CN113968339B - Environment-friendly control system capable of emergently balancing helicopter rotor wing reactive torque and control method - Google Patents
Environment-friendly control system capable of emergently balancing helicopter rotor wing reactive torque and control method Download PDFInfo
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- CN113968339B CN113968339B CN202111381845.6A CN202111381845A CN113968339B CN 113968339 B CN113968339 B CN 113968339B CN 202111381845 A CN202111381845 A CN 202111381845A CN 113968339 B CN113968339 B CN 113968339B
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- balancing
- bleed air
- valve
- pressure regulator
- pressure
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02C—GAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
- F02C6/00—Plural gas-turbine plants; Combinations of gas-turbine plants with other apparatus; Adaptations of gas- turbine plants for special use
- F02C6/04—Gas-turbine plants providing heated or pressurised working fluid for other apparatus, e.g. without mechanical power output
- F02C6/06—Gas-turbine plants providing heated or pressurised working fluid for other apparatus, e.g. without mechanical power output providing compressed gas
- F02C6/08—Gas-turbine plants providing heated or pressurised working fluid for other apparatus, e.g. without mechanical power output providing compressed gas the gas being bled from the gas-turbine compressor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8245—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft using air jets
Abstract
The invention belongs to the field of airborne ring control systems, and particularly relates to a ring control system capable of emergently balancing the reactive torque of a helicopter rotor. The environmental control system comprises: the system comprises an air entraining pipeline (1), a one-way valve group (2), a pressure regulator, a balancing valve, a pressure sensor, an air entraining balancing device (9), a cabin heating valve (10) and a control device (11). The helicopter rotor reactive torque balancing device can realize the emergency balancing of the rotor reactive torque after the helicopter tail rotor fails, so that the helicopter can land in an emergency and stable way.
Description
Technical Field
The invention belongs to the field of airborne ring control systems, and particularly relates to a ring control system capable of emergently balancing the reactive torque of a helicopter rotor.
Background
The conventional helicopter adopts a main rotor and tail rotor layout, when the main rotor rotates clockwise, counter-torsion in the anticlockwise direction is generated on the helicopter body, and the tail rotor is required to be pushed or pulled to generate thrust in the clockwise direction so as to offset the counter-torsion of the main rotor and balance the direction of the helicopter.
Helicopter tail rotor faults are one of the main special cases for causing serious flight accidents at home and abroad in recent years, and the tail rotor faults can lead to an unexpected state that the entering direction of the helicopter is uncontrolled and even is out of operation. Helicopter tail rotor faults can be roughly divided into tail rotor blocking and tail rotor failure, different emergency treatment measures are adopted aiming at different fault modes, and common measures such as closing an engine, keeping the gesture and grounding as soon as possible; reducing engine power, reducing reactive torque, etc. These measures are passive measures, cannot balance the direction of the helicopter, and once the helicopter is improperly operated, serious accidents are caused.
Disclosure of Invention
The invention aims to: the invention provides a ring control system capable of emergently matching the reactive torque of a helicopter rotor, which can realize the emergency balancing of the reactive torque of the rotor after the helicopter tail rotor fails, so that the helicopter can land emergently and stably.
The technical scheme of the invention is as follows: in one aspect, a loop control system for emergency matching of helicopter rotor reaction torque is provided, the loop control system comprising: the system comprises a bleed air pipeline 1, a one-way valve group 2, a pressure regulator, a balancing valve, a pressure sensor, a bleed air balancing device 9, a cabin heating valve 10 and a control device 11;
the bleed air pipeline 1 is connected with the engine and is used for conveying high-pressure gas of a compressor in the engine; the unidirectional valve group 2, the pressure regulator, the balancing valve and the bleed air balancing device 9 are sequentially communicated through the bleed air pipeline 1 so as to introduce high-pressure gas into the bleed air balancing device 9 when the tail rotor fails, and the bleed air balancing device 9 generates thrust outwards to balance the reactive torque of the main rotor wing of the helicopter;
a pressure sensor is arranged on a pipeline between the balancing valve and the air entraining balancing device 9; a cabin cover Wen Huomen 10 is arranged on a pipeline between the pressure regulator and the balancing valve; when the helicopter works normally and the cabin needs to be heated, the balancing valve is closed, and the cabin heating valve 10 is opened to introduce high-pressure gas in the pipeline into the cabin;
the control device 11 is respectively connected with the pressure regulator, the balancing valve, the pressure sensor, the bleed air balancing device 9 and the cabin heating valve 10 in a signal manner; the control device 11 is used for controlling the opening or closing of the pressure regulator, controlling the opening of the balancing valve according to the flow signal fed back by the bleed air balancing device 9 and judging whether the part in the pipeline has faults according to the pressure signal fed back by the pressure sensor.
Further, the pressure regulator includes a first pressure regulator 3 and a second pressure regulator 4; the first pressure regulator 3 and the second pressure regulator 4 are installed in parallel. A redundancy design is employed for ensuring that the bleed trim arrangement 9 is operable in the event of a single regulator failure.
Further, the trim valves comprise a first trim valve 5 and a second trim valve 6; the first balancing valve 5 and the second balancing valve 6 are arranged in parallel. The design of redundancy is used to ensure that the bleed air balancing device 9 can operate in the event of a single balancing flap failure.
Further, the pressure sensor includes a first pressure sensor 7 and a second pressure sensor 8; the first pressure sensor 7 and the second pressure sensor 8 are installed in parallel. A redundancy design is employed for ensuring that the bleed air balancing device 9 can operate in the event of a single sensor failure.
Further, the bleed air balancing device 9 is mounted at the rear end of the tail beam of the helicopter through an electric mechanism, the electric mechanism is connected with a pedal displacement sensor through signals, and the work of the electric mechanism is controlled through the pedal displacement signals so as to adjust the bleed air spraying direction of the air outlet assembly of the bleed air balancing device 9.
Further, the one-way valve group 2 is respectively connected with two engines; the check valve group 2 is internally provided with a check valve for preventing gas from flowing in series when the bleed air of the two engines is unbalanced.
Further, a third pressure sensor 13 and a fourth pressure sensor 14 are respectively arranged on the pipelines between the first pressure regulator 3 and the second pressure regulator 4 and the cabin warming valve 10 correspondingly.
In another aspect, a control method of a ring control system capable of emergently matching the reactive torque of a helicopter rotor is provided, and the control method includes the following steps:
when the helicopter has tail rotor faults, the control device 11 controls the first pressure regulator 3 and the first balancing valve 5 to be opened, and the second pressure regulator 4, the second balancing valve 6 and the cabin heating valve 10 to be closed; the high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 through the first balancing valve 5, the bleed air spraying direction of the bleed air balancing device 9 is controlled, and the bleed air amount is regulated through the first balancing valve 5, so that the torque generated by the bleed air spraying counteracts the reactive torque of the rotor;
when the first balancing valve 5 fails and cannot be opened, the control device 11 controls the first pressure regulator 3 and the second balancing valve 6 to be opened, and the second pressure regulator 4 and the cabin heating valve 10 to be closed; the high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 after passing through the second balancing valve 6, the bleed air spraying direction of the bleed air balancing device 9 is controlled, and the bleed air quantity is regulated through the first balancing valve 5, so that the torque generated by the bleed air spraying counteracts the reactive torque of the rotor;
when the first pressure regulator 3 fails and cannot be opened, the control device 11 controls the second pressure regulator 4 and the first balancing valve 5 to be opened, and the second balancing valve 6 and the cabin heating valve 10 to be closed; the high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 after passing through the first balancing valve 5, and the bleed air balancing device 9 is controlled to adjust the bleed air spraying direction and the bleed air quantity through the first balancing valve 5, so that the torque generated by the bleed air spraying counteracts the reactive torque of the rotor;
when the first pressure regulator 3 and the first balancing valve 5 fail and cannot be opened, the control device 11 controls the second pressure regulator 4 and the second balancing valve 6 to be opened, and the cabin heating valve 10 is closed; the high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 after passing through the second balancing valve 6, and the bleed air balancing device 9 is controlled to adjust the bleed air spraying direction and the bleed air quantity through the first balancing valve 5, so that the torque generated by the bleed air spraying counteracts the reactive torque of the rotor;
the signal linkage of the pedal displacement sensor and the bleed air balancing device 9 adjusts the bleed air spraying direction of the bleed air balancing device 9
The invention has the technical effects that: through the emergency balancing design, after the tail rotor fault occurs, the passive power is changed into the active power, and the reactive torque of the rotor wing is balanced in an emergency manner, so that the helicopter can land stably; by directly entraining air from the engine, high pressure gas can be continuously provided; and the redundancy design is adopted, so that the reliability of the ring control system is improved. The system not only meets the requirement of the environmental control system for normally heating the cabin, but also plays a role in emergency lifesaving when the tail rotor fails.
Drawings
FIG. 1 is a schematic diagram of cabin warming bleed air when the tail rotor is working normally;
FIG. 2 is a schematic illustration of emergency trim bleed air when the tail rotor fails to operate;
figure 3 is a schematic view of the emergency balancing apparatus installed on-board.
Detailed Description
The invention is explained below with reference to the drawings.
Referring to fig. 1 and 2, the present embodiment provides a loop control system capable of emergency matching of helicopter rotor reaction torque, which comprises a bleed air pipeline 1, a check valve group 2, a first pressure regulator 3, a second pressure regulator 4, a first balancing valve 5, a second balancing valve 6, a first pressure sensor 7, a second pressure sensor 8, a bleed air balancing device 9, a cabin heating valve 10 and a control device 11.
The bleed air pipeline 1 is connected with the engine and is used for conveying high-pressure gas of a compressor in the engine; the unidirectional valve group 2, the pressure regulator, the balancing valve and the bleed air balancing device 9 are sequentially communicated through the bleed air pipeline 1 so as to introduce high-pressure gas into the bleed air balancing device 9 when the tail rotor fails, and the bleed air balancing device 9 generates thrust outwards to balance the reactive torque of the main rotor wing of the helicopter;
a pressure sensor is arranged on a pipeline between the balancing valve and the air entraining balancing device 9; a cabin cover Wen Huomen 10 is arranged on a pipeline between the pressure regulator and the balancing valve; when the helicopter is working normally and the cabin needs to be warmed, the balancing valve is closed and the cabin warming valve 10 is opened to introduce the high pressure gas in the pipeline into the cabin.
The control device 11 is respectively connected with the pressure regulator, the balancing valve, the pressure sensor, the bleed air balancing device 9 and the cabin heating valve 10 in a signal manner; the control device 11 is used for controlling the opening or closing of the pressure regulator, controlling the opening of the balancing valve according to the flow signal fed back by the bleed air balancing device 9 and judging whether the part in the pipeline has faults according to the pressure signal fed back by the pressure sensor.
In the embodiment, a third pressure sensor 13 and a fourth pressure sensor 14 are correspondingly arranged on the pipelines between the first pressure regulator 3 and the second pressure regulator 4 and the cabin heating valve 10 respectively. The air entraining and balancing device 9 is arranged at the rear end of the tail beam of the helicopter through an electric mechanism, the electric mechanism is in signal connection with a pedal displacement sensor, and the work of the electric mechanism is controlled through the pedal displacement signal so as to adjust the air entraining spraying direction of an air outlet assembly of the air entraining and balancing device 9.
As shown in fig. 1, when the environmental control system heats normally, the first pressure regulator 3 and the cabin heating valve 10 are opened, the second pressure regulator 4, the first balancing valve 5 and the second balancing valve 6 are closed, and the engine high-temperature high-pressure bleed air enters the cabin heating subsystem after passing through the first pressure regulator 3 and the cabin heating valve 10.
As shown in fig. 2, when the helicopter has tail rotor faults, the first pressure regulator 3 and the first balancing valve 5 are opened, the second pressure regulator 4, the second balancing valve 6 and the cabin heating valve 10 are closed, high-temperature and high-pressure engine bleed air passes through the first balancing valve 5 and the pressure sensor 7 and then enters the bleed air balancing device 9, the bleed air balancing device 9 adjusts the bleed air spraying direction, and the first balancing valve 5 adjusts the bleed air amount, so that torque generated by bleed air spraying counteracts rotor reaction torque.
When the first balancing valve 5 fails and cannot be opened, the first pressure regulator 3 and the second balancing valve 6 are opened, the second pressure regulator 4 and the cabin heating valve 10 are closed, high-temperature and high-pressure engine bleed air passes through the second balancing valve 6 and the pressure sensor 8 and then enters the bleed air balancing device 9, the bleed air balancing device 9 adjusts the bleed air spraying direction, and the first balancing valve 5 adjusts the bleed air amount, so that torque generated by bleed air spraying counteracts rotor reaction torque.
When the first pressure regulator 3 fails and cannot be opened, the second pressure regulator 4 and the first balancing valve 5 are opened, the second balancing valve 6 and the cabin heating valve 10 are closed, high-temperature and high-pressure engine bleed air enters the bleed air balancing device 9 after passing through the first balancing valve 5 and the pressure sensor 7, the bleed air balancing device 9 adjusts the bleed air spraying direction, and the first balancing valve 5 adjusts the bleed air amount, so that torque generated by bleed air spraying counteracts rotor reaction torque.
When the first pressure regulator 3 and the first balancing valve 5 fail and cannot be opened, the second pressure regulator 4 and the second balancing valve 6 are opened, the cabin heating valve 10 is closed, the high-temperature and high-pressure engine bleed air passes through the second balancing valve 6 and the pressure sensor 8 and then enters the bleed air balancing device 9, the bleed air balancing device 9 adjusts the bleed air spraying direction, and the first balancing valve 5 adjusts the bleed air amount, so that the torque generated by bleed air spraying counteracts the reactive torque of the rotor.
Claims (5)
1. An environmental control system capable of emergently balancing helicopter rotor reaction torque, characterized in that the environmental control system comprises: the system comprises an air entraining pipeline (1), a one-way valve group (2), a pressure regulator, a balancing valve, a pressure sensor, an air entraining balancing device (9), a cabin heating valve (10) and a control device (11);
the bleed air pipeline (1) is connected with the engine and is used for conveying high-pressure gas of a compressor in the engine; the unidirectional valve group (2), the pressure regulator, the balancing valve and the bleed air balancing device (9) are sequentially communicated through the bleed air pipeline (1) so as to introduce high-pressure gas into the bleed air balancing device (9) when the tail rotor fails, and the bleed air balancing device (9) generates thrust outwards to balance the reactive torque of the main rotor wing of the helicopter;
a pressure sensor is arranged on a pipeline between the balancing valve and the air entraining balancing device (9); a cabin cover Wen Huomen (10) is arranged on a pipeline between the pressure regulator and the balancing valve; when the helicopter works normally and the cabin needs to be heated, the balancing valve is closed, and the cabin heating valve (10) is opened to introduce high-pressure gas in the pipeline into the cabin;
the control device (11) is respectively connected with the pressure regulator, the balancing valve, the pressure sensor, the bleed air balancing device (9) and the cabin heating valve (10) in a signal manner; the control device (11) is used for controlling the opening or closing of the pressure regulator, controlling the opening of the balancing valve according to a flow signal fed back by the bleed air balancing device (9), and judging whether the part in the pipeline has faults according to a pressure signal fed back by the pressure sensor;
wherein the pressure regulator comprises a first pressure regulator (3) and a second pressure regulator (4); the first pressure regulator (3) and the second pressure regulator (4) are arranged in parallel; the balancing valve comprises a first balancing valve (5) and a second balancing valve (6); the first balancing valve (5) and the second balancing valve (6) are arranged in parallel;
the air entraining balancing device (9) is arranged at the rear end of the tail beam of the helicopter through an electric mechanism, the electric mechanism is connected with a pedal displacement sensor through signals, and the work of the electric mechanism is controlled through the pedal displacement signals so as to adjust the air entraining spraying direction of an air outlet component of the air entraining balancing device (9).
2. The climate control system according to claim 1, wherein the pressure sensor comprises a first pressure sensor (7) and a second pressure sensor (8); the first pressure sensor (7) and the second pressure sensor (8) are installed in parallel.
3. The environmental control system according to claim 1, wherein the check valve group (2) is respectively connected with two engines; the check valve group (2) is internally provided with a check valve which is used for preventing gas from flowing in series when the bleed air of the two engines is unbalanced.
4. The environmental control system according to claim 1, characterized in that a third pressure sensor (13) and a fourth pressure sensor (14) are respectively installed on the pipelines between the first pressure regulator (3) and the second pressure regulator (4) and the cabin warming valve (10).
5. A control method of a loop control system capable of emergently balancing the reactive torque of a helicopter rotor, using the loop control system according to any one of claims 1 to 4, characterized in that the control method comprises:
when the helicopter has tail rotor faults, the control device (11) controls the first pressure regulator (3) and the first balancing valve (5) to be opened, and the second pressure regulator (4), the second balancing valve (6) and the cabin heating valve (10) to be closed; the high-temperature high-pressure bleed air of the engine enters the bleed air balancing device (9) through the first balancing valve (5), the bleed air spraying direction of the bleed air balancing device (9) is controlled, and the bleed air quantity is adjusted through the first balancing valve (5), so that the torque generated by the bleed air spraying counteracts the reactive torque of the rotor;
when the first balancing valve (5) fails and cannot be opened, the control device (11) controls the first pressure regulator (3) and the second balancing valve (6) to be opened, and the second pressure regulator (4) and the cabin heating valve (10) to be closed; the high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device (9) after passing through the second balancing valve (6), the bleed air spraying direction of the bleed air balancing device (9) is controlled, and the bleed air quantity is regulated through the first balancing valve (5), so that the torque generated by the bleed air spraying counteracts the reactive torque of the rotor;
when the first pressure regulator (3) fails and cannot be opened, the control device (11) controls the second pressure regulator (4) and the first balancing valve (5) to be opened, and the second balancing valve (6) and the cabin heating valve (10) to be closed; the high-temperature and high-pressure bleed air of the engine enters a bleed air balancing device (9) after passing through a first balancing valve (5), and the bleed air balancing device (9) is controlled to adjust the bleed air spraying direction and the bleed air quantity through the first balancing valve (5) so that the torque generated by the bleed air spraying counteracts the reactive torque of the rotor;
when the first pressure regulator (3) and the first balancing valve (5) fail and cannot be opened, the control device (11) controls the second pressure regulator (4) and the second balancing valve (6) to be opened, and the cabin heating valve (10) is closed; the high-temperature and high-pressure bleed air of the engine enters a bleed air balancing device (9) after passing through a second balancing valve (6), the bleed air balancing device (9) is controlled to adjust the bleed air spraying direction, and the bleed air quantity is adjusted through a first balancing valve (5), so that the torque generated by the bleed air spraying counteracts the reactive torque of a rotor;
and the signal linkage of the pedal displacement sensor and the bleed air balancing device (9) is used for adjusting the bleed air spraying direction of the bleed air balancing device (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111381845.6A CN113968339B (en) | 2021-11-19 | 2021-11-19 | Environment-friendly control system capable of emergently balancing helicopter rotor wing reactive torque and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111381845.6A CN113968339B (en) | 2021-11-19 | 2021-11-19 | Environment-friendly control system capable of emergently balancing helicopter rotor wing reactive torque and control method |
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| Publication Number | Publication Date |
|---|---|
| CN113968339A CN113968339A (en) | 2022-01-25 |
| CN113968339B true CN113968339B (en) | 2023-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111381845.6A Active CN113968339B (en) | 2021-11-19 | 2021-11-19 | Environment-friendly control system capable of emergently balancing helicopter rotor wing reactive torque and control method |
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| JPS54100098A (en) * | 1977-12-21 | 1979-08-07 | Summa Corp | Device for balancing torque of helicopter by circulation control |
| GB8619653D0 (en) * | 1986-08-12 | 1987-01-14 | Rolls Royce Plc | Gas turbine engine |
| FR2679199A1 (en) * | 1991-07-16 | 1993-01-22 | Aerospatiale | ANTICOUPLE SYSTEM FOR HELICOPTER. |
| US7032860B1 (en) * | 2004-11-05 | 2006-04-25 | Eatts, Llc | Emergency anti-torque thruster system |
| CN103241375A (en) * | 2012-02-10 | 2013-08-14 | 贝尔直升机德事隆公司 | Pilot control system with adjustable pedals |
| CN104477377A (en) * | 2014-12-31 | 2015-04-01 | 北京航空航天大学 | Composite type multi-mode multi-purpose aircraft |
| CN107505957A (en) * | 2017-08-03 | 2017-12-22 | 中国航空工业集团公司西安飞机设计研究所 | A kind of refrigeration system ground experiment temperature control equipment |
| CN108622403A (en) * | 2017-03-20 | 2018-10-09 | 贝尔直升机德事隆公司 | System and method for rotor craft Heading control |
| CN109292097A (en) * | 2018-09-21 | 2019-02-01 | 中国商用飞机有限责任公司 | Aircraft air condition flow control system |
| CN111874222A (en) * | 2020-07-28 | 2020-11-03 | 东南大学 | Pure electric tandem double-rotor unmanned aerial vehicle system |
| CN112173143A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Emergency substitution device for helicopter tail rotor in failure state and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8061119B2 (en) * | 2007-11-29 | 2011-11-22 | United Technologies Corporation | Actuation mechanism for a convertible gas turbine propulsion system |
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2021
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Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54100098A (en) * | 1977-12-21 | 1979-08-07 | Summa Corp | Device for balancing torque of helicopter by circulation control |
| GB8619653D0 (en) * | 1986-08-12 | 1987-01-14 | Rolls Royce Plc | Gas turbine engine |
| FR2679199A1 (en) * | 1991-07-16 | 1993-01-22 | Aerospatiale | ANTICOUPLE SYSTEM FOR HELICOPTER. |
| US7032860B1 (en) * | 2004-11-05 | 2006-04-25 | Eatts, Llc | Emergency anti-torque thruster system |
| CN103241375A (en) * | 2012-02-10 | 2013-08-14 | 贝尔直升机德事隆公司 | Pilot control system with adjustable pedals |
| CN104477377A (en) * | 2014-12-31 | 2015-04-01 | 北京航空航天大学 | Composite type multi-mode multi-purpose aircraft |
| CN108622403A (en) * | 2017-03-20 | 2018-10-09 | 贝尔直升机德事隆公司 | System and method for rotor craft Heading control |
| CN107505957A (en) * | 2017-08-03 | 2017-12-22 | 中国航空工业集团公司西安飞机设计研究所 | A kind of refrigeration system ground experiment temperature control equipment |
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| CN111874222A (en) * | 2020-07-28 | 2020-11-03 | 东南大学 | Pure electric tandem double-rotor unmanned aerial vehicle system |
| CN112173143A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Emergency substitution device for helicopter tail rotor in failure state and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113968339A (en) | 2022-01-25 |
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