CN1634749A - Unmanned helicopter operation system - Google Patents
Unmanned helicopter operation system Download PDFInfo
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- CN1634749A CN1634749A CNA2003101228750A CN200310122875A CN1634749A CN 1634749 A CN1634749 A CN 1634749A CN A2003101228750 A CNA2003101228750 A CN A2003101228750A CN 200310122875 A CN200310122875 A CN 200310122875A CN 1634749 A CN1634749 A CN 1634749A
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Abstract
This invention provides helicopter operation system without human, which comprises revolving operation structure, course operation and accelerograph operation structure. The revolving operation structure drives the automatic inclining device to lift or incline through three sets of selective operations and drives the lever set to control the revolving fly state. The course operation structure drives pulling tightwire through course helm and drives the tail pedal pitch-changing mechanism to change the pitch angle to realize the course control. The accelerograph operation structure controls the starting degree through accelerograph helm to realize the motor control.
Description
Technical field
The present invention relates to a kind of steering unit of flight tool, relate in particular to a kind of pilotless helicopter maneuvering system.
Background technology
Helicopter just demonstrates huge preceence from being born certainly.It can vertical takeoff and landing, hovering, land everywhere, have flexible, motor-driven, convenient, characteristics rapidly, can be used to speedily carry out rescue work, prevent fires, move, take photo by plane, physical prospecting, commercial affairs, patrol, monitoring, scouting etc., militarily can be used for air-to-air attack and air to surface, empty attack, be subjected to the attention of national governments the sea.For a long time, helicopter all is manned helicopter, and people's helicopter process practice and the improvement of nearly half a century are arranged, and technology is very ripe.But more and more wideer along with the helicopter application, the work in many dangerous fields such as use have people's helicopter to go to do, the cost that tends to give one's life for, and life is valuable, so people begin to develop pilotless helicopter.China is also at the early-stage to the research-and-development activity of pilotless helicopter, and the pilotless helicopter that exploitation has independent intellectual property rights is the sacred mission of pendulum in face of China scientific and technical personnel.
Pilotless helicopter replaces the judgement of human brain and the sensation of human body by flight control computer, form mechanism by ground observing and controlling device, data radio, steering wheel, signal converter, engine control gear and various kinds of sensors etc., come variation default, that understand, judge all kinds of instructions and surrounding environment, make proper feedback signal, drive operating mechanism, produce action, complicated flare maneuver such as finish that helicopter lifting, front and back fly, turn, hover is by the airline operation of formulating.Therefore the pilotless helicopter maneuvering system is different from the steering unit of the common people's of having helicopter, and it must be provided with a plurality of steering wheels by flight control computer control, controls rotor, tail-rotor and driving engine respectively, coordinates to realize the various flare maneuvers of helicopter.
Summary of the invention
Purpose of the present invention is to provide a kind of pilotless helicopter maneuvering system simple in structure, easy to maintenance, with low cost.
To achieve these goals, the present invention has adopted following technical scheme: a kind of pilotless helicopter maneuvering system, handle according to the instruction of flight control computer on the helicopter, and comprise rotor control mechanism, directional control mechanism and manipulating mechanism of oil throttle.
Described rotor control mechanism comprises auto-bank unit, three cover displacement steering wheel and rod assemblies; Auto-bank unit is installed in the below of helicopter main shaft, the periphery below that three cover displacement steering wheels link to each other with auto-bank unit respectively and are installed in auto-bank unit, one end of rod assembly links to each other with auto-bank unit, the rotor of the other end and helicopter links to each other, rotor control mechanism drives auto-bank unit lifting or inclination by the coordination of three cover displacement steering wheels, drives the flight attitude of rod assembly control rotor.
Described directional control mechanism comprises course steering wheel, push-and-pull cable wire and rocking arm, the course steering wheel is installed in the equipment compartment of helicopter, and directional control mechanism drives the push-and-pull cable wire by the course steering wheel, and the push-and-pull cable wire drives rocking arm, drive the tail-rotor pitch-changing mechanism and change the tail-rotor elongation, realize control the course.
Described manipulating mechanism of oil throttle comprises throttle steering wheel and throttle control cable, and manipulating mechanism of oil throttle drives the opening that throttle control cable is controlled engine throttle by the throttle steering wheel, realizes the control to driving engine.
Described auto-bank unit comprises rotating ring and is sleeved on the outer not rotating ring of rotating ring, do not stretching out three manipulation nodes above the rotating ring periphery, three control nodes are pressed 90 degree of being separated by and are provided with, two nodes that wherein are positioned on the same diameter line are the lateral control node, and the node between two lateral control nodes is the fore-and-aft control node.
Described displacement steering wheel, course steering wheel are identical with throttle steering wheel structure, respectively comprise support and the DC machine, reducing gearbox, leading screw and the feedback potentiometer that are installed on the support, but leading screw is the transmission moving linearly that links to each other with reducing gearbox, one end of leading screw links to each other with corresponding bindiny mechanism transmission, and feedback potentiometer links to each other with the DC machine electric signal.
Three manipulation nodes belows that described three cover displacement steering wheels link to each other and are installed in auto-bank unit with three manipulation nodes of auto-bank unit by its leading screw respectively.
Up-and-down movement formed total distance manipulation when described rotor control mechanism overlapped steering wheels by three, realized the height control to helicopter.
Described rotor control mechanism is realized the fore-and-aft control to helicopter by the up-and-down movement of its steering wheel that links to each other with the fore-and-aft control node.
Described rotor control mechanism is realized the lateral control to helicopter by the relative motion of its two cover steering wheels that link to each other with the lateral control node.
Described rod assembly comprises two long draws and the umbrella shape driving rocker that links to each other with rotor, and two long draws pass main shaft, and its lower end links to each other with auto-bank unit respectively, and the upper end links to each other with the umbrella shape driving rocker respectively.
Pilotless helicopter maneuvering system of the present invention makes it have following tangible advantage and characteristics owing to adopted above technical scheme:
1, the auto-bank unit modern design is simple in structure, is convenient to installation and maintenance.Its number of parts only is 1/3rd of a pure helicopter auto-bank unit, and has replaced high precision, large-sized antifriction-bearing box with plain bearing, and is in light weight, cost is low.
2, because auto-bank unit is directly installed on helicopter main shaft below, three cover displacement steering wheels be directly installed on auto-bank unit under, the leading screw of steering wheel links to each other with three manipulation nodes of auto-bank unit, make fore-and-aft control and lateral control separate, thereby it is little to handle coupling effect, has simplified linkage.
3, reduced the steering wheel kind.Common depopulated helicopter is by always handling total distance apart from steering wheel, and the vertical and horizontal steering wheel is handled the vertical and horizontal steering unit respectively, needs the steering wheel of two types of developments.And three among the present invention cover displacement steering wheel structure is identical, can finish total distance and vertical and horizontal manipulation by different exercise group is incompatible.
4, the installation compactness of steering wheel, close center of gravity are convenient to adjust center of gravity.
5, total distance, throttle are coordinated.Coordinate total distance-throttle relation by flight control computer control, the horsepower output of helicopter power requirement and driving engine is complementary, accurately and reliably, and weight of equipment is light.
Description of drawings
Fig. 1 is that total distance of the rotor control mechanism among the present invention is handled scheme drawing;
Fig. 2 be among the present invention rotor control mechanism in length and breadth to handling scheme drawing;
Fig. 3 is the structural representation of the auto-bank unit among the present invention;
Fig. 4 is the birds-eye view of auto-bank unit shown in Figure 2;
Fig. 5 is the structural representation of the steering wheel among the present invention.
The specific embodiment
Rotor control mechanism among the present invention, directional control mechanism and manipulating mechanism of oil throttle are all implemented to handle under the control of the flicon mechanism of helicopter.When depopulated helicopter was wanted the change of flight attitude, flicon mechanism sent signal to the steering wheel of each steering unit, made the steering wheel leading screw produce straight-line displacement, drive linkage, change the stagger angle of rotor or tail-rotor, thereby change the size and Orientation of oar dish lift, finish the change of flight attitude; Change the throttle opening simultaneously, make it with total apart from coupling.
Specifically, when needs change of flight height, it always apart from the manipulation situation as shown in Figure 1.Among the figure, the position before the solid line representative action, the position after the dotted line representative action.After three cover displacement steering wheels 1 when flicon mechanism in rotor control mechanism send the signal that changes total distance, three cover steering wheels move up and down simultaneously, driving auto-bank unit 2 thus moves up and down, and then two long draws 31 that link to each other with auto-bank unit are moved up and down simultaneously, drive umbrella shape driving rocker 32 traction rotors 4 and change total distance, finish the height control of helicopter.5 is main shaft among the figure, and two long draws 31 pass from main shaft.
When needs were implemented lateral control, its lateral control situation as shown in Figure 2.Among the figure, the position before the solid line representative action, the position after the dotted line representative action.After two cover displacement steering wheels 11,13 that flicon mechanism links to each other with two lateral control nodes of auto-bank unit 2 in rotor control mechanism send the signal of lateral control, two steering wheels are done relative motion one on the other, drive auto-bank unit 2 lateral inclinations thus, and then make two long draws 31 that link to each other with auto-bank unit do the dislocation motion, drive umbrella shape driving rocker 32 traction rotors 4 and change angle, finish the lateral control of helicopter.
When handling before and after needs are implemented, its fore-and-aft control situation and Fig. 2 are similar.The cover displacement steering wheel that flicon mechanism links to each other with the fore-and-aft control node of auto-bank unit 2 in rotor control mechanism sends signal, this steering wheel is moved up and down, drive auto-bank unit 2 fore-and-aft tilts thus, and then make two long draws 31 that link to each other with auto-bank unit do the dislocation motion, drive umbrella shape driving rocker 32 traction rotors 4 and change angle, finish the front and back of helicopter and handle.
When needs changed course, the course steering wheel of flicon mechanism in directional control mechanism sent signal, made the course steering wheel drive the push-and-pull cable wire, drove the tail-rotor pitch-changing mechanism and changed the tail-rotor elongation, realized the control to the course.
When needs changed the horsepower output of driving engine, the throttle steering wheel of flicon mechanism in manipulating mechanism of oil throttle sent signal, made the throttle steering wheel drive the opening of throttle control cable control engine throttle, realized the control to driving engine.
In practical flight was handled, each steering unit was coordinated to carry out to the control of total distance and throttle.This rapport is to measure the relation of total distance and throttle by test run, through the mathematics match, and by the trial at anchor correction, determine the mathematic(al) representation of total distance and throttle relation, with this expression formula input flight control computer, flight control computer is complementary the power requirement of helicopter and the horsepower output of driving engine handling manipulation throttle steering wheel in steering wheel always.
See also Fig. 3, Fig. 4, auto-bank unit among the present invention comprises rotating ring 21 and is sleeved on the outer not rotating ring 22 of rotating ring, stretch out three and handle 221,222,223, three control nodes of node and press 90 degree of being separated by and be provided with above rotating ring periphery not, each is handled node below and connects a cover displacement steering wheel.Two nodes 221,223 that wherein are positioned on the same diameter line are the lateral control node, and the node 222 between two lateral control nodes is the fore-and-aft control node.
See also Fig. 5, displacement steering wheel among the present invention, course steering wheel are identical with throttle steering wheel structure, respectively comprise support and the DC machine 11, reducing gearbox 12, leading screw 13 and the feedback potentiometer 14 that are installed on the support, but leading screw 13 is the 12 transmissions moving linearly that links to each other with reducing gearbox, one end of leading screw links to each other with corresponding bindiny mechanism transmission, and feedback potentiometer is used to receive the instruction of flight control computer and links to each other with the DC machine electric signal.
Claims (8)
1, a kind of pilotless helicopter maneuvering system is handled according to the instruction of flight control computer on the helicopter, comprises rotor control mechanism, directional control mechanism and manipulating mechanism of oil throttle, it is characterized in that:
Described rotor control mechanism comprises auto-bank unit, three cover displacement steering wheel and rod assemblies; Auto-bank unit is installed in the below of helicopter main shaft, the periphery below that three cover displacement steering wheels link to each other with auto-bank unit respectively and are installed in auto-bank unit, one end of rod assembly links to each other with auto-bank unit, the rotor of the other end and helicopter links to each other, rotor control mechanism drives auto-bank unit lifting or inclination by the coordination of three cover displacement steering wheels, drives the flight attitude of rod assembly control rotor;
Described directional control mechanism comprises course steering wheel, push-and-pull cable wire and rocking arm, the course steering wheel is installed in the equipment compartment of helicopter, and directional control mechanism drives the push-and-pull cable wire by the course steering wheel, and the push-and-pull cable wire drives rocking arm, drive the tail-rotor pitch-changing mechanism and change the tail-rotor elongation, realize control the course;
Described manipulating mechanism of oil throttle comprises throttle steering wheel and throttle control cable, and manipulating mechanism of oil throttle drives the opening that throttle control cable is controlled engine throttle by the throttle steering wheel, realizes the control to driving engine.
2, pilotless helicopter maneuvering system according to claim 1, it is characterized in that: described auto-bank unit comprises rotating ring and is sleeved on the outer not rotating ring of rotating ring, do not stretching out three manipulation nodes above the rotating ring periphery, three control nodes are pressed 90 degree of being separated by and are provided with, two nodes that wherein are positioned on the same diameter line are the lateral control node, and the node between two lateral control nodes is the fore-and-aft control node.
3, pilotless helicopter maneuvering system according to claim 1, it is characterized in that: described displacement steering wheel, course steering wheel are identical with throttle steering wheel structure, respectively comprise support and the DC machine, reducing gearbox, leading screw and the feedback potentiometer that are installed on the support, but leading screw is the transmission moving linearly that links to each other with reducing gearbox, one end of leading screw links to each other with corresponding bindiny mechanism transmission, and feedback potentiometer links to each other with the DC machine electric signal.
4, pilotless helicopter maneuvering system according to claim 1 and 2 is characterized in that: three manipulation nodes belows that described three cover displacement steering wheels link to each other and are installed in auto-bank unit with three manipulation nodes of auto-bank unit by its leading screw respectively.
5, pilotless helicopter maneuvering system according to claim 1 is characterized in that: up-and-down movement formed total distance manipulation when described rotor control mechanism overlapped steering wheels by three, realized the height control to helicopter.
6, pilotless helicopter maneuvering system according to claim 1 and 2 is characterized in that: described rotor control mechanism is realized the fore-and-aft control to helicopter by the up-and-down movement of its steering wheel that links to each other with the fore-and-aft control node.
7, pilotless helicopter maneuvering system according to claim 1 and 2 is characterized in that: described rotor control mechanism is realized the lateral control to helicopter by the relative motion of its two cover steering wheels that link to each other with the lateral control node.
8, pilotless helicopter maneuvering system according to claim 1, it is characterized in that: described rod assembly comprises two long draws and the umbrella shape driving rocker that links to each other with rotor, two long draws pass main shaft, its lower end links to each other with auto-bank unit respectively, and the upper end links to each other with the umbrella shape driving rocker respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101228750A CN100391791C (en) | 2003-12-29 | 2003-12-29 | Unmanned helicopter operation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101228750A CN100391791C (en) | 2003-12-29 | 2003-12-29 | Unmanned helicopter operation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1634749A true CN1634749A (en) | 2005-07-06 |
| CN100391791C CN100391791C (en) | 2008-06-04 |
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ID=34844656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2003101228750A Expired - Fee Related CN100391791C (en) | 2003-12-29 | 2003-12-29 | Unmanned helicopter operation system |
Country Status (1)
| Country | Link |
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| CN (1) | CN100391791C (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107914887A (en) * | 2017-11-30 | 2018-04-17 | 中国科学院工程热物理研究所 | Unmanned vehicle engine control system and its method of modifying |
| CN108100234A (en) * | 2017-12-03 | 2018-06-01 | 中国直升机设计研究所 | A kind of helicopter tail rotor servo actuator benchmark method of adjustment |
| CN109677603A (en) * | 2019-02-22 | 2019-04-26 | 一飞智控(天津)科技有限公司 | Helicopter rotor operation device and rotor driver |
| CN110109472A (en) * | 2019-04-25 | 2019-08-09 | 广州笨笨网络科技有限公司 | A kind of unmanned aerial vehicle (UAV) control method, system, terminal and unmanned plane |
| CN110573426A (en) * | 2017-03-02 | 2019-12-13 | 通用电气阿维奥有限责任公司 | System and method for testing control logic of a propeller of a gas turbine engine |
| CN110723277A (en) * | 2019-11-28 | 2020-01-24 | 湖南捷飞科技有限公司 | Unmanned digital telex control mechanism based on mosquito manned helicopter |
| CN112173136A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Engine mechanical accelerator operating system for helicopter |
| CN113119085A (en) * | 2021-03-24 | 2021-07-16 | 北京航空航天大学 | Helicopter flight driving robot system |
| CN113146649A (en) * | 2021-03-24 | 2021-07-23 | 北京航空航天大学 | Helicopter piloting robot system for controlling helicopter steering column |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4573873A (en) * | 1983-01-13 | 1986-03-04 | Hughes Helicopters, Inc. | Collective and cyclic in-mast pitch control system for a helicopter |
| US5209429A (en) * | 1991-05-16 | 1993-05-11 | United Technologies Corporation | Helicopter with retractable rotor for transport |
-
2003
- 2003-12-29 CN CNB2003101228750A patent/CN100391791C/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110573426B (en) * | 2017-03-02 | 2023-02-28 | 通用电气阿维奥有限责任公司 | System and method for testing control logic of a propeller of a gas turbine engine |
| CN110573426A (en) * | 2017-03-02 | 2019-12-13 | 通用电气阿维奥有限责任公司 | System and method for testing control logic of a propeller of a gas turbine engine |
| CN107914887A (en) * | 2017-11-30 | 2018-04-17 | 中国科学院工程热物理研究所 | Unmanned vehicle engine control system and its method of modifying |
| CN107914887B (en) * | 2017-11-30 | 2024-03-05 | 中国科学院工程热物理研究所 | Unmanned aerial vehicle engine control system and modification method thereof |
| CN108100234A (en) * | 2017-12-03 | 2018-06-01 | 中国直升机设计研究所 | A kind of helicopter tail rotor servo actuator benchmark method of adjustment |
| CN109677603A (en) * | 2019-02-22 | 2019-04-26 | 一飞智控(天津)科技有限公司 | Helicopter rotor operation device and rotor driver |
| CN109677603B (en) * | 2019-02-22 | 2024-02-27 | 一飞智控(天津)科技有限公司 | Helicopter rotor wing control device and rotor wing device |
| CN110109472A (en) * | 2019-04-25 | 2019-08-09 | 广州笨笨网络科技有限公司 | A kind of unmanned aerial vehicle (UAV) control method, system, terminal and unmanned plane |
| CN110723277A (en) * | 2019-11-28 | 2020-01-24 | 湖南捷飞科技有限公司 | Unmanned digital telex control mechanism based on mosquito manned helicopter |
| CN110723277B (en) * | 2019-11-28 | 2021-05-07 | 湖南捷飞科技有限公司 | Unmanned digital telex control mechanism based on mosquito manned helicopter |
| CN112173136A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Engine mechanical accelerator operating system for helicopter |
| CN113146649A (en) * | 2021-03-24 | 2021-07-23 | 北京航空航天大学 | Helicopter piloting robot system for controlling helicopter steering column |
| CN113119085A (en) * | 2021-03-24 | 2021-07-16 | 北京航空航天大学 | Helicopter flight driving robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100391791C (en) | 2008-06-04 |
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