CN117699046A - Helicopter rotor cone detection system and method based on position sensitive detector - Google Patents
Helicopter rotor cone detection system and method based on position sensitive detector Download PDFInfo
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Abstract
The invention relates to the technical field of helicopter rotor wing detection. The invention provides a helicopter rotor cone detection system and method based on a position sensitive detector. The system comprises: a dynamic balance analyzer, an imaging system, and a position sensitive detector; the imaging system is used for imaging the edge of the blade tip of the blade on a photosensitive surface of the position sensitive detector; the position sensitive detector is used for outputting a current signal according to the fact that the blade tip passes through the light sensitive surface of the blade tip, and determining the imaging position of the blade tip on the light sensitive surface according to the current signal; the device is used for generating pulse signals according to the fact that the blade tips of the blades scratch the photosurface of the blade tips, and determining the scratch time of the blade tips on the photosurface according to the pulse signals; and the dynamic balance analyzer is used for detecting the rotor cone of the helicopter according to the imaging position of the blade tip on the photosensitive surface and the scratching time. The system provided by the invention not only improves the detection efficiency, but also improves the detection precision.
Description
Technical Field
The invention relates to the technical field of helicopter rotor detection, in particular to a helicopter rotor cone detection system and method based on a position sensitive detector.
Background
One of the routine maintenance works of helicopters is to detect the rotor cone, and the items detected include: co-taper and blade lag amplitude. The common taper is that whether each blade is positioned on the same conical surface or not, and the detection of the common taper is generally marked by the vertical height of the tip of each blade; the blade lag amplitude, i.e. whether each blade is advanced or retarded relative to the ideal position. The blade lag amplitude is identified in length units and also in angle units. If the blades are not on the same conical surface, the aerodynamic effect of the blades can cause the vibration of the helicopter due to different lifting forces of the blades, and the shimmy of the blades is also related to the vibration of the helicopter. This not only reduces the comfort of the occupant, but also presents a safety risk.
The existing rotor wing cone detection method comprises a strobe lamp and general track equipment, and the strobe lamp or the general track equipment is used as a component of a helicopter dynamic balance analyzer to detect the rotor wing cone of the helicopter. The stroboscopic lamp detection method is characterized in that firstly, a reflecting target with a blade serial number is installed on each blade, a rotating speed signal provided by a dynamic balance analyzer is used for generating a flash when each blade passes through the flash direction aligned by the stroboscopic lamp, so that all blade targets form a stable image which is arranged in a straight line in the air, the height of each target is observed through human eyes, and then the common taper of the blades is adjusted by adjusting a variable-pitch pull rod of the corresponding blade. However, strobe lights are not able to detect blade lag amplitude. The universal trajectory device is a device for measuring the rotor trajectory by using a triangulation method. The device can measure the co-taper and the shimmy amplitude of the blade at the same time, but before the common track device is used for measuring the co-taper of the blade, the included angles formed by the two photoelectric detectors of the common track device and the axis of the rotating shaft are equal, and if the included angles are unequal, the measurement result can be influenced, so that the requirement on the installation geometric position of the two photoelectric detectors is higher.
Disclosure of Invention
The invention provides a helicopter rotor wing cone detection system and method based on a position sensitive detector, which are used for solving the defects that a stroboscopic lamp scheme in the prior art needs to be provided with a target and cannot detect shimmy, and the problem that general track equipment has high requirements on the installation geometric position of a sensor.
The invention provides a helicopter rotor cone detection system based on a position sensitive detector, which comprises:
dynamic balance analyzer and rotor centrum sensor; the rotor cone sensing device comprises: an imaging system, a position sensitive detector;
the imaging system is used for imaging the edge of the blade tip of the blade on a photosensitive surface of the position sensitive detector;
the position sensitive detector is used for outputting a current signal according to the fact that the blade tip passes through the light sensitive surface of the blade tip, and determining the imaging position of the blade tip on the light sensitive surface according to the current signal; the device is used for generating pulse signals according to the fact that the blade tips of the blades scratch the photosurface of the blade tips, and determining the scratch time of the blade tips on the photosurface according to the pulse signals; the rotor cone sensing device is arranged at a preset angle, so that an optical axis of the imaging system is intersected with a rotor rotating shaft, and when the blade rotates, an image formed by the blade tip edge of the blade through the imaging system falls at the center position of the position sensitive detector;
the dynamic balance analyzer is used for detecting the rotor wing cone of the helicopter according to the imaging position of the blade tip on the photosensitive surface and the scratch time.
The invention also provides a detection method of the helicopter rotor wing vertebral body detection system based on the position sensitive detector, which comprises the following steps:
after each blade tip of the helicopter passes through an imaging system, the passing time and the imaging position on the photosensitive surface of the position sensitive detector are respectively obtained;
determining the vertical height of each blade tip according to the imaging position of the blade tip on the photosensitive surface;
determining the co-taper of the helicopter blade according to the vertical heights of all blade tips;
according to the scratch time of the blade tips of the blades on the photosensitive surface, determining the opening angle between two adjacent blades;
according to the opening angle between the two adjacent blades, the shimmy of the helicopter blade is determined;
and detecting the helicopter rotor cone according to the common taper and the shimmy of the helicopter blade.
According to the detection method provided by the invention, the determining the vertical height of each blade tip according to the imaging position of the blade tip on the photosensitive surface comprises the following steps: determining the vertical height of each blade tip according to the following formula:s is the distance between the imaging position of the blade tip on the photosensitive surface through the imaging system and the edge of the photosensitive surface; d is the distance between the imaging system and the photosurface; l is the horizontal distance between the imaging system and the blade tip of the blade; is the angle between the imaging system and the horizontal.
According to the detection method provided by the invention, the step of determining the opening angle between two adjacent paddles according to the time of the paddle tips of the paddles on the photosensitive surface comprises the following steps:
determining the scratch time of the blade tip across the position sensitive detector according to a pulse signal formed after the blade tip across the position sensitive detector;
differentiating the scratching time to obtain the time when the angle of the two adjacent paddles passes through the position sensitive detector;
and determining the opening angle between two adjacent blades according to the time of passing the position sensitive detector and the rotating speed of the blades.
According to the detection method provided by the invention, determining the co-taper of the helicopter blade according to the vertical heights of all blade tips comprises:
determining the average value of the vertical heights of blade tips of the blades according to the vertical heights of all blade tips of the blades;
and determining the co-taper of the helicopter blade according to the vertical height of each blade tip and the average value of the vertical heights of the blade tips.
According to the detection method provided by the invention, the determination of the shimmy of the helicopter blade according to the opening angle between the two adjacent blades comprises the following steps:
and determining the shimmy of the helicopter blade according to the opening angle between two adjacent blades and the theoretical opening angle between the two adjacent blades.
According to the detection method provided by the invention, the detection of the helicopter rotor cone according to the co-taper and the shimmy of the helicopter blade comprises the following steps:
respectively obtaining the common taper and the shimmy of the helicopter blades with multiple circles;
and (3) averaging the common taper and the shimmy of the multi-circle helicopter blades, and detecting the helicopter rotor cone according to an average result.
According to the helicopter rotor cone detection system and method based on the position sensitive detector, after the rotor cone sensing device is placed at the preset angle, the vertical height of each blade tip is determined by acquiring the imaging position of the blade tip on the light sensitive surface, the opening angle between two adjacent blades is determined by acquiring the passing time of the blade tip on the light sensitive surface, and finally the helicopter rotor cone is detected by the vertical heights of all blade tips and the opening angle between the two adjacent blades, so that the method avoids the trouble of simultaneously installing two sensors at the preset angle, and further avoids measurement errors caused by different installation angles of the two sensors, thereby improving the measurement accuracy; on the other hand, the complicated process that the common taper can be measured only by installing the stroboscopic lamp is avoided, and the measurement efficiency is improved. Meanwhile, by the system provided by the invention, the co-taper and the shimmy amplitude of the blade can be measured simultaneously.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a helicopter rotor cone detection system based on a position sensitive detector provided by the invention;
FIG. 2 is a schematic representation of the geometry of a rotor cone sensing device and a helicopter blade provided by the present invention;
the drawing reference numerals: 1-rotor cone sensing device; 2-dynamic balance analyzer; 3-a rotation speed sensor; 4-a helicopter rotating shaft; 5-paddles; an 11-imaging system; 12-a position sensitive detector; 31-imaging system optical axis.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a helicopter rotor cone detection system based on a position sensitive detector, and fig. 2 is a schematic structural diagram of a rotor cone sensing device and a helicopter blade. As shown in fig. 1 and 2, the system includes: rotor centrum sensing device 1, dynamic balance analysis appearance 2, rotational speed sensor 3. Wherein, rotor centrum sensing device 1 includes: an imaging system 11, a position sensitive detector 12.
The imaging system 11 is used for imaging the edge of the blade tip of the blade on the photosensitive surface of the position sensitive detector 12; the position sensitive detector 12 is used for outputting a current signal according to the fact that the blade tip passes through the light sensitive surface of the blade tip, and determining the imaging position of the blade tip on the light sensitive surface according to the current signal; the device is used for generating pulse signals according to the fact that the blade tips of the blades scratch the photosurface of the blade tips, and determining the scratch time of the blade tips on the photosurface according to the pulse signals; the rotor cone sensing device 1 is arranged at a preset angle, so that an optical axis of the imaging system 11 is intersected with a rotor rotation axis, and when the blade rotates, an image formed by the blade tip edge of the blade through the imaging system 11 falls on the center position of the position sensitive detector 12; the dynamic balance analyzer 2 is used for detecting the rotor cone of the helicopter according to the imaging position of the blade tip on the photosensitive surface and the scratch time.
Specifically, on one hand, the dynamic balance analyzer 2 can calculate the vertical height of the blade tip of the blade through the information output by the rotor cone sensing device 1; on the other hand, the dynamic balance analyzer 2 can calculate the moment when the blade tip of the blade passes through the position sensor according to the information output by the rotor cone sensing device 1; the rotating speed sensor 3 sends a characterization signal to the dynamic balance analyzer 2 when the blade rotates for one circle; and the dynamic balance analyzer 2 finally determines the corresponding co-taper and shimmy results of each blade according to the characterization signals.
The following describes in detail a method for detecting a helicopter rotor cone using the system, the method comprising:
step 101: after each blade tip of the helicopter passes through the imaging system, the passing time and the imaging position on the photosensitive surface of the position sensitive detector are respectively obtained.
Specifically, the imaging position of the blade tip on the light-sensitive surface is obtained by calculating the position sensitive detector, and different sensors have different calculation modes. The imaging position calculation method in the embodiment of the invention comprises the following steps:
specifically, after photoelectric conversion, the position sensitive detector 12 outputs at least two paths of electric signals, amplifies the signals by a matching circuit, and transmits the amplified signals back to the dynamic balance analyzer 2 through a coaxial cable; the dynamic balance analyzer 2 carries out quantitative acquisition on the returned electric signals to obtain at least two paths of digital signal sequences; calculating the gravity center position of the light spot through the at least two paths of digital signal sequences; and calculating the imaging position of the blade tip edge of the blade on the photosensitive surface through the light spot gravity center position.
Step 102: and determining the vertical height of each blade tip according to the imaging position of the blade tip on the photosensitive surface.
Specifically, the dynamic balance analyzer 2 calculates the vertical height from the blade tip to the imaging system according to the imaging position of the blade tip edge on the light sensing surface, the distance from the position sensitive detector to the optical center of the imaging system, and the distance between the imaging system and the blade tip in the horizontal direction through a triangle geometric relationship.
Referring to fig. 2, the triangle geometry is described in detail as follows:
the default helicopter rotation axis 4 of the embodiment of the invention is vertical to the ground, and the rotation surface of the blade 5 is approximately near the horizontal plane. Wherein the imaging system 11 is mounted at an angle alpha to the horizontal and such that the imaging system optical axis 31 extends downwardly and rearwardly generally intersecting the helicopter rotation axis 4. The value of the elevation angle alpha is determined according to the following conditions: as the blade 5 rotates through the imaging system optical axis 31, the image of the blade tip edge through the imaging system 11 falls near the center of the position sensitive detector 12. The position-sensitive detector 12 of the present embodiment employs a one-dimensional position-sensitive detector.
In this embodiment, the imaging system 11 employs a pinhole with a center of light located atOAnd (5) a dot. The blade tip edge of the blade is enabled by the small hole imaging principleCThe point passes through the small holeOAfter the spot, the image is formed on the photosensitive surface of the position sensitive detector 12AAnd (5) a dot. And is smaller Kong GuangxinOThe connection line from the point to the midpoint A of the one-dimensional position sensitive detector is vertical to the photosurface E of the detector 1 E 2 。
The present embodiment employs a peak response wave based on silicon materialOne-dimensional position sensitive detector with length of 960nm and photosurface E 1 E 2 The length is 6mm. The infrared filter is covered on the small hole to filter visible light and keep the near infrared wave band to transmit, so that the infrared light received by the one-dimensional position sensitive detector mainly comes from near infrared light of the sky, and the near infrared light in the stray light reflected by the lower surface of the blade is basically negligible.
By selecting proper view field, the upper end point of the photosensitive surface of the one-dimensional position sensitive detectorE 1 To the point ofAThe spot area will be illuminated as a bright area and the lower end of the photosurface of the one-dimensional position-sensitive detectorE 2 To the point ofAThe spot area will be a dark area as it is obscured by the blade. The central position of the bright area can be obtained through a calculation formula of the one-dimensional position sensitive detector, and the relation between the central position of the incident light and two paths of currents output by the one-dimensional position sensitive detector can be further determined through calibration and stored in a host computer to establish a lookup table. The small Kong Guangxin O point of the imaging system 11 is brought to the photosurface E of the one-dimensional position-sensitive detector 12 1 E 2 Distance ofdShould be designed to be much longer than a one-dimensional position sensitive detector length, such asd=15 cm. Then at the blade tip edgeCThe point is at the imaging position of a one-dimensional position sensitive detectorAFrom the upper end pointE 1 To the lower end pointE 2 Straight line when changingOCAnd photosensitive surfaceE 1 E 2 The included angle is approximately a right angle, and the error is less than 1.2 degrees.
Horizontal distance from optical center O point of imaging system 11 of rotor cone sensing device to blade tip edgeLTypically a distance of several meters toL=3m is an example. Based on the straight lineOCAnd photosensitive surfaceE 1 E 2 On the premise that the included angle is approximately a right angle, when the point C of the blade tip edge of the blade is on the photosensitive surfaceE 1 E 2 The upper image is formed from the upper end pointE 1 To the lower end pointE 2 When changing, the blade tip edge corresponding to the blade tip edgeCVertical height of the dothVariation range of (2)hCan pass through triangleABO、A′B′OAndA′B′CThe relation of (2) is calculated as:wherein S is the tip of the bladeCThe distance between the imaging position of the point on the photosurface and the edge of the photosurface through an imaging system; d is the distance between the imaging system and the photosurface; l is imaging system and blade tipCHorizontal distance between points; is the angle between the imaging system and the horizontal.
Step 103: and determining the co-taper of the helicopter blade according to the heights of all blade tips.
In particular, to determine the co-taper of helicopter blades, the vertical height of all blade tips of the helicopter must be determined. And then, averaging the vertical heights of all blade tips to obtain an average value, and finally, subtracting the vertical height of each blade tip from the average value of the vertical heights of the blade tips, and determining the co-taper of the helicopter blade according to a difference result.
Step 104: and determining the opening angle between two adjacent paddles according to the passing time of the tips of the paddles on the photosensitive surface.
The following describes in detail how to determine the opening angle between two adjacent paddles, and specifically includes the following steps:
firstly, determining the scratch time of the blade tip across the position sensitive detector according to a pulse signal formed after the blade tip across the position sensitive detector; secondly, differentiating the scratching time to obtain the time when the angle of the two adjacent paddles passes through the position sensitive detector; and finally, determining the opening angle between two adjacent blades according to the time of passing the position sensitive detector and the rotating speed of the blades.
Specifically, after photoelectric conversion is performed on the position sensitive detector, at least two paths of electric signals are output, amplified by a matched circuit, and then transmitted back to the dynamic balance analyzer through a coaxial cable; and the dynamic balance analyzer carries out quantitative acquisition on the returned electric signals to obtain at least two paths of digital signal sequences. When the tip of the helicopter blade is scratched through a detection area of the position sensitive detector, the output current signal of the position sensitive detector is a pulse signal, and the pulse signal is amplified and quantized and acquired to form a digital signal sequence; therefore, based on the digital signal sequence, the peak time, the rising edge slope maximum time or the rising edge reaching half of the peak amplitude of the pulse signal can be used as the time when the blade tip passes through the optical axis of the imaging system, and the time is used as the passing time when the blade tip passes through the position sensitive detector.
The rotor cone sensing device calculates the moment when the blade tip of the blade passes through the position sensitive detector according to the at least two paths of digital signal sequences to form a path of moment sequence, and records the moment when the blade passes through the position of the optical axis of the sensor; and differentiating the time sequence to obtain the time when the opening angle of the front and rear blades passes through the position sensitive detector, calculating the opening angle of the front and rear blades according to the rotating speed, and subtracting the theoretical opening angle which should be formed by the front and rear blades (namely, the opening angle between two adjacent blades when the blades on the rotor wing are distributed at equal angles) from the opening angle of the front and rear blades to obtain the shimmy.
Step 105: and according to the opening angle between the two adjacent blades, determining the shimmy of the helicopter blade.
Step 106: and detecting the helicopter rotor cone according to the common taper and the shimmy of the helicopter blade.
According to the helicopter rotor cone detection method based on the position sensitive detector, after the rotor cone sensing device is placed at the preset angle, the vertical height of each blade tip is determined by acquiring the imaging position of the blade tip on the light sensitive surface, the opening angle between two adjacent blades is determined by acquiring the passing time of the blade tip on the light sensitive surface, and finally the helicopter rotor cone is detected by the vertical heights of all blade tips and the opening angle between the two adjacent blades, so that on one hand, the method avoids the complicated installation of two sensors at the preset angle at the same time, and further avoids measurement errors caused by different installation angles of the two sensors, thereby improving the measurement accuracy; on the other hand, the complicated process that the common taper can be measured only by installing the stroboscopic lamp is avoided, and the measurement efficiency is improved. Meanwhile, by the system provided by the invention, the co-taper and the shimmy amplitude of the blade can be measured simultaneously.
Further, detecting the helicopter rotor cone comprises: respectively obtaining the common taper and the shimmy of the helicopter blades with multiple circles; and (3) averaging the common taper and the shimmy of the multi-circle helicopter blades, and detecting the helicopter rotor cone according to an average result.
Specifically, the co-taper and the shimmy of the helicopter blades with multiple circles are obtained through the rotation speed sensor 3, the co-taper and the shimmy of the helicopter blades with multiple circles are averaged, and the helicopter rotor cone is detected according to the average result, so that the detection precision and efficiency can be improved.
Based on the aforementioned parameters, i.e. one-dimensional position-sensitive detector length E 1 E 2 The range of variation Δh= ±12cm of the height h of the blade tip edge C can be calculated assuming α=45° by a distance d=15 cm from the small Kong Guangxin to the one-dimensional position sensitive detector and a horizontal distance l=3 m from the small Kong Guangxin to the blade tip edge. Generally, this range has exceeded the requirements for helicopter rotor cone testing. It should be noted that there is a one-half relationship between the distance of movement of the center of gravity of the spot calculated by the one-dimensional position sensitive detector and the distance of movement of the blade tip edge in the image formed by the one-dimensional position sensitive detector, i.e. the point a moves 6mm and the center of gravity of the spot moves only 3mm. According to the linear precision of the one-dimensional position sensitive detector being 0.1%, the measurement precision of the height h can reach 0.24mm, and the requirements of the detection of the rotor cone of a common helicopter are met, wherein the linear precision is generally 0.1 inch, namely 2.54mm.
Because blade tip edges are generally not very sharp shapes, but square or circular arcs, when the blade is scratched, the blade tip edges can be equivalent to chord lengths of fixed lengths which are far more than 0.1 inch, and the shimmy precision of the blade is generally required to be 0.1 inch, so that the time precision for quantitative acquisition is determined by the shimmy precision requirement. Taking a helicopter with a blade length of 6.5m and a rotating speed of 5.1Hz as an example, the sampling time precision requirement of at least 12 mu s can be calculated, and the sampling frequency can be set to be 100kHz. The response frequency of the conventional one-dimensional position sensitive detector can meet the system requirement.
The two paths of electric signals output by the one-dimensional position sensitive detector are amplified and then sent back to the dynamic balance analyzer through the coaxial cable, and then quantized acquisition is carried out. And positioning each blade position according to the peak position of the signal waveform generated by the rotor blade passing through the rotor blade cone sensor, and subtracting the ideal position (the equal angle distribution of each blade of the rotor blade) to obtain the shimmy through calculation. And when the waveform peak value is positioned, the light spot gravity center position of the one-dimensional position sensitive detector is combined with the geometric relationship of the formula, so that the co-taper of the rotor wing is easy to calculate. The rotary speed sensor transmits a pulse signal back to the main machine of the dynamic balance analyzer every time the rotor rotates, so that the shimmy and the co-taper of each blade can be distinguished. And finally displaying the data on an analyzer software display interface.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A helicopter rotor cone detection system based on a position sensitive detector, comprising: dynamic balance analyzer and rotor centrum sensor; the rotor cone sensing device comprises: an imaging system, a position sensitive detector;
the imaging system is used for imaging the edge of the blade tip of the blade on a photosensitive surface of the position sensitive detector;
the position sensitive detector is used for outputting a current signal according to the fact that the blade tip passes through the light sensitive surface of the blade tip, and determining the imaging position of the blade tip on the light sensitive surface according to the current signal; the device is used for generating pulse signals according to the fact that the blade tips of the blades scratch the photosurface of the blade tips, and determining the scratch time of the blade tips on the photosurface according to the pulse signals; the rotor cone sensing device is arranged at a preset angle, so that an optical axis of the imaging system is intersected with a rotor rotating shaft, and when the blade rotates, an image formed by the blade tip edge of the blade through the imaging system falls at the center position of the position sensitive detector;
the dynamic balance analyzer is used for detecting the rotor wing cone of the helicopter according to the imaging position of the blade tip on the photosensitive surface and the scratch time.
2. The method for detecting a position sensitive detector-based helicopter rotor cone detection system of claim 1 comprising:
after each blade tip of the helicopter passes through an imaging system, the passing time and the imaging position on the photosensitive surface of the position sensitive detector are respectively obtained;
determining the vertical height of each blade tip according to the imaging position of the blade tip on the photosensitive surface;
determining the co-taper of the helicopter blade according to the vertical heights of all blade tips;
according to the scratch time of the blade tips of the blades on the photosensitive surface, determining the opening angle between two adjacent blades;
according to the opening angle between the two adjacent blades, the shimmy of the helicopter blade is determined;
and detecting the helicopter rotor cone according to the common taper and the shimmy of the helicopter blade.
3. The method of claim 2, wherein determining the vertical height of each blade tip based on the imaging position of the blade tip on the photosurface comprises: determining the vertical height of each blade tip according to the following formula:
s is the distance between the imaging position of the blade tip on the photosensitive surface through the imaging system and the edge of the photosensitive surface; d is the distance between the imaging system and the photosurface; l is the horizontal distance between the imaging system and the blade tip of the blade; is the angle between the imaging system and the horizontal.
4. The method according to claim 2, wherein determining the opening angle between two adjacent paddles according to the stroke time of the paddle tips on the photosensitive surface comprises:
determining the scratch time of the blade tip across the position sensitive detector according to a pulse signal formed after the blade tip across the position sensitive detector;
differentiating the scratching time to obtain the time when the angle of the two adjacent paddles passes through the position sensitive detector;
and determining the opening angle between two adjacent blades according to the time of passing the position sensitive detector and the rotating speed of the blades.
5. The method of claim 2, wherein determining the co-taper of the helicopter blades based on the vertical heights of all blade tips comprises:
determining the average value of the vertical heights of blade tips of the blades according to the vertical heights of all blade tips of the blades;
and determining the co-taper of the helicopter blade according to the vertical height of each blade tip and the average value of the vertical heights of the blade tips.
6. The method of claim 2, wherein determining the shimmy of a helicopter blade based on the opening angle between the adjacent two blades comprises:
and determining the shimmy of the helicopter blade according to the opening angle between two adjacent blades and the theoretical opening angle between the two adjacent blades.
7. The method of any of claims 2-6, wherein said detecting a helicopter rotor cone based on said co-coning and shimmy of said helicopter blade comprises:
respectively obtaining the common taper and the shimmy of the helicopter blades with multiple circles;
and (3) averaging the common taper and the shimmy of the multi-circle helicopter blades, and detecting the helicopter rotor cone according to an average result.
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| CN113916445A (en) * | 2021-09-08 | 2022-01-11 | 广州航新航空科技股份有限公司 | Method, system and device for measuring rotor wing common taper and storage medium |
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