CN115864735A - Helicopter duct tail rotor magnetic suspension electric drive configuration - Google Patents

Abstract

The invention discloses a helicopter ducted tail rotor magnetic suspension electric drive configuration, which comprises a stator support, a shell, blades, a permanent magnet synchronous motor, a first magnetic suspension system, a second magnetic suspension system and a mechanical protection bearing, wherein the stator support is provided with a stator core; the stator support comprises a support inner shaft, supporting strips and a support outer ring from inside to outside in sequence, the support inner shaft and the support outer ring are coaxial, the supporting strips are uniformly distributed to form a whole, and the uniformly distributed supporting strips can reduce the weight of the stator support and provide wiring channels. The invention eliminates the abrasion of the traditional mechanical bearing of the ducted tail rotor of the helicopter by adopting the magnetic suspension system to replace the mechanical bearing for supporting, and controls the disturbance brought by air to the direct-drive electric system of the ducted tail rotor of the helicopter in real time by adopting the controllable electromagnetic force generated by the magnetic suspension system, thereby reducing the vibration generated by air disturbance and further improving the stability and the safety of the flight of the helicopter.

Description

Helicopter duct tail rotor magnetic suspension electric drive configuration

Technical Field

The invention belongs to the technical field of magnetic suspension electric drive, and particularly relates to a helicopter duct tail rotor magnetic suspension electric drive configuration.

Background

With the increasing exhaustion of global fossil energy and the continuous development of new energy technology, the traditional mechanical transmission configuration of the helicopter ducted tail rotor is expected to be replaced by an electric drive configuration, and in order to improve the capabilities of hidden penetration, rapid maneuvering, battlefield survival and the like of the helicopter, high requirements are provided for the suppression of the problems of heating, noise, vibration and the like of the electric drive configuration of the helicopter ducted tail rotor.

The existing helicopter ducted tail rotor electric drive configuration mainly adopts a direct drive type electric drive configuration, the rotor of a drive motor is directly connected with a tail rotor blade through the direct drive type electric drive configuration, parts such as a transmission shaft and a speed reducer are omitted, the helicopter ducted tail rotor electric drive configuration has the advantages of being simple in structure, short in transmission chain, high in system efficiency, convenient to install and maintain and the like, the defects that a traditional mechanical transmission configuration is complex in structure, long in transmission chain, high in mechanical noise of the speed reducer, large in vibration of the transmission shaft, long in installation and maintenance period and the like are overcome, and convenience is brought to the overall layout of a helicopter.

Rotors in the prior helicopter ducted tail rotor direct-drive type electric drive configuration are mostly supported by mechanical bearings, the mechanical efficiency of a system is reduced due to the abrasion of the mechanical bearings, a lubricating system needs to be independently arranged for reducing the abrasion of the mechanical bearings, and for the prior systems which adopt organic working media to lubricate the mechanical bearings, although the abrasion of the mechanical bearings can be reduced, the problems of complex lubricating flow passages, easy leakage of lubricating agents and the like exist; in addition, the abrasion of the mechanical bearing further causes heat generation and noise, and reduces the flight reliability and stealth of the helicopter.

The conventional ducted tail rotor of the helicopter has high rotating speed under the hovering working condition, and unpredictable aerodynamic interference can cause vibration of blades of the tail rotor, so that the abrasion of a mechanical bearing is aggravated, the service life of a ducted tail rotor direct-drive electric drive system of the helicopter is shortened, the vibration of the blades of the tail rotor can be directly transmitted to a helicopter body through a direct-drive electric drive configuration, and the flying stability and safety of the helicopter are reduced.

Disclosure of Invention

The purpose of the invention is as follows: the invention provides a helicopter duct tail rotor magnetic suspension electric drive configuration aiming at the defects of the prior art, and aims to solve the problems of heating, noise, vibration and the like of the conventional helicopter duct tail rotor electric drive configuration.

The technical scheme is as follows: a magnetic suspension electric drive configuration of a helicopter duct tail rotor comprises a stator support, a shell, blades, a permanent magnet synchronous motor, a first magnetic suspension system, a second magnetic suspension system and a mechanical protection bearing; the stator support comprises a support inner shaft, supporting strips and a support outer ring from inside to outside in sequence, the support inner shaft is coaxial with the support outer ring, the uniformly distributed supporting strips form a whole, and the uniformly distributed supporting strips can reduce the weight of the stator support and provide wiring channels; step surfaces, positioning pin holes and threaded holes are formed in the radial outer side and the radial inner side of the outer ring of the bracket, so that the stator part of the permanent magnet synchronous motor and the stator part of the first magnetic suspension system are positioned and fixed; positioning pin holes and threaded holes are formed in the end faces of two axial sides of the outer ring of the bracket so as to position and fix the stator part of the second magnetic suspension system; and through holes are formed in the radial cylindrical surface and the axial end surface of the inner shaft of the bracket, so that the leads of the permanent magnet synchronous motor, the first magnetic suspension system and the second magnetic suspension system are led out.

Further, the casing comprises a first casing and a second casing, the first casing is sequentially provided with a first inner ring, a first end face, a first connecting strip and a first outer ring from inside to outside, and the second casing is sequentially provided with a second inner ring, a second end face, a second connecting strip and a second outer ring from inside to outside; the first inner ring is coaxial with the first outer ring, the first inner ring and the first end face are integrated, the first connecting strips and the first outer ring are uniformly distributed to form a whole, and the uniformly distributed first connecting strips can reduce the weight of the first casing and provide a cooling channel; flowing air generated when the helicopter ducted tail rotor rotates penetrates through the gaps of the first connecting strips to realize cooling; the second inner ring and the second outer ring are coaxial, the second inner ring and the second end face are integrated, the second connecting strips which are uniformly distributed and the second outer ring form a whole, the weight of the second casing cannot be reduced by the uniformly distributed second connecting strips, and a cooling channel can be provided; through holes are formed in the axial end face of the first outer ring and the axial end face of the second outer ring, and the rotor part of the permanent magnet synchronous motor is fixed through screws; the first end face and the second end face are provided with through holes, and the rotor part of the second magnetic suspension system is fixed by screws; and uniformly distributed grooves are formed in the radial outer side of the first outer ring and the radial outer side of the second outer ring so as to realize the installation of the blades.

Further, the permanent magnet synchronous motor comprises an inner stator iron core, an outer rotor iron core, a permanent magnet and a motor winding; the inner stator iron core is coaxial with the outer rotor iron core, is arranged on the outer side of the outer ring of the bracket, is circumferentially positioned by a positioning pin and is axially fixed by a rubber retaining ring; the outer rotor iron core is arranged on the inner sides of the first outer ring and the second outer ring and is axially fixed through screws; the permanent magnets are uniformly arranged on the inner side of the outer rotor iron core and axially limited through the first shell and the second shell; the motor winding is positioned on the teeth of the inner stator core.

Further, the radial magnetic suspension system comprises four radial stator cores, four radial rotor cores, four radial displacement sensors, four radial sensor detection rings and radial windings, wherein the radial stator cores are uniformly arranged on the inner side of an outer ring of the support, are circumferentially positioned by positioning pins and are axially fixed by screws, every two radial stator cores at intervals of 180 degrees form one group, two groups of radial stator cores are provided in total, the radial rotor cores are arranged on the outer side of the first inner ring in an interference fit manner, the radial displacement sensors are uniformly arranged in through holes formed in an inner shaft of the support, every two radial displacement sensors at intervals of 180 degrees form one group, two groups of radial displacement sensors are provided in total, and each radial displacement sensor corresponds to one radial stator core and the radial sensor detection ring is arranged on the inner side of the first inner ring in an interference fit manner; the radial windings are located on teeth of the radial stator core.

Further, the axial magnetic suspension system comprises six axial first stator cores, six axial second stator cores, two axial rotor cores, six axial displacement sensors and an axial winding, wherein the axial first stator cores are respectively and uniformly arranged on two axial side end faces of the outer ring of the support, are circumferentially positioned by positioning pins, are axially fixed by screws, are positioned on two axial side end faces of the outer ring of the support and are positioned on the same axis to form a group, three axial first stator cores are arranged in total, the axial second stator cores are respectively and uniformly arranged on two axial side end faces of the outer ring of the support, are circumferentially positioned by positioning pins, are axially fixed by screws, three axial second stator cores positioned on each axial side end face of the outer ring of the support form a group, two axial second stator cores are arranged in total, and are respectively arranged on the inner sides of the first end face and the second end face and are axially fixed by screws; the axial displacement sensors are arranged in grooves formed in the axial first stator iron cores, two axial displacement sensors contained in each axial first stator iron core form a group, and three axial displacement sensors are provided; the axial windings are respectively positioned in grooves formed in the axial first stator core and the axial second stator core.

Further, the mechanical protection bearing comprises a first mechanical protection bearing and a second mechanical protection bearing, the mechanical protection bearing adopts an angular contact ball bearing, the first mechanical protection bearing and the second mechanical protection bearing are respectively arranged on the outer sides of the first end face and the second end face and are axially fixed through end covers, and when the radial displacement of the rotor is overlarge, the inner ring surface of the mechanical protection bearing is in contact with the cylindrical surface of the inner shaft of the support so as to realize radial protection; when the axial displacement of the rotor is overlarge, the end surface of the inner ring of the mechanical protection bearing is contacted with the shaft shoulder of the inner shaft 1 of the bracket, so that the axial protection is realized.

Further, when the helicopter duct tail rotor magnetic suspension electric drive configuration works, the radial magnetic suspension system counteracts the gravity of a helicopter duct tail rotor part consisting of the casing, the outer rotor iron core, the permanent magnet, the radial rotor iron core, the radial sensor detection ring, the axial rotor iron core, the first protection bearing, the second protection bearing and the blade so as to realize radial suspension, and the axial magnetic suspension system counteracts the acting force of air on the blade when the blade rotates so as to realize axial suspension.

Furthermore, two groups of radial stator cores contained in the radial magnetic suspension system are controlled by adopting a differential idea, in each group of radial displacement sensors, if a displacement signal detected by one radial displacement sensor is reduced, the displacement signal of the other radial displacement sensor is increased, correspondingly, in one group of radial stator cores corresponding to the group of radial displacement sensors, the electromagnetic force generated by the radial stator core on the side where the displacement is reduced, the electromagnetic force on the side where the displacement is increased, so that the rotor returns to a radial balance point again, and the two groups of radial stator cores respectively control the translation of a helicopter ducted tail rotor part along the x-axis direction and the translation of the helicopter ducted tail rotor part along the y-axis direction.

Furthermore, the three groups of axial first stator cores included in the axial magnetic suspension system are controlled by adopting a differential idea, namely in the same group of axial first stator cores and the corresponding same group of axial displacement sensors, if a signal detected by one axial displacement sensor is reduced, a displacement signal of the other axial displacement sensor is increased, correspondingly, in the group of axial first stator cores corresponding to the group of axial displacement sensors, the electromagnetic force generated by the axial first stator core on the side with reduced displacement is reduced, the electromagnetic force on the side with increased displacement is increased, and the rotor returns to the axial balance point again; and the three groups of axial first stator iron cores act together to control the translation of the rotor part of the helicopter ducted tail rotor along the direction of the z axis, the rotation of the rotor part of the helicopter ducted tail rotor along the direction of the x axis and the rotation of the rotor part of the helicopter ducted tail rotor along the direction of the y axis.

Furthermore, under the working condition that the rotating speed of the blades is not high, the electromagnetic force generated by the axial first stator core can control the translational motion of the helicopter ducted tail rotor part along the z-axis direction, the rotation of the helicopter ducted tail rotor part along the x-axis direction and the rotation of the helicopter ducted tail rotor part along the y-axis direction, the axial aerodynamic load under the working conditions of hovering and the like is too large, the sufficient bearing force cannot be generated only by adopting the axial first stator core, the axial second stator core needs to be adopted on the basis of the axial first stator core, two groups of axial second stator cores contained in the axial magnetic suspension system are controlled by adopting a differential idea, each group of axial second stator cores is uniformly controlled by an average value detected by three axial displacement sensors on the same side with the axial second stator core, the electromagnetic force along the z-axis direction and in the direction opposite to the acting force of the blades by air is generated, and the axial electromagnetic force generated by the axial second stator cores is superposed on the axial electromagnetic force generated by the axial first stator core, so that the translational motion control capability of the helicopter ducted tail rotor part along the z-axis direction is improved.

Has the advantages that:

(1) The magnetic suspension system is adopted to replace a mechanical bearing for supporting, so that the abrasion of the traditional mechanical bearing of the helicopter duct tail rotor is eliminated, the flow passage design of a mechanical support lubricating system is omitted, the leakage problem of a lubricant is solved, the heating and noise caused by the abrasion of the mechanical support are avoided, and the flight reliability and the invisibility of the helicopter are further improved.

(2) The controllable electromagnetic force is generated by the magnetic suspension system, the disturbance brought to the helicopter ducted tail rotor direct-drive type electric system by air is controlled in real time, the vibration generated by the air disturbance is reduced, the influence of the direct-drive type tail rotor configuration on directly transmitting the air disturbance to the helicopter body is reduced, and the stability and the safety of the helicopter flight are further improved.

Drawings

FIG. 1 is a general structural diagram of a helicopter duct tail rotor magnetic levitation electric drive configuration;

FIG. 2 is a plan sectional view of a helicopter duct tail rotor magnetically levitated electric drive configuration;

FIG. 3 is a set of radial magnetic bearings of a helicopter duct tail rotor;

FIG. 4 is a set of axial magnetic bearings of a helicopter duct tail rotor;

FIG. 5 is an axial stator core of a helicopter duct tail rotor magnetic levitation electric drive configuration;

wherein the designation of the reference numbers: 1-inner shaft of bracket; 2-a support bar; 3, a bracket outer ring; 4-a first inner ring; 5-a first end face; 6-first connecting bar; 7 — a first outer ring; 8-a second inner ring; 9 — a second end face; 10-a second connecting strip; 11 — a second outer ring; 12-inner stator iron core; 13-outer rotor iron core; 14-a permanent magnet; 15-a motor winding; 16-radial stator core; 17-radial rotor core; 18-a radial displacement sensor; 19-radial sensor detection ring; 20-radial winding; 21-axial first stator core; 22-axial second stator core; 23-axial rotor core; 24-an axial displacement sensor; 25-axial winding; 26 — a first mechanical protection bearing; 27 — a second mechanical protection bearing; 28-a blade; 29-rubber baffle ring.

Detailed Description

The invention will be further described with reference to the accompanying drawings in which:

as shown in fig. 1 and 2, a helicopter ducted tail rotor magnetic suspension electric drive configuration mainly comprises a stator support, a casing, blades, a permanent magnet synchronous motor, a first magnetic suspension system, a second magnetic suspension system and a mechanical protection bearing; the stator support comprises a support inner shaft 1, supporting strips 2 and a support outer ring 3 from inside to outside in sequence, the support inner shaft 1 and the support outer ring 3 are coaxial, the supporting strips 2 are uniformly distributed to form a whole, and the uniformly distributed supporting strips 2 can provide wiring channels while reducing the weight of the stator support; compared with the whole connecting surface, the uniformly distributed supporting strips can remove redundant materials, reduce the weight of the stator support, provide a wiring channel for wires led out from the winding part of the motor and the magnetic suspension bearing, and lead out from the central through hole of the inner shaft of the stator support, thereby realizing the external power supply of the motor and the magnetic suspension bearing. Step surfaces, positioning pin holes and threaded holes are formed in the radial outer side and the radial inner side of the bracket outer ring 3, so that the stator part of the permanent magnet synchronous motor and the stator part of the first magnetic suspension system are positioned and fixed; positioning pin holes and threaded holes are formed in the end faces of two axial sides of the outer ring 3 of the bracket so as to position and fix the stator part of the second magnetic suspension system; through holes are formed in the radial cylindrical surface and the axial end surface of the inner shaft 1 of the support, so that the wires of the permanent magnet synchronous motor, the first magnetic suspension system and the second magnetic suspension system are led out.

The casing includes first casing and second casing, first casing is first inner ring 4, first terminal surface 5, first connecting strip 6, first outer ring 7 from inside to outside in proper order, the second casing is second inner ring 8, second terminal surface 9, second connecting strip 10, second outer ring 11 from inside to outside in proper order. The first inner ring 4 is coaxial with the first outer ring 7, the first inner ring 4 and the first end face 5 are integrated, and the first connecting strips 6 and the first outer ring 7 are uniformly distributed to form a whole, and the uniformly distributed first connecting strips 6 not only can reduce the weight of the first machine shell, but also can provide a cooling channel; the flowing air generated when the helicopter ducted tail rotor rotates passes through the gaps of the first connecting strips 6 to realize cooling.

The second inner ring 8 and the second outer ring 11 are coaxial, the second inner ring 8 and the second end face 9 are integrated, and the second connecting strips 10 and the second outer ring 11 which are uniformly distributed form a whole, and the second connecting strips 10 which are uniformly distributed not only can reduce the weight of the second casing, but also can provide a cooling channel; through holes are formed in the axial end face of the first outer ring 7 and the axial end face of the second outer ring 11, and the rotor part of the permanent magnet synchronous motor is fixed through screws; the first end face 5 and the second end face 9 are provided with through holes, and the rotor part of the second magnetic suspension system is fixed by screws; the radial outer side of the first outer ring 7 and the radial outer side of the second outer ring 11 are provided with uniformly distributed grooves to realize the installation of the blades 28.

The permanent magnet synchronous motor comprises an inner stator iron core 12, an outer rotor iron core 13, a permanent magnet 14 and a motor winding 15. The inner stator iron core 12 is coaxial with the outer rotor iron core 13, the inner stator iron core 12 is installed outside the bracket outer ring 3, circumferential positioning is carried out through a positioning pin, and axial fixing is carried out through a rubber retaining ring 29; the outer rotor iron core 13 is mounted on the inner sides of the first outer ring 7 and the second outer ring 11 and is axially fixed through screws; the permanent magnets 14 are uniformly arranged on the inner side of the outer rotor iron core 13 and are axially limited through the first casing and the second casing; the motor winding 15 is located on the teeth of the inner stator core 12.

The radial magnetic suspension system comprises radial stator cores 16, radial rotor cores 17, radial displacement sensors 18, radial sensor detection rings 19 and radial windings 20, and mainly comprises four radial stator cores 16, one radial rotor core 17, four radial displacement sensors 18 and one radial sensor detection ring 19. Radial stator core 16 equipartition install in 3 inboards of support outer loop, interval 90 between two liang carries out the circumference location through the locating pin, carries out axial fixity through the screw, every two interval 180 radial stator core 16 constitutes a set ofly, total two sets of radial stator core 16, as shown in fig. 3, when radial rotor core moves down, radial rotor core below to the winding current reduce, the electromagnetic force reduces promptly, be located the winding current increase that radial stator core above the radial rotor corresponds, the electromagnetic force increases promptly, two radial stator cores constitute a set of differential control that adopts, the electromagnetic force that produces makes radial rotor rebound, gets back to the equilibrium position. The radial rotor core 17 is installed outside the first inner ring 4 in an interference fit manner, the radial displacement sensors 18 are uniformly installed in through holes formed in the support inner shaft 1, every two radial displacement sensors are spaced by 90 degrees, every two radial displacement sensors 18 spaced by 180 degrees form a group, two groups of radial displacement sensors 18 are provided, and each radial displacement sensor 18 corresponds to one radial stator core 17; the radial sensor detection ring 19 is mounted inside the first inner ring 4 by interference fit; the radial windings 20 are located on the teeth of the radial stator core 17. The radial sensor detection ring is used as a detection object of the radial sensor and used for judging the radial displacement of the rotor part.

The axial magnetic suspension system comprises a first axial stator core 21, a second axial stator core 22, an axial rotor core 23, an axial displacement sensor 24 and an axial winding 25, and mainly comprises six first axial stator cores 21 and six second axial stator cores 22 and two axial rotor cores 23 and six axial displacement sensors 24. The axial first stator cores 21 are respectively and uniformly arranged on the end faces of two axial sides of the outer ring 3 of the bracket, are circumferentially positioned by positioning pins and are axially fixed by screws, two axial first stator cores 21 which are positioned on the end faces of the two axial sides of the outer ring 3 of the bracket and are on the same axis form a group, and three groups of axial first stator cores are provided, as shown in fig. 4, so that when the rotor moves along the axial direction, the current of the winding of the axial first stator core close to one side of the axial rotor is reduced, namely the electromagnetic force is reduced, the current of the winding of the first axial stator core far away from one side of the axial rotor core is correspondingly increased, namely the electromagnetic force is increased, and two axial first stator cores positioned on the same axis form a group which is controlled by differential to enable the axial rotor core to return to a balanced position; each group of axial first stator iron cores comprises two axial first stator iron cores which are respectively positioned on the end faces of two sides of the stator support and positioned on the same axis, and each side of the stator support is provided with three axial first stator iron cores which are spaced at intervals of 120 degrees in pairs, as shown in the axial first stator iron cores 21 of fig. 5, so that the three axial first stator iron cores on the other side of the end face of the stator support can form three groups in total. The axial second stator cores 22 are respectively and uniformly distributed on two axial side end faces of the bracket outer ring 3, are circumferentially positioned by positioning pins and are axially fixed by screws, three axial second stator cores 22 located on each axial side end face of the bracket outer ring 7 form a group, two groups of axial second stator cores 22 are provided, the axial second stator cores on each axial side end face of the stator bracket are distributed as shown by the axial second stator cores 22 in fig. 5, the axial second stator cores are spaced by 120 degrees in pairs, the distribution mode is mainly adopted to realize matching on the axial first stator cores, and the distribution is carried out on the premise of not influencing the arrangement of the axial first stator cores, because the control currents in the three axial second stator cores on each side of the stator bracket are the same, and the axial second stator cores adopt the distribution mode shown in fig. 5, so that the electromagnetic force can uniformly act on the corresponding axial rotor cores; the two axial rotor cores 23 are respectively mounted on the inner sides of the first end face 5 and the second end face 9, and are axially fixed by screws; the axial displacement sensors 24 are mounted in grooves formed in the axial first stator iron core 21, two axial displacement sensors 24 contained in each axial first stator iron core 21 form a group, and three axial displacement sensors 24 are provided; the axial winding 25 is respectively located in the grooves formed in the axial first stator core 21 and the axial second stator core 22.

The mechanical protection bearing comprises a first mechanical protection bearing 26 and a second mechanical protection bearing 27, the mechanical protection bearing adopts an angular contact ball bearing, the first mechanical protection bearing 26 and the second mechanical protection bearing 27 are respectively arranged on the outer sides of the first end face 5 and the second end face 9, and axial fixation is carried out through end covers. When the radial displacement of the rotor is overlarge, the inner ring surface of the mechanical protection bearing is contacted with the cylindrical surface of the inner shaft 1 of the bracket to realize radial protection; when the axial displacement of the rotor is overlarge, the end surface of the inner ring of the mechanical protection bearing is contacted with the shaft shoulder of the inner shaft 1 of the bracket, so that the axial protection is realized.

When the helicopter ducted tail rotor magnetic suspension electric driving configuration works, the radial magnetic suspension system counteracts the gravity of the rotor part of the helicopter ducted tail rotor, which is composed of the casing, the outer rotor iron core 13, the permanent magnet 14, the radial rotor iron core 17, the radial sensor detection ring 19, the axial rotor iron core 23, the first protection bearing 26, the second protection bearing 27 and the blades 28, so as to realize radial suspension. Two groups of radial stator iron cores 17 contained in the radial magnetic suspension system are controlled by adopting a differential idea, in each group of radial displacement sensors, if a displacement signal detected by one radial displacement sensor 18 is reduced, the displacement signal of the other radial displacement sensor is increased, correspondingly, in one group of radial stator iron cores 16 corresponding to the group of radial displacement sensors 18, the electromagnetic force generated by the radial stator iron core 16 at the side with reduced displacement is reduced, the electromagnetic force at the side with increased displacement is increased, so that the rotor returns to a radial balance point again, and the two groups of radial stator iron cores 16 respectively control the translation of a tail rotor part of the ducted helicopter along the x-axis direction and the translation of the tail rotor part of the helicopter along the y-axis direction.

The axial magnetic suspension system is used for counteracting the acting force generated by air on the blades 28 when the blades rotate so as to realize axial suspension. In the axial magnetic levitation system, three sets of the axial first stator cores 21 are controlled by adopting a differential concept, that is, in the same set of the axial first stator cores and the corresponding set of the axial displacement sensors, if a signal detected by one axial displacement sensor 24 is reduced, a displacement signal of the other axial displacement sensor is increased, and correspondingly, in the set of the axial first stator cores 21 corresponding to the set of the axial displacement sensors 24, an electromagnetic force generated by the axial first stator core 21 on the side where the displacement is reduced, and an electromagnetic force on the side where the displacement is increased, so that the rotor returns to an axial balance point again, and when the rotor moves in the axial direction, in two axial displacement sensors 24 located on the same axis, if a rotor distance detected by one axial displacement sensor 24 is reduced, a rotor distance detected by the other axial displacement sensor 24 is inevitably increased. The distance signal detected by the axial displacement sensor 24 is used as an input signal of the PID controller, and the output of the PID controller outputs a control current after power amplification, so that the electromagnetic force generated by the axial first stator core 21 is changed, the electromagnetic force on the side where the rotor detection distance is reduced, and the electromagnetic force on the side where the rotor detection distance is increased, so that the rotor returns to a balance position again. Three groups of axial first stator iron cores 21 act together to control the translation of the rotor part of the helicopter ducted tail rotor along the direction of the z axis, the rotation of the rotor part of the helicopter ducted tail rotor along the direction of the x axis and the rotation of the rotor part of the helicopter ducted tail rotor along the direction of the y axis. The blades 28 are driven to rotate by the permanent magnet synchronous motor, thereby balancing the reaction torque of air to the rotor.

Under the working condition that the rotating speed of the blades 28 is not high, the electromagnetic force generated by the axial first stator core 21 can control the translation of the helicopter ducted tail rotor part along the z-axis direction, the rotation of the x-axis direction and the rotation of the y-axis direction, but under the working conditions of hovering and the like, the axial aerodynamic load is too large, sufficient bearing force cannot be generated only by adopting the axial first stator core 21, the axial second stator core 22 needs to be adopted on the basis of the axial first stator core 21, two groups of axial second stator cores 22 contained in the axial magnetic suspension system are controlled by adopting a differential idea, each group of axial second stator cores 22 is uniformly controlled by the average value detected by three axial displacement sensors 24 on the same side of the axial second stator cores 22, the electromagnetic force along the z-axis direction and in the direction opposite to the acting force direction of air on the blades is generated, and the axial direction generated by the axial second stator cores 22 is superposed on the axial electromagnetic force generated by the axial first stator cores 21, so that the control capability of the helicopter ducted tail rotor part along the z-axis direction is improved. Under the condition of low rotating speed, the detection distance of the axial displacement sensor is used as the input of a PID controller, the output of the PID controller generates controllable current after power amplification to realize the control of the electromagnetic force of the axial first stator core, so that the control of the position of the rotor is realized, the axial displacement sensor detects the position of the rotor again to realize closed-loop control, and the controllable electromagnetic force generated by the three groups of axial first stator cores can realize the translation of the rotor part along the direction of a z axis, the rotation of the rotor part along the direction of an x axis and the rotation of the rotor part along the direction of a y axis; under the condition of high rotating speed, on the basis of PID control of the axial first stator core, the average value detected by three axial displacement sensors on the same side of the rotor is used as the input of a PID controller, the output of the PID controller generates controllable current after power amplification to realize the control of the electromagnetic force of the axial second axial stator core, the axial displacement sensors detect the position of the rotor again to realize closed-loop control, the electromagnetic force generated by the second axial stator core is superposed on the first axial stator core, and the control capability of translation along the z-axis direction is improved.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.

Claims (10)

1. A magnetic suspension electric drive configuration of a helicopter duct tail rotor is characterized by comprising a stator support, a shell, blades, a permanent magnet synchronous motor, a first magnetic suspension system, a second magnetic suspension system and a mechanical protection bearing; the stator support comprises a support inner shaft (1), supporting strips (2) and a support outer ring (3) from inside to outside in sequence, the support inner shaft (1) and the support outer ring (3) are coaxial, the supporting strips (2) are uniformly distributed to form a whole, and the uniformly distributed supporting strips (2) can provide wiring channels while reducing the weight of the stator support; step surfaces, positioning pin holes and threaded holes are formed in the radial outer side and the radial inner side of the bracket outer ring (3) so as to position and fix the stator part of the permanent magnet synchronous motor and the stator part of the first magnetic suspension system; positioning pin holes and threaded holes are formed in the end faces of two axial sides of the bracket outer ring (3) so as to position and fix the stator part of the second magnetic suspension system; through holes are formed in the radial cylindrical surface and the axial end surface of the inner shaft (1) of the bracket, so that the leads of the permanent magnet synchronous motor, the first magnetic suspension system and the second magnetic suspension system are led out.

2. A helicopter ducted tail rotor magnetic levitation electric drive configuration according to claim 1, characterized in that said casing comprises a first casing and a second casing, said first casing being in turn from inside to outside a first inner ring (4), a first end face (5), a first connecting strip (6), a first outer ring (7), said second casing being in turn from inside to outside a second inner ring (8), a second end face (9), a second connecting strip (10), a second outer ring (11); the first inner ring (4) and the first outer ring (7) are coaxial, the first inner ring (4) and the first end face (5) are integrated, the first connecting strips (6) and the first outer ring (7) are uniformly distributed to form a whole, and the uniformly distributed first connecting strips (6) can not only reduce the weight of the first machine shell, but also provide a cooling channel; the flowing air generated when the helicopter ducted tail rotor rotates passes through the gaps of the first connecting strips (6) to realize cooling; the second inner ring (8) and the second outer ring (11) are coaxial, the second inner ring (8) and the second end face (9) are integrated, the second connecting strips (10) and the second outer ring (11) which are uniformly distributed form a whole, and the second connecting strips (10) which are uniformly distributed can not only reduce the weight of the second casing, but also provide a cooling channel; through holes are formed in the axial end face of the first outer ring (7) and the axial end face of the second outer ring (11), and the rotor part of the permanent magnet synchronous motor is fixed through screws; the first end face (5) and the second end face (9) are provided with through holes, and the rotor part of the second magnetic suspension system is fixed by screws; and uniformly distributed grooves are formed in the radial outer side of the first outer ring (7) and the radial outer side of the second outer ring (11) so as to realize the installation of the blades (28).

3. A helicopter ducted tail rotor magnetic levitation electric drive configuration according to claim 1, characterized in that said permanent magnet synchronous motor comprises an inner stator core (12), an outer rotor core (13), a permanent magnet (14) and a motor winding (15), said inner stator core (12) is coaxial with said outer rotor core (13), said inner stator core (12) is mounted outside said bracket outer ring (3), circumferentially positioned by a positioning pin, axially fixed by a rubber retaining ring (29); the outer rotor iron core (13) is arranged on the inner sides of the first outer ring (7) and the second outer ring (11) and is axially fixed through screws; the permanent magnets (14) are uniformly arranged on the inner side of the outer rotor iron core (13) and are axially limited through the first shell and the second shell; the motor winding (15) is positioned on the teeth of the inner stator iron core (12).

4. A helicopter ducted tail rotor magnetic levitation electric drive configuration according to claim 1, characterized in that the radial magnetic levitation system comprises four radial stator cores (16), radial rotor cores (17), radial displacement sensors (18), four radial sensor detection rings (19) and radial windings (20), the radial stator cores (16) are uniformly installed inside the bracket outer ring (3), are circumferentially positioned by positioning pins and are axially fixed by screws, every two radial stator cores (16) spaced 180 ° apart form one group, there are two groups of radial stator cores (16), the radial rotor cores (17) are installed outside the first inner ring (4) by interference fit, the radial displacement sensors (18) are uniformly installed in through holes formed in the bracket inner shaft (1), every two radial displacement sensors (18) spaced 180 ° apart form one group, there are two groups of radial displacement sensors (18), and each radial displacement sensor (18) corresponds to one radial stator core (17); the radial sensor detection ring (19) is mounted on the inner side of the first inner ring (4) in an interference fit manner; the radial windings (20) are located on the teeth of the radial stator core (17).

5. The helicopter ducted tail rotor magnetic suspension electric drive configuration is characterized in that the axial magnetic suspension system comprises six axial first stator cores (21), six axial second stator cores (22), two axial rotor cores (23), six axial displacement sensors (24) and axial windings (25), wherein the axial first stator cores (21) are respectively and uniformly installed on two axial side end faces of the bracket outer ring (3), are circumferentially positioned by positioning pins and are axially fixed by screws, the two axial first stator cores (21) located on two axial side end faces of the bracket outer ring (3) and on the same axis form a group, and have three groups of axial first stator cores, the axial second stator cores (22) are respectively and uniformly distributed on two axial side end faces of the bracket outer ring (3), are circumferentially positioned by positioning pins and are axially fixed by screws, the three axial second stator cores (22) located on each axial side end face of the bracket outer ring (7) form a group, and have two groups of axial second stator cores (22), the two axial second stator cores (23) are respectively installed on the second end faces and the axial inner side end faces (5), and are axially fixed by screws (9); the axial displacement sensors (24) are arranged in grooves formed in the axial first stator iron cores (21), two axial displacement sensors (24) contained in each group of axial first stator iron cores (21) form a group, and three groups of axial displacement sensors (24) are provided; the axial windings (25) are respectively positioned in grooves formed in the axial first stator core (21) and the axial second stator core (22).

6. The helicopter ducted tail rotor magnetic levitation electric drive configuration is characterized in that the mechanical protection bearing comprises a first mechanical protection bearing (26) and a second mechanical protection bearing (27), the mechanical protection bearings adopt angular contact ball bearings, the first mechanical protection bearing (26) and the second mechanical protection bearing (27) are respectively installed on the outer sides of the first end face (5) and the second end face (9) and are axially fixed through end covers, and when the radial displacement of a rotor is too large, the inner ring surface of the mechanical protection bearing is in contact with the cylindrical surface of the support inner shaft (1) to realize radial protection; when the axial displacement of the rotor is overlarge, the end surface of the inner ring of the mechanical protection bearing is contacted with the shaft shoulder of the inner shaft 1 of the bracket, so that the axial protection is realized.

7. A helicopter ducted tail rotor magnetic levitation electric drive configuration according to claim 1, characterized in that when in operation, the helicopter ducted tail rotor magnetic levitation electric drive configuration counteracts the gravity of the helicopter ducted tail rotor part composed of the casing, the outer rotor core (13), the permanent magnet (14), the radial rotor core (17), the radial sensor detection ring (19), the axial rotor core (23), the first protection bearing (26), the second protection bearing (27) and the blades (28) by the radial magnetic levitation system to achieve radial levitation, and when the blades (28) rotate, the axial magnetic levitation system counteracts the action force generated by air to the blades to achieve axial levitation.

8. A helicopter ducted tail rotor magnetically levitated electric drive configuration according to claim 1, characterized in that two sets of said radial stator cores (17) included in said radial magnetic levitation system are controlled by adopting a differential concept, in each set of said radial displacement sensors, if a displacement signal detected by one of said radial displacement sensors (18) is decreased, a displacement signal of the other is increased, and correspondingly, in a set of said radial stator cores (16) corresponding to said set of said radial displacement sensors (18), an electromagnetic force generated by said radial stator core (16) on the side where the displacement is decreased, an electromagnetic force on the side where the displacement is increased, and the rotor is returned to a radial balance point, and two sets of said radial stator cores (16) respectively control the translational motion of the helicopter ducted tail rotor portion in the x-axis direction and the translational motion of the y-axis direction.

9. A helicopter ducted tail rotor magnetically levitated electric drive configuration according to claim 1, characterized in that three sets of said axial first stator cores (21) included in said axial magnetic levitation system are controlled by adopting a differential concept, that is, in the same set of said axial first stator cores and the corresponding same set of said axial displacement sensors, if the signal detected by one of said axial displacement sensors (24) is decreased, the displacement signal of the other one is increased, and correspondingly, in the set of said axial first stator cores (21) corresponding to the set of said axial displacement sensors (24), the electromagnetic force generated by said axial first stator core (21) on the side where the displacement is decreased, and the electromagnetic force on the side where the displacement is increased, so that the rotor returns to the axial balance point again; three groups of axial first stator iron cores (21) jointly act to control the translation of a rotor part of the helicopter ducted tail rotor along the direction of a z axis, the rotation of the rotor part along the direction of an x axis and the rotation of the rotor part along the direction of a y axis.

10. The helicopter ducted tail rotor magnetic levitation electric drive configuration according to claim 1, characterized in that under the condition of low rotation speed of the blades (28), the electromagnetic force generated by the axial first stator core (21) can control the translational motion of the helicopter ducted tail rotor part along the z-axis direction, the rotation along the x-axis direction and the rotation along the y-axis direction, when the axial aerodynamic load under the condition of hovering is too large, the axial second stator core (22) is adopted on the basis of the axial first stator core (21), two groups of the axial second stator cores (22) contained in the axial magnetic levitation system are controlled by adopting a differential idea, each group of the axial second stator cores (22) is uniformly controlled by the average value detected by three axial displacement sensors (24) on the same side with the axial second stator core, the electromagnetic force along the z-axis direction and opposite to the direction of the air-to-blade acting force is generated, and the axial direction generated by the axial second stator cores (22) is superimposed on the axial direction generated by the axial first stator core (21), so as to improve the capability of the helicopter ducted tail rotor part in the z-axis direction.

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