CN118205722A - Coaxial helicopter power balance parameter acquisition method and device - Google Patents

Coaxial helicopter power balance parameter acquisition method and device Download PDF

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Publication number
CN118205722A
CN118205722A CN202410629337.2A CN202410629337A CN118205722A CN 118205722 A CN118205722 A CN 118205722A CN 202410629337 A CN202410629337 A CN 202410629337A CN 118205722 A CN118205722 A CN 118205722A
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rotor wing
upper rotor
coaxial helicopter
power
speed
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CN118205722B (en
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夏宗权
张雅铭
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Continental Union Chaolun Technology Beijing Co ltd
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Continental Union Chaolun Technology Beijing Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B64C27/10—Helicopters with two or more rotors arranged coaxially
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Toys (AREA)

Abstract

The application discloses a coaxial helicopter power balance parameter acquisition method and device. The coaxial helicopter power balance parameter acquisition method comprises the following steps: acquiring original data of a coaxial helicopter; acquiring the ratio of the initial lift force of the upper rotor wing to the weight of the aircraft at different flying speeds; acquiring upper and lower rotor wing induction power differences under different flying speeds according to the original data of the coaxial helicopter and the ratio of the initial upper rotor wing lifting force to the weight of the aircraft; and judging whether the induced power difference of each upper rotor wing and each lower rotor wing is smaller than a preset threshold value, and if so, storing the ratio of the initial lift force of the upper rotor wing to the weight of the aircraft at different flying speeds as a power balance parameter. The power balance parameters of the coaxial helicopter are preset in a mode of setting the power balance parameters corresponding to each speed, so that the course balance of the coaxial helicopter during flight can be ensured.

Description

Coaxial helicopter power balance parameter acquisition method and device
Technical Field
The application relates to the technical field of coaxial helicopters, in particular to a coaxial helicopter power balance parameter acquisition method and a coaxial helicopter power balance parameter acquisition device.
Background
A single-rotor helicopter with tail rotor is composed of more than 80% of current helicopter, and the tail rotor is used to maintain balance of course and to control course. In a coaxial helicopter, no tail rotor exists, so that the required power of two rotors needs to be equal to each other in order to keep course balance, namely the reactive torque of the two rotors needs to be equal and opposite in direction.
Because of the different aerodynamic environments of the upper and lower rotors, the lift forces generated by the two rotors are different, but the resultant force must be equal to the weight of the aircraft.
In the existing aircraft design process, no solution is available to solve the problem that under the conditions of different flight weights, different flight environments and different flight speeds, the two rotor wing lifting forces are different and the power is the same and the heading manipulation is implemented (torque = power/angular speed, the rotation speeds of the upper rotor wing and the lower rotor wing are the same, the same power is the same, the same torque does not rotate, and the aircraft can not rotate, so that the heading balance is realized
It is therefore desirable to have a solution that solves or at least alleviates the above-mentioned drawbacks of the prior art.
Disclosure of Invention
The invention aims to provide a coaxial helicopter power balance parameter acquisition method for at least solving one technical problem.
The invention provides the following scheme:
according to an aspect of the present invention, there is provided a coaxial helicopter power balance parameter acquisition method, the coaxial helicopter power balance parameter acquisition method comprising:
Acquiring original data of a coaxial helicopter;
Acquiring the ratio of the initial lift force of the upper rotor wing to the weight of the aircraft at different flying speeds;
acquiring upper and lower rotor wing induction power differences under different flying speeds according to the original data of the coaxial helicopter and the ratio of the initial upper rotor wing lifting force to the weight of the aircraft;
Judging whether the induction power difference of each upper rotor wing and each lower rotor wing is smaller than a preset threshold value, if yes, then
The ratio of the initial uprotor lift to the aircraft weight at different flight speeds is stored as a power balance parameter.
Optionally, the coaxial helicopter power balance parameter acquisition method further comprises:
Judging whether the induction power difference of each upper rotor wing and each lower rotor wing is smaller than a preset threshold, if at least one upper rotor wing and each lower rotor wing are not smaller than the preset threshold, then
And adjusting the ratio of the initial upper rotor wing lift force corresponding to the upper and lower rotor wing induced power difference which is not smaller than a preset threshold value to the weight of the aircraft until the upper and lower rotor wing induced power difference obtained through the adjusted ratio of the initial upper rotor wing lift force to the weight of the aircraft is smaller than the preset threshold value.
Optionally, the acquiring the upper and lower rotor induced power differences at different flying speeds according to the coaxial helicopter raw data and the ratio of the initial upper rotor lift to the aircraft weight includes:
The upper and lower rotor induced power difference at each flight speed is obtained by the following method:
acquiring the total power of an upper rotor wing according to the original data of the coaxial helicopter;
acquiring the total power of a lower rotor wing according to the original data of the coaxial helicopter and the ratio of the lift force of an initial upper rotor wing to the weight of the aircraft;
and acquiring an upper rotor wing and lower rotor wing induction power difference according to the total power of the upper rotor wing and the total power of the lower rotor wing.
Optionally, the acquiring the total power of the upper rotor wing according to the original data of the coaxial helicopter comprises:
acquiring the induction speed of the upper rotor wing according to the original data of the coaxial helicopter;
and obtaining the total power of the upper rotor according to the induction speed of the upper rotor.
Optionally, the acquiring the total power of the lower rotor based on the raw data of the coaxial helicopter and the ratio of the initial upper rotor lift to the weight of the aircraft comprises:
acquiring the induction speed of the lower rotor wing according to the original data of the coaxial helicopter;
And obtaining the total power of the lower rotor wing according to the induction speed of the upper rotor wing.
Optionally, the acquiring the upper rotor induced speed according to the coaxial helicopter raw data includes:
When the flying speed is 0, the obtaining the upper rotor induced speed according to the coaxial helicopter original data comprises the following steps:
the relative induction speed of the upper rotor wing is obtained through the following formula:
，
Wherein: upper rotor relative induction speed,/>, for a flight speed equal to 0 The upper rotor tension coefficient and the leaf tip loss coefficient are respectively shown as a lower rotor tension coefficient and a leaf tip loss coefficient.
Optionally, the acquiring the upper rotor induced speed according to the coaxial helicopter raw data further comprises:
When the flying speed is greater than 0, the acquiring the upper rotor induced speed according to the coaxial helicopter raw data comprises:
The upper rotor induced speed is obtained by the following formula:
，
Wherein: Induced speed of upper rotor wing when flying speed is greater than 0,/> Is the rotation angular velocity of the upper rotor wing,/>Is the upper rotor tension coefficient,/>The forward ratio is represented by R, and the radius of the upper rotor wing is represented by R;
The obtaining the total power of the lower rotor wing according to the original data of the coaxial helicopter and the ratio of the lift force of the initial upper rotor wing to the weight of the aircraft comprises the following steps:
Acquiring the induction speed of the lower rotor wing according to the original data of the coaxial helicopter and the ratio of the lift force of the initial upper rotor wing to the weight of the aircraft;
And obtaining the total power of the lower rotor wing according to the induction speed of the lower rotor wing.
Optionally, the obtaining the lower rotor induced speed from the coaxial helicopter raw data and the ratio of the initial upper rotor lift to the aircraft weight comprises:
The lower rotor induction speed is obtained by the following formula:
，
Wherein: For the total lower rotor relative induction speed,/> A relative induction speed for the lower rotor,The relative airflow velocity that is transferred from the upper rotor to the lower rotor.
Optionally, the obtaining the total power of the upper rotor according to the induced speed of the upper rotor includes:
，
，
Wherein: For upper rotor total power or lower rotor total power,/> Air density, pi circumference ratio, R rotor radius, Ω rotor angular velocity,/>Is rotor tension coefficient,/>For the relative induction rate,/>The coefficient of the induced power is corrected, and B is the coefficient of the leaf tip loss.
The application also provides a coaxial helicopter power balance parameter acquisition device, which comprises:
the coaxial helicopter primary data acquisition module is used for acquiring coaxial helicopter primary data;
the system comprises an initial upper rotor wing lift force and aircraft weight ratio acquisition module, a control module and a control module, wherein the initial upper rotor wing lift force and aircraft weight ratio acquisition module is used for acquiring the initial upper rotor wing lift force and aircraft weight ratio under different flight speeds;
the upper and lower rotor wing induced power difference acquisition module is used for acquiring upper and lower rotor wing induced power differences under different flying speeds according to the original data of the coaxial helicopter and the ratio of the initial upper rotor wing lifting force to the weight of the aircraft;
The judging module is used for judging whether the induced power difference of each upper rotor wing and each lower rotor wing is smaller than a preset threshold value or not;
and the storage module is used for storing the ratio of the initial lift force of the upper rotor wing to the weight of the aircraft at different flying speeds in real time as a power balance parameter when the judging module judges that the power balance parameter is yes.
The coaxial helicopter power balance parameter acquisition method provided by the application judges whether the difference of the induced powers of the upper rotor wing and the lower rotor wing is smaller than a preset threshold value under the set ratio of the initial upper rotor wing lift force to the weight of the aircraft by setting the ratio of the initial upper rotor wing lift force to the weight of the aircraft, and if the difference of the induced powers of the upper rotor wing and the lower rotor wing is smaller than the preset threshold value, the powers of the two rotor wings of the aircraft are considered to be similar, so that the problems that in the prior art, under the conditions of different flight weights, different flight environments and different flight speeds, the two rotor wing lift forces are different and the power is the same and the course control is implemented are solved.
Drawings
FIG. 1 is a flow chart of a method for acquiring power balance parameters of a coaxial helicopter in an embodiment of the application;
fig. 2 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. 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 flow chart of a method for acquiring power balance parameters of a coaxial helicopter in an embodiment of the application.
The coaxial helicopter power balance parameter acquisition method as shown in fig. 1 comprises the following steps:
Step 1: acquiring original data of a coaxial helicopter;
Step 2: acquiring the ratio of the initial lift force of the upper rotor wing to the weight of the aircraft at different flying speeds;
step 3: acquiring upper and lower rotor wing induction power differences under different flying speeds according to the original data of the coaxial helicopter and the ratio of the initial upper rotor wing lifting force to the weight of the aircraft;
Step 4: judging whether the induction power difference of each upper rotor wing and each lower rotor wing is smaller than a preset threshold value, if yes, then
Step 5: the ratio of the initial uprotor lift to the aircraft weight at different flight speeds is stored as a power balance parameter.
The coaxial helicopter power balance parameter acquisition method provided by the application judges whether the difference of the induced powers of the upper rotor wing and the lower rotor wing is smaller than a preset threshold value under the set ratio of the initial upper rotor wing lift force to the weight of the aircraft by setting the ratio of the initial upper rotor wing lift force to the weight of the aircraft, and if the difference of the induced powers of the upper rotor wing and the lower rotor wing is smaller than the preset threshold value, the powers of the two rotor wings of the aircraft are considered to be similar, so that the problems that in the prior art, under the conditions of different flight weights, different flight environments and different flight speeds, the two rotor wing lift forces are different and the power is the same and the course control is implemented are solved.
In this embodiment, the coaxial helicopter power balance parameter obtaining method further includes:
Judging whether the induction power difference of each upper rotor wing and each lower rotor wing is smaller than a preset threshold, if at least one upper rotor wing and each lower rotor wing are not smaller than the preset threshold, then
And adjusting the ratio of the initial upper rotor wing lift force corresponding to the upper and lower rotor wing induced power difference which is not smaller than a preset threshold value to the weight of the aircraft until the upper and lower rotor wing induced power difference obtained through the adjusted ratio of the initial upper rotor wing lift force to the weight of the aircraft is smaller than the preset threshold value.
In this embodiment, the obtaining the difference between the induced power of the upper rotor and the lower rotor at different flying speeds according to the original data of the coaxial helicopter and the ratio of the lift force of the initial upper rotor to the weight of the aircraft includes:
The upper and lower rotor induced power difference at each flight speed is obtained by the following method:
acquiring the total power of an upper rotor wing according to the original data of the coaxial helicopter;
acquiring the total power of a lower rotor wing according to the original data of the coaxial helicopter and the ratio of the lift force of an initial upper rotor wing to the weight of the aircraft;
and acquiring an upper rotor wing and lower rotor wing induction power difference according to the total power of the upper rotor wing and the total power of the lower rotor wing.
In this embodiment, the acquiring the total power of the upper rotor according to the raw data of the coaxial helicopter includes:
acquiring the induction speed of the upper rotor wing according to the original data of the coaxial helicopter;
and obtaining the total power of the upper rotor according to the induction speed of the upper rotor.
In this embodiment, the obtaining the total power of the lower rotor based on the raw data of the coaxial helicopter and the ratio of the initial upper rotor lift to the weight of the aircraft includes:
acquiring the induction speed of the lower rotor wing according to the original data of the coaxial helicopter;
And obtaining the total power of the lower rotor wing according to the induction speed of the upper rotor wing.
In this embodiment, the acquiring the upper rotor induced speed according to the coaxial helicopter raw data includes:
When the flying speed is 0, the obtaining the upper rotor induced speed according to the coaxial helicopter original data comprises the following steps:
the relative induction speed of the upper rotor wing is obtained through the following formula:
，
Wherein: upper rotor relative induction speed,/>, for a flight speed equal to 0 The upper rotor tension coefficient and the leaf tip loss coefficient are respectively shown as a lower rotor tension coefficient and a leaf tip loss coefficient.
In this embodiment, the acquiring the upper rotor induced speed according to the coaxial helicopter raw data further includes:
When the flying speed is greater than 0, the acquiring the upper rotor induced speed according to the coaxial helicopter raw data comprises:
The upper rotor induced speed is obtained by the following formula:
，
Wherein: Induced speed of upper rotor wing when flying speed is greater than 0,/> Is the rotation angular velocity of the upper rotor wing,/>Is the upper rotor tension coefficient,/>The forward ratio is represented by R, and the radius of the upper rotor wing is represented by R;
In this embodiment, R of the upper and lower rotors, 、/>It is the same as that of the above-mentioned one,
The obtaining the total power of the lower rotor wing according to the original data of the coaxial helicopter and the ratio of the lift force of the initial upper rotor wing to the weight of the aircraft comprises the following steps:
Acquiring the induction speed of the lower rotor wing according to the original data of the coaxial helicopter and the ratio of the lift force of the initial upper rotor wing to the weight of the aircraft;
And obtaining the total power of the lower rotor wing according to the induction speed of the lower rotor wing.
In this embodiment, the obtaining the lower rotor induced speed based on the coaxial helicopter raw data and the ratio of the initial upper rotor lift to the aircraft weight includes:
The lower rotor induction speed is obtained by the following formula:
，
Wherein: For the total lower rotor relative induction speed,/> A relative induction speed for the lower rotor,The relative airflow velocity that is transferred from the upper rotor to the lower rotor.
In this embodiment, the obtaining the total power of the upper rotor according to the induced speed of the upper rotor includes:
，
，
Wherein: For upper rotor total power or lower rotor total power,/> Air density, pi circumference ratio, R rotor radius, Ω rotor angular velocity,/>Is rotor tension coefficient,/>For the relative induction rate,/>The coefficient of the induced power is corrected, and B is the coefficient of the leaf tip loss.
In this embodiment, the total power of the lower rotor is the same as the formula used for the total power of the upper rotor, and will not be described here again.
The application is described in further detail below by way of examples, which should not be construed as limiting the application in any way.
A coaxial helicopter is provided with lift by the upper and lower rotors, and then the upper rotor generates lift to inevitably discharge downward air flow, and the air flow speed is called induced speed, and the speed passes through the lower rotor and merges with the induced speed of the lower rotor, so that the aerodynamic characteristics of the lower rotor are greatly influenced. Likewise, the lower rotor also has an effect on the upper rotor, but is generally not considered. Thus, the aerodynamic characteristics of the upper and lower rotors are greatly different.
Since the coaxial helicopter does not have a tail rotor, how to ensure the course moment balance and how to realize turning flight at hovering and low speed is a problem which must be solved by the coaxial helicopter.
To facilitate understanding of the formulas and content below, a symbolic illustration is given.
Symbol description:
To realize the course balance of the coaxial helicopter, the problems of lift force distribution and mutual interference between two rotors must be solved, and as the helicopter has no tail rotor, the reactive torque of the two rotors must be equal in magnitude and opposite in direction to ensure the course balance. In flat flight, the rotor needs power consisting of section resistance power, induction power and waste resistance power.
In this embodiment, the rotor type resistive powerThe description is as follows:
Type resistance power coefficient:
，
Blade drag coefficient It is not only related to the forward ratio/>Related to the lift coefficient/>Related to the following.
Rotor type power blocking:
，
As can be seen from the above description, And/>Related, according to/>Curve, in normal working section,/>Change pair/>The influence is small, and the tension difference of the upper rotor wing and the lower rotor wing is not large, so that the model resistance of the upper rotor wing and the lower rotor wing is considered to be the same.
In this embodiment, the rotor waste resistance power is described as follows:
Resistance of whole machine ，
Waste resistance power，
The waste resistance power of the upper and lower rotors can be considered to be the same.
In this embodiment, the upper-lower rotor induced power difference = upper rotor induced power-lower rotor induced power in kw.
In this embodiment, the upper rotor induced power and the lower rotor induced power can be expressed by the following formulas:
inductive power coefficient ，
Induced power。
In the above formula, the upper rotor induced power and the lower rotor induced power are different in that the induced speeds of the two are differentIn the following description, differently, for convenience of description, let/>For the total lower rotor relative induction speed, set/>Upper rotor relative induction speed,/>, for a flight speed equal to 0The upper rotor wing relative induction speed is the flying speed is greater than 0.
In this embodiment, the two rotors differ in power, mainly in induced power, i.e. in drag coefficientAnd relative induction rate/>Different. If it is to be ensured that the two rotors are of the same power, it should be
，
Corner mark in: up-upper rotor, lo-lower rotor;
in the present embodiment, the induced power correction coefficient of the upper and lower rotors As considered with the tip loss factor B,
I.e.；
Upper rotor drag coefficient:
，
typically, the upper rotor pull accounts for >50% of the total pull ratio Aup.
Lower rotor drag coefficient:
，
Wherein: 。
in this embodiment, when the flying speed is 0, the upper rotor relative induction speed is:
，
Then
-----（1）
，
，
Wherein: -upper rotor drag coefficient; /(I) -Upper rotor relative induction speed; /(I)Lower rotor drag coefficient; /(I)-Lower rotor relative induction speed;
is the relative airflow velocity of the upper rotor to the lower rotor, assuming a vertical distance/>, from the center of the upper hub to the center of the lower hub During the discharge, the induction rate increases;
，
=/>=/>=-----（2）
Let (1) and (2) equal, then
=/>，
，
，
The total relative induction speed of the lower rotor:
。
when the flying speed is greater than 0, the upper rotor induced speed is:
，
Wherein: ，
=/>，
the total relative induction speed of the lower rotor:
，
taking a certain coaxial helicopter as an example, the following is exemplified:
The programming is carried out according to the method, and by taking a certain coaxial helicopter as an example, different A up and different flying speeds are calculated, and the calculation result is as follows:
The calculation conditions are as follows: g=3050 kg, sea level, standard atmosphere,
VOO AUP ANRU ANRL ANRU-ANRL
0.00 0.52 172.8 173 -0.2
20.00 0.513 192.7 192.9 -0.2
40.00 0.51 160.6 160.4 0.2
60.00 0.51 133.2 133.0 0.2
In the table: v00- -forward speed, km/h;
ANRU, anrl—the power demand of the upper rotor, kw;
As can be seen from the table, different ones are taken The power difference of the upper rotor wing and the lower rotor wing is only 0.2kw, and the influence of the value on the heading is negligible, so that the heading balance can be ensured by presetting the power balance parameters of the coaxial helicopter.
In addition, on the coaxial helicopters, differential collective rods are arranged for changing。
For the power required by the rotor wings of a specific coaxial helicopter, in a hovering state, the lift force ratios of a plurality of upper rotor wings are preliminarily selectedFinding out the very close/>, of the upper and lower rotor power by trial and errorThe/>, at speeds 20, 40, 60km/h, was determined in the same wayThese/>As the corresponding parameters when the coaxial helicopter flies, the heading balance can be ensured.
It will be appreciated that in some coaxial helicopters, at speeds greater than 60km/h, the efficiency of the rudder increases, and if there is a heading moment imbalance, two large rudders (0.618 m per rudder area) can be maneuvered. Also, during cornering, by changingMaking the two rotors power unbalanced to effect a turn. Therefore, in this case, the coaxial helicopter power balance parameter acquisition method of the application only needs to acquire the power balance parameter between 0km/h and 60km/h, and does not need to acquire the power balance parameter above 60 km/h.
The application also provides a coaxial helicopter power balance parameter acquisition device, which comprises a coaxial helicopter original data acquisition module, an initial upper rotor wing lift force and airplane weight ratio acquisition module, an upper rotor wing and lower rotor wing induced power difference acquisition module, a judgment module and a storage module,
The coaxial helicopter original data acquisition module is used for acquiring coaxial helicopter original data;
The initial upper rotor wing lift force and aircraft weight ratio acquisition module is used for acquiring the initial upper rotor wing lift force and aircraft weight ratio at different flying speeds;
the upper and lower rotor wing induced power difference acquisition module is used for acquiring upper and lower rotor wing induced power differences under different flight speeds according to the original data of the coaxial helicopter and the ratio of the initial upper rotor wing lifting force to the weight of the aircraft;
The judging module is used for judging whether the induction power difference of each upper rotor wing and each lower rotor wing is smaller than a preset threshold value;
The storage module is used for storing the ratio of the initial upper rotor wing lifting force to the weight of the aircraft at different flying speeds in real time as a power balance parameter when the judgment module judges that the power balance parameter is yes.
Fig. 2 is a block diagram of a client architecture provided by one or more embodiments of the invention.
As shown in fig. 2, the present application also discloses an electronic device, including: the device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus; the memory stores a computer program which, when executed by the processor, causes the processor to perform the steps of the coaxial helicopter power balance parameter acquisition method.
The application also provides a computer readable storage medium storing a computer program executable by an electronic device, which when run on the electronic device is capable of implementing the steps of the coaxial helicopter power balance parameter acquisition method.
The communication bus mentioned above for the electronic device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The electronic device includes a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system. The hardware layer includes hardware such as a central processing unit (CPU, central Processing Unit), a memory management unit (MMU, memory Management Unit), and a memory. The operating system may be any one or more computer operating systems that implement electronic device control via processes (processes), such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a windows operating system, etc. In addition, in the embodiment of the present invention, the electronic device may be a handheld device such as a smart phone, a tablet computer, or an electronic device such as a desktop computer, a portable computer, which is not particularly limited in the embodiment of the present invention.
The execution body controlled by the electronic device in the embodiment of the invention can be the electronic device or a functional module in the electronic device, which can call a program and execute the program. The electronic device may obtain firmware corresponding to the storage medium, where the firmware corresponding to the storage medium is provided by the vendor, and the firmware corresponding to different storage media may be the same or different, which is not limited herein. After the electronic device obtains the firmware corresponding to the storage medium, the firmware corresponding to the storage medium can be written into the storage medium, specifically, the firmware corresponding to the storage medium is burned into the storage medium. The process of burning the firmware into the storage medium may be implemented by using the prior art, and will not be described in detail in the embodiment of the present invention.
The electronic device may further obtain a reset command corresponding to the storage medium, where the reset command corresponding to the storage medium is provided by the provider, and the reset commands corresponding to different storage media may be the same or different, which is not limited herein.
At this time, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written, and the electronic device may respond to a reset command corresponding to the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command may be implemented in the prior art, and will not be described in detail in the embodiments of the present invention.
For convenience of description, the above devices are described as being functionally divided into various units and modules. Of course, the functions of the units, modules may be implemented in one or more pieces of software and/or hardware when implementing the application.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
For the purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated by one of ordinary skill in the art that the methodologies are not limited by the order of acts, as some acts may, in accordance with the methodologies, take place in other order or concurrently. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
From the above description of embodiments, it will be apparent to those skilled in the art that the present application may be implemented in software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform the method according to the embodiments or some parts of the embodiments of the present application.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; 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 or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. The coaxial helicopter power balance parameter acquisition method is characterized by comprising the following steps of:
Acquiring original data of a coaxial helicopter;
Acquiring the ratio of the initial lift force of the upper rotor wing to the weight of the aircraft at different flying speeds;
acquiring upper and lower rotor wing induction power differences under different flying speeds according to the original data of the coaxial helicopter and the ratio of the initial upper rotor wing lifting force to the weight of the aircraft;
Judging whether the induction power difference of each upper rotor wing and each lower rotor wing is smaller than a preset threshold value, if yes, then
The ratio of the initial uprotor lift to the aircraft weight at different flight speeds is stored as a power balance parameter.
2. The coaxial helicopter power balance parameter acquisition method of claim 1, wherein the coaxial helicopter power balance parameter acquisition method further comprises:
Judging whether the induction power difference of each upper rotor wing and each lower rotor wing is smaller than a preset threshold, if at least one upper rotor wing and each lower rotor wing are not smaller than the preset threshold, then
And adjusting the ratio of the initial upper rotor wing lift force corresponding to the upper and lower rotor wing induced power difference which is not smaller than a preset threshold value to the weight of the aircraft until the upper and lower rotor wing induced power difference obtained through the adjusted ratio of the initial upper rotor wing lift force to the weight of the aircraft is smaller than the preset threshold value.
3. The method for obtaining the power balance parameter of the coaxial helicopter according to claim 2, wherein the step of obtaining the upper and lower rotor induced power differences at different flying speeds according to the original coaxial helicopter data and the ratio of the initial upper rotor lift to the weight of the aircraft comprises:
The upper and lower rotor induced power difference at each flight speed is obtained by the following method:
acquiring the total power of an upper rotor wing according to the original data of the coaxial helicopter;
acquiring the total power of a lower rotor wing according to the original data of the coaxial helicopter and the ratio of the lift force of an initial upper rotor wing to the weight of the aircraft;
and acquiring an upper rotor wing and lower rotor wing induction power difference according to the total power of the upper rotor wing and the total power of the lower rotor wing.
4. A method of coaxial helicopter power balance parameter acquisition according to claim 3 wherein said acquiring the total power of the upper rotor from raw coaxial helicopter data comprises:
acquiring the induction speed of the upper rotor wing according to the original data of the coaxial helicopter;
and obtaining the total power of the upper rotor according to the induction speed of the upper rotor.
5. The method for obtaining coaxial helicopter power balance parameters according to claim 4, wherein said obtaining the total power of the lower rotor from the raw coaxial helicopter data and the initial ratio of the lift of the upper rotor to the weight of the aircraft comprises:
acquiring the induction speed of the lower rotor wing according to the original data of the coaxial helicopter;
And obtaining the total power of the lower rotor wing according to the induction speed of the upper rotor wing.
6. The method for obtaining power balance parameters of a coaxial helicopter according to claim 4 wherein said obtaining an upper rotor induction speed from raw data of the coaxial helicopter comprises:
When the flying speed is 0, the obtaining the upper rotor induced speed according to the coaxial helicopter original data comprises the following steps:
the relative induction speed of the upper rotor wing is obtained through the following formula:
，
Wherein: upper rotor relative induction speed,/>, for a flight speed equal to 0 The upper rotor tension coefficient and the leaf tip loss coefficient are respectively shown as a lower rotor tension coefficient and a leaf tip loss coefficient.
7. The method for obtaining power balance parameters of a coaxial helicopter according to claim 6 wherein said obtaining an upper rotor induced speed from raw data of the coaxial helicopter further comprises:
When the flying speed is greater than 0, the acquiring the upper rotor induced speed according to the coaxial helicopter raw data comprises:
The upper rotor induced speed is obtained by the following formula:
，
Wherein: Induced speed of upper rotor wing when flying speed is greater than 0,/> Is the rotation angular velocity of the upper rotor wing,/>Is the upper rotor tension coefficient,/>The forward ratio is represented by R, and the radius of the upper rotor wing is represented by R;
The obtaining the total power of the lower rotor wing according to the original data of the coaxial helicopter and the ratio of the lift force of the initial upper rotor wing to the weight of the aircraft comprises the following steps:
Acquiring the induction speed of the lower rotor wing according to the original data of the coaxial helicopter and the ratio of the lift force of the initial upper rotor wing to the weight of the aircraft;
And obtaining the total power of the lower rotor wing according to the induction speed of the lower rotor wing.
8. The method of claim 7, wherein the step of obtaining the lower rotor induction speed based on the raw coaxial helicopter data and the initial upper rotor lift to aircraft weight ratio comprises:
The lower rotor induction speed is obtained by the following formula:
，
Wherein: For the total lower rotor relative induction speed,/> Relative induction speed for lower rotorThe relative airflow velocity that is transferred from the upper rotor to the lower rotor.
9. The method for obtaining coaxial helicopter power balance parameters according to claim 8, wherein said obtaining an upper rotor total power from an upper rotor induced speed comprises:
，
，
Wherein: For upper rotor total power or lower rotor total power,/> Air density, pi circumference ratio, R rotor radius, Ω rotor angular velocity,/>Is rotor tension coefficient,/>For the relative induction rate,/>The coefficient of the induced power is corrected, and B is the coefficient of the leaf tip loss.
10. A coaxial helicopter power balance parameter acquisition device, characterized in that it comprises:
the coaxial helicopter primary data acquisition module is used for acquiring coaxial helicopter primary data;
the system comprises an initial upper rotor wing lift force and aircraft weight ratio acquisition module, a control module and a control module, wherein the initial upper rotor wing lift force and aircraft weight ratio acquisition module is used for acquiring the initial upper rotor wing lift force and aircraft weight ratio under different flight speeds;
the upper and lower rotor wing induced power difference acquisition module is used for acquiring upper and lower rotor wing induced power differences under different flying speeds according to the original data of the coaxial helicopter and the ratio of the initial upper rotor wing lifting force to the weight of the aircraft;
The judging module is used for judging whether the induced power difference of each upper rotor wing and each lower rotor wing is smaller than a preset threshold value or not;
and the storage module is used for storing the ratio of the initial lift force of the upper rotor wing to the weight of the aircraft at different flying speeds in real time as a power balance parameter when the judging module judges that the power balance parameter is yes.
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