor 1, and controls the second control mechanism to adjust the longitudinal deflection angle of the aileron 32, so that the overall lift generated by the main rotor 1 and the wings 3 is equal to the gravity of the unmanned helicopter, wherein the first preset speed is lower than the second preset speed. Through the control mode, the pitch angle of the main rotor wing is adjusted to zero to form a transition stage, meanwhile, the longitudinal deflection angle of the ailerons on the wings is adjusted to realize transition, and the situation that the flight is unstable due to overlarge pitch angle adjustment or overlarge longitudinal deflection angle is avoided.
In a further embodiment, when the first control mechanism 2 controls the pitch angle of the main rotor 1 to decrease, the controller controls the first control mechanism 2 to perform cyclic pitch change on the main rotor 1 and maintain the pitch angle of the forward-moving blade 1a on the main rotor 1 lower than the pitch angle of the backward-moving blade 1b on the main rotor 1, so that the lift force of the forward-moving blade 1a is balanced with the lift force of the backward-moving blade 1 b. Through the adjusting mode, the stability of the lifting force of the two sides of the main rotor wing can be enhanced, and the unstable flight caused by the unbalance of the left side and the right side is avoided.
In some more specific embodiments, when the first control mechanism 2 controls the pitch angle of the main rotor 1 to decrease, the following method can be specifically adopted: the pitch angle of the trailing blade 1b is kept at a preset maximum value and the pitch angle of the leading blade 1a is reduced, mainly in the case of a gradual acceleration of the forward flight speed.
Note that the pitch angle of the forward blade 1a and the pitch angle of the backward blade 1b may be obtained specifically according to the following formulas:
Figure 758890DEST_PATH_IMAGE012
Figure 188734DEST_PATH_IMAGE013
Figure 492677DEST_PATH_IMAGE014
Figure 767800DEST_PATH_IMAGE008
wherein s is the rotor solidity of the main rotor, θ0Is a fixed geometric parameter of the main rotor; c is the slope of the lifting line of the airfoil of the blade; v is the flight speed of the unmanned helicopter; omega is the angular speed of the main rotor rotation; r is the main rotor radius; ρ is the atmospheric density; t is the pulling force generated by the main rotor; v. ofiThe air flow speed for blowing the main rotor wing downwards; theta1Is the pitch angle of the advancing side blade; theta2The pitch angle of the trailing blade.
Wherein the preset maximum value of the pitch angle of the trailing side blades 1b is typically preferably 15-20.
In addition, the first preset speed v is set to be higher than the second preset speed v1The calculation formula is specifically as follows:
Figure 224321DEST_PATH_IMAGE010
in the formula, omega is the angular velocity that main rotor rotated, and R is the radius of main rotor, and k is the design coefficient, and the value of k is 0.2~ 0.5.
The second predetermined speed v2The calculation formula of (2) is as follows:
Figure 621804DEST_PATH_IMAGE011
wherein m is the weight of the unmanned helicopter, g is the acceleration of gravity, rho is the atmospheric density, S is the wing area of the unmanned helicopter, ClαThe slope of the lifting line of the wing airfoil is shown, and beta is the mounting angle of the wing.
In some more specific embodiments, the control system of the above-mentioned unmanned helicopter should further include a power mechanism 6 for driving the main rotor 1 to rotate, and when the speed of the forward flight of the unmanned helicopter reaches a second preset speed, the controller controls the power mechanism 6 to disconnect the transmission from the main rotor 1, and the main rotor enters an uncontrolled windmill state, and the pitch angle of the main rotor is reduced to zero, so that the resistance to the forward flight of the unmanned helicopter is small. It should be noted that the power mechanism 6 may specifically include a driving motor 61 and a transmission mechanism 62, and the transmission mechanism is configured to transmit power of the driving motor to the main rotor.
The specific way of disconnecting the transmission can be realized by arranging a clutch device at a speed reducer between the main rotor and the power mechanism, and the clutch device is a conventional technology and is not limited herein; of course, other ways of disconnecting the drive can be used, such as disconnecting the current circuit of the drive motor 61 so that its rotor can rotate together with the main rotor without resistance.
It should be noted that the unmanned helicopter should also be equipped with various sensors to achieve various detection requirements, for example, a first sensor 7 (specifically, a hall element) may be installed at the wing, and a longitudinal deflection angle of an aileron on the wing may be detected by the first sensor; a second sensor 8 (which may be specifically an optical sensor) may be provided on the top of the body.
In addition, the invention also provides an unmanned helicopter, which comprises a control system, wherein the control system is the control system of the unmanned helicopter described in any scheme above, and the control system of the unmanned helicopter has the technical effects, so the unmanned helicopter with the control system also has the corresponding technical effects, and the details are not repeated herein.
The unmanned helicopter and the control system thereof provided by the invention are described in detail above. It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
It is also noted that, in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in an article or device that comprises the element.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (10)

1. A control system of an unmanned helicopter, comprising a controller, a main rotor (1), a first control mechanism (2) for controlling the displacement of the main rotor (1), wings (3) mounted on both sides of the unmanned helicopter and a propulsion mechanism (4) mounted on the wings (3), characterized in that the wings (3) comprise a main wing (31), an aileron (32) mounted on the main wing (31) in a longitudinally deflectable manner and a second control mechanism for controlling the longitudinal deflection angle of the aileron (32);
when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller is used for controlling the first control mechanism (2) to reduce the pitch angle of the main rotor (1) to zero, and simultaneously controlling the second control mechanism to adjust the longitudinal deflection angle of the auxiliary wing (32) so as to enable the overall lift force of the unmanned helicopter and the gravity of the unmanned helicopter to be equal;
the second preset speed v2The calculation formula of (2) is as follows:
Figure DEST_PATH_IMAGE001
wherein m is the weight of the unmanned helicopter, g is the acceleration of gravity, rho is the atmospheric density, S is the wing area of the unmanned helicopter, ClαThe slope of the lifting line of the wing airfoil is shown, and beta is the mounting angle of the wing.
2. The control system of an unmanned helicopter of claim 1, further comprising a tail wing (5), wherein the tail wing (5) comprises a horizontal tail wing (51) and a vertical tail wing (52), the horizontal tail wing (51) is provided with an elevator (51 a) for adjusting a lifting moment of the horizontal tail wing (51), and the vertical tail wing (52) is provided with a rudder (52 a) for adjusting a guide direction of the vertical tail wing (52);
when the forward flying speed of the unmanned helicopter reaches a second preset speed, the controller controls the second control mechanism to adjust the longitudinal deflection angle of the aileron (32) so as to lift the ascending moment of the wing (3), and simultaneously controls the elevator (51 a) to lift the ascending moment of the horizontal tail wing, so that the overall lift force of the unmanned helicopter and the gravity of the unmanned helicopter are kept equal.
3. The control system of an unmanned helicopter of claim 1, wherein when the speed at which the unmanned helicopter is flying forward reaches a first preset speed and has not reached a second preset speed, the controller controls the first control mechanism (2) to decrease the pitch angle of the main rotor (1) while controlling the second control mechanism to adjust the longitudinal yaw angle of the aileron (32) such that the overall lift generated by the main rotor (1) and the wings (3) is maintained equal to the gravitational force of the unmanned helicopter, wherein the first preset speed is less than the second preset speed.
4. The control system of an unmanned helicopter of claim 3, wherein when said first control mechanism (2) controls said pitch angle of said main rotor (1) to decrease, said controller controls said first control mechanism (2) to perform cyclic pitch change of said main rotor (1) and to maintain said pitch angle of said forward side blades (1 a) on said main rotor (1) lower than said pitch angle of said aft side blades (1 b) on said main rotor (1) so as to balance lift force of said forward side blades (1 a) with lift force of said aft side blades (1 b).
5. The control system of an unmanned helicopter according to claim 4, characterized in that when said first manipulating mechanism (2) manipulates said pitch angle of said main rotor (1) to decrease, said pitch angle of said trailing blade (1 b) is maintained at a preset maximum value and said pitch angle of said leading blade (1 a) is decreased.
6. Control system of an unmanned helicopter according to claim 4, characterized in that the pitch angle of said forward moving blade (1 a) and the pitch angle of said backward moving blade (1 b) are given by the following equations:
Figure 970054DEST_PATH_IMAGE002
wherein s is the rotor solidity of the main rotor, θ0Is a fixed geometric parameter of the main rotor; c is the slope of the lifting line of the airfoil of the blade; v is the flight speed of the unmanned helicopter; omega is the angular speed of the main rotor rotation; r is the main rotor radius; ρ is the atmospheric density; t is the pulling force generated by the main rotor; v. ofiThe air flow speed for blowing the main rotor wing downwards; theta1Is the pitch angle of the advancing side blade; theta2The pitch angle of the trailing blade.
7. Control system of an unmanned helicopter according to claim 6, characterized in that the preset maximum value of the pitch angle of said trailing side blades (1 b) is 15 ° -20 °.
8. Control system of an unmanned helicopter according to claim 3, characterized in that said first preset speed v1The calculation formula of (2) is as follows:
Figure DEST_PATH_IMAGE003
in the formula, omega is main rotor pivoted angular velocity, and R is main rotor's radius, and k is the design coefficient, and the value of k is 0.2~ 0.5.
9. The control system of the unmanned helicopter of any of claims 1-8, further comprising a power mechanism (6) for driving the main rotor (1) to rotate, and wherein the controller controls the power mechanism (6) to be disconnected from the main rotor (1) when the speed of the unmanned helicopter in forward flight reaches a second preset speed.
10. An unmanned helicopter comprising a control system, wherein the control system is the control system of the unmanned helicopter of any of claims 1-9.
CN202111303413.3A 2021-11-05 2021-11-05 Unmanned helicopter and control system thereof Active CN113734424B (en)

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US20070095973A1 (en) * 2005-10-27 2007-05-03 Douglas Challis Aircraft having a helicopter rotor and an inclined front mounted propeller
US10562618B2 (en) * 2017-04-03 2020-02-18 Bell Helicopter Textron Inc. Helicopter with wing augmented lift
CN109533304B (en) * 2018-10-19 2021-09-17 上海交通大学 Single-wing aircraft with rotor wing and fixed wing flight modes and mode switching method
US11052999B2 (en) * 2019-03-26 2021-07-06 Textron Innovations Inc. Compound helicopters having auxiliary propulsive systems
CN111498104A (en) * 2020-04-20 2020-08-07 飞的科技有限公司 Aircraft with a flight control device
CN113022847A (en) * 2021-03-11 2021-06-25 北京航空航天大学 High-speed helicopter with vector duct tail rotor

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