CN210942239U - Radius unequal longitudinal three-rotor helicopter - Google Patents

Radius unequal longitudinal three-rotor helicopter Download PDF

Info

Publication number
CN210942239U
CN210942239U CN201921893493.0U CN201921893493U CN210942239U CN 210942239 U CN210942239 U CN 210942239U CN 201921893493 U CN201921893493 U CN 201921893493U CN 210942239 U CN210942239 U CN 210942239U
Authority
CN
China
Prior art keywords
rotor
rotors
helicopter
wing
blades
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201921893493.0U
Other languages
Chinese (zh)
Inventor
江富余
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN201921893493.0U priority Critical patent/CN210942239U/en
Application granted granted Critical
Publication of CN210942239U publication Critical patent/CN210942239U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Toys (AREA)

Abstract

A longitudinal three-rotor helicopter with unequal radiuses is characterized in that a longitudinal beam is arranged at the top of a helicopter body, a small tower of an airfoil is arranged in front of the helicopter body, a middle of the helicopter body and a back of the helicopter body respectively, the small tower at the back of the helicopter body is higher than the small tower at the front of the helicopter body, a rotor is arranged on each small tower, the rotating surfaces of the three rotors are horizontal and have equal intervals, blades of each rotor are connected with a rotor shaft through a shell pattern, the shell pattern of the rotor is provided with a blade flapping device consisting of a flapping hinge, a shimmying hinge and a variable pitch hinge, a total pitch and periodic variable pitch controller is arranged for controlling the magnitude and the direction of the lifting force of the rotors, a transmission device is arranged for enabling the angular speeds of the three rotors to be the same, the turning directions of the front rotor and the back rotor are the same and are opposite to the turning direction of the middle rotor, each rotor is composed of blades with the same wing profile, the same, the rotor wing synchronizer can keep the phase difference of the three rotor wings constant all the time, and an undercarriage is arranged below the aircraft body and is applied to rescue, transportation and the like.

Description

Radius unequal longitudinal three-rotor helicopter
Technical Field
The utility model relates to a do not rely on airport to adopt many rotors vertical lift, hover, the unequal indulge tandem type three rotor helicopter of radius of flying all around.
Background
The prior known successful methods of helicopters capable of realizing vertical lifting, hovering, front-back left-right flying comprise a single-rotor helicopter and a tandem double-rotor helicopter, wherein the single-rotor helicopter is used for controlling a pitching single-rotor wing and a rolling single-rotor wing, the course of the single-rotor helicopter is specially controlled by a propeller, and the helicopter has the advantages of simple structure and flexible control, but the counter torque of the rotor wing of the single-rotor helicopter needs to be balanced by a tail propeller vertical to a rotating surface, the propeller does not generate a lifting force in the vertical direction and consumes a little power, the tandem double-rotor helicopter has the advantages that because a pair of forward and reverse rotating rotors with the same speed and size are adopted, the counter torques of the rotor wings are mutually offset, a little power is saved, but two rotor wings are required to participate in the control of the pitching single-rotor wing, the rolling single-rotor wing and the course, the pitching single-rotor wing, the rolling single, the course stability is poor.
Disclosure of Invention
In order to save the power of balanced reaction torque, improve the manipulation characteristic of helicopter, the better manipulation characteristic of existing single rotor helicopter has the advantage that the reaction torque of tandem double rotor helicopter's rotor offsets each other again, the utility model provides a radius varies tandem three rotor helicopters, realizes this target.
The utility model provides a technical scheme that its technical problem adopted is: a vertical three-rotor helicopter with unequal radii is characterized in that an undercarriage is arranged below a helicopter body and close to the center of gravity, a longitudinal beam is arranged at the top of the helicopter body, a first small wing-shaped tower is arranged on a cantilever at the front end of the longitudinal beam, a first rotor wing is arranged on the first small tower, the center of the longitudinal beam is arranged above the center of gravity, a second small wing-shaped tower is arranged at the top of the helicopter body above the center of gravity, a second rotor wing is arranged on the second small tower, a third small wing-shaped tower is arranged on a cantilever at the rear end of the longitudinal beam, a third rotor wing is arranged on the third small tower, the three towers are arranged at equal intervals, the third tower is higher than the second small tower, the second small tower is higher than the first small tower, the influence of washing air flow in front of the rotor wings on the rotor wings behind is reduced, the small towers of the wing-shaped towers have the function of vertical tail wings, the intervals of the three rotor wings on the three small towers are equal, and the interval size is smaller than the diameter of the middle rotor wing, the second rotor rotating surface on the second small tower is partially overlapped with the third rotor rotating surface on the third small tower on the horizontal projection, the occupied space of the three rotors is reduced, the rotating surface of each rotor is horizontally arranged, the blade of each rotor is connected with the rotor shaft through a propeller shell, the propeller shell is provided with a blade flapping device consisting of a flapping hinge, a shimmying hinge and a variable pitch hinge, a total pitch controller is arranged to operate the magnitude of the lifting force of the rotors, a periodic variable pitch controller is arranged to operate the dump angle of the rotating surface of the rotor tip, so that the lifting force direction of the rotors is changed, an engine is arranged, the three rotors are driven to rotate simultaneously through a transmission device, the angular speeds of the three rotors are the same, the steering directions of the first rotor and the third rotor are the same, the steering of the first rotor and the second rotor are opposite, each rotor is composed of the same wing type, the same aspect ratio and the same number of blades, the paddle radius of front and back rotor is the same, and the paddle radius of front and back rotor equals middle rotor paddle radius 0.87 times, and the sum of the counter torque that first rotor and third rotor were adopted is equal opposite direction with the counter torque quantity of second rotor, and the counter torque of three rotors offsets each other, and rotor synchronizer makes the phase difference of three rotors remain invariable all the time, prevents rotor paddle collision each other.
The interval that sets up three towelettes equals, and the third towelette is higher than the second towelette, and the second towelette is higher than first towelette, can reduce the rotor in front and wash the influence of air current to the rotor behind down.
The interval of three rotors on the three pylons is equal, and this interval size is less than the diameter of the second rotor, makes first rotor rotating surface on the first pylon and the second rotor rotating surface on the second pylon have the part to overlap on the horizontal projection, and the second rotor rotating surface on the second pylon and the third rotor rotating surface on the third pylon have the part to overlap on the horizontal projection, has saved the occupation space of three rotors.
The paddle shell of each rotor is connected with a rotor shaft through a paddle shell, the paddle shell is provided with a paddle waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, a total pitch controller is arranged for controlling the lift force of the rotor, and a periodic variable pitch controller is arranged for controlling the dumping angle of a rotating surface of a rotor tip, so that the lift force direction of the rotor is changed.
The engine is arranged, the three rotors are driven by the transmission device at the same time, the angular speeds of the three rotors are the same, the first rotor and the third rotor are enabled to rotate in the same direction, and the first rotor and the second rotor are enabled to rotate in opposite directions.
Each rotor wing is composed of blades with the same number, the first rotor wing and the third rotor wing are provided with blades with the same number and the same size, the second rotor wing is provided with blades with the same number, the same airfoil shape and the same aspect ratio as those of the first rotor wing, but the radius of the second rotor wing is larger than that of the first rotor wing, and the radius of the first rotor wing is 0.87 times that of the second rotor wing.
Setting: it adopts two paddles to establish first rotor, and two paddles are adopted to third rotor, and two paddles are adopted to second rotor, and the paddle radius of second rotor is
Figure DEST_PATH_315698DEST_PATH_IMAGE001
The first rotor has a blade radius of 0.87%
Figure DEST_PATH_899126DEST_PATH_IMAGE001
The third rotor also had a blade radius of 0.87 ×
Figure DEST_PATH_680000DEST_PATH_IMAGE001
When adopting this kind of paddle setting, set up rotor synchronizer and make, the adjacent paddle phase difference of first rotor and second rotor 90, the adjacent paddle phase difference 90 of second rotor and third rotor prevents rotor blade collision each other to reduce the height that the small tower needs.
Or setting: if a first rotor adopts three blades, a third rotor adopts three blades, a second rotor adopts three blades, and the radius of the blades of the second rotor is
Figure DEST_PATH_321066DEST_PATH_IMAGE001
The first rotor has a blade radius of 0.87%
Figure DEST_PATH_630824DEST_PATH_IMAGE001
The third rotor also had a blade radius of 0.87 ×
Figure DEST_PATH_701548DEST_PATH_IMAGE001
When the blade setting is adopted, the rotor synchronizing device is arranged to ensure that the phase difference between the adjacent blades of the first rotor and the second rotor is 60 degrees, and the phase difference between the adjacent blades of the second rotor and the third rotor is 60 degrees, so that the rotor blades are prevented from colliding with each other, and the height required by the small tower is reduced.
Or further provided with: if a first rotor adopts four blades, a third rotor adopts four blades, a second rotor adopts four blades, and the radius of the blades of the second rotor is
Figure DEST_PATH_286114DEST_PATH_IMAGE001
The first rotor has a blade radius of 0.87%
Figure DEST_PATH_125894DEST_PATH_IMAGE001
The third rotor also had a blade radius of 0.87 ×
Figure DEST_PATH_13078DEST_PATH_IMAGE001
When adopting this kind of paddle setting, set up rotor synchronizer and make, the adjacent paddle phase difference 45 of first rotor and second rotor, the adjacent paddle phase difference 45 of second rotor and third rotor prevents rotor blade collision each other to reduce the height that the small tower needs.
An undercarriage is arranged under the fuselage near the center of gravity.
The working principle of the vertical three-rotor helicopter with unequal radiuses is as follows: for convenience of explanation, a rotor with 3 blades is taken as an example, and a first rotor and a third rotor rotate anticlockwise, a second rotor rotates clockwise, the first rotor adopts three blades, the third rotor adopts three blades, and the second rotor adopts three blades.
The rotor synchronizer enables the phase difference between adjacent blades of the first rotor and the second rotor to be always kept at 60 degrees, enables the phase difference between adjacent blades of the second rotor and the third rotor to be always kept at 60 degrees, and therefore even if the distances between the three rotors are equal and smaller than the diameters of the rotors, the blades of the rotors cannot collide with each other.
Let the radius of the first rotor be R1The second rotor has a blade radius R2The third rotor has a blade radius of R3，The width of the first rotor blade is b1The second rotor has a blade width of b2The third rotor has a blade width of b3The angular velocities of the three rotors are the same
Figure DEST_PATH_305519DEST_PATH_IMAGE002
。
The aspect ratios of the three rotors are the same, so:
Figure DEST_PATH_693775DEST_PATH_IMAGE003
…………………………………………(1)
Figure DEST_PATH_388062DEST_PATH_IMAGE004
…………………………………………(2)
setting the solidity of the first rotor wing as
Figure DEST_PATH_695415DEST_PATH_IMAGE005
The second rotor has a solidity of
Figure DEST_PATH_740732DEST_PATH_IMAGE006
The third rotor has solidity of
Figure DEST_PATH_667099DEST_PATH_IMAGE007
。
Figure DEST_PATH_215892DEST_PATH_IMAGE008
………………………………………………（3）
Figure DEST_PATH_710459DEST_PATH_IMAGE009
………………………………………………（4）
Figure DEST_PATH_977492DEST_PATH_IMAGE010
………………………………………………（5）
Wherein K is the blade number of the rotor, and K = 3. The solidity of the three rotors is the same:
Figure DEST_PATH_176392DEST_PATH_IMAGE005
=
Figure DEST_PATH_110850DEST_PATH_IMAGE006
………………………………………………（6）
Figure DEST_PATH_369793DEST_PATH_IMAGE006
=
Figure DEST_PATH_779915DEST_PATH_IMAGE007
………………………………………………（7）
the torque formula for the rotor is:
Figure DEST_PATH_516927DEST_PATH_IMAGE011
…………………………………………（8）
in the formula
Figure DEST_PATH_40312DEST_PATH_IMAGE012
The torque of the rotor is transmitted to the rotor,
Figure DEST_PATH_1315DEST_PATH_IMAGE013
the torque coefficient of the rotor is such that,
Figure DEST_PATH_977361DEST_PATH_IMAGE014
the density of the air is higher than that of the air,
Figure DEST_PATH_924588DEST_PATH_IMAGE015
the radius of the rotor wing is such that,
Figure DEST_PATH_568059DEST_PATH_IMAGE016
the angular velocity of the rotor.
The first rotor has a torque coefficient of
Figure DEST_PATH_434384DEST_PATH_IMAGE017
The torque of the first rotor being
Figure DEST_PATH_163306DEST_PATH_IMAGE018
：
Figure DEST_PATH_897912DEST_PATH_IMAGE019
…………………………………………（9）
The second rotor has a torque coefficient of
Figure DEST_PATH_395890DEST_PATH_IMAGE020
The torque of the second rotor is
Figure DEST_PATH_433116DEST_PATH_IMAGE021
：
Figure DEST_PATH_649334DEST_PATH_IMAGE022
…………………………………………（10）
The third rotor has a torque coefficient of
Figure DEST_PATH_938364DEST_PATH_IMAGE023
The third rotor has a torque of
Figure DEST_PATH_290847DEST_PATH_IMAGE024
：
Figure DEST_PATH_233396DEST_PATH_IMAGE025
…………………………………………（11）
Since the counter-torque of the rotors is proportional to the torque of the rotors, the torque of the rotors is the same, the counter-torque is also the same, since the first and third rotors are the same, R1=R3，
Figure DEST_PATH_202489DEST_PATH_IMAGE026
=
Figure DEST_PATH_623106DEST_PATH_IMAGE027
Therefore, the temperature of the molten steel is controlled,
Figure DEST_PATH_751468DEST_PATH_IMAGE028
=
Figure DEST_PATH_599338DEST_PATH_IMAGE029
the reaction torque of the first rotor and the third rotor is the same.
Order to
Figure DEST_PATH_55727DEST_PATH_IMAGE030
=
Figure DEST_PATH_280035DEST_PATH_IMAGE031
+
Figure DEST_PATH_607111DEST_PATH_IMAGE032
I.e. by
Figure DEST_PATH_297987DEST_PATH_IMAGE030
=2*
Figure DEST_PATH_710513DEST_PATH_IMAGE031
The sum of the reactive torques of the first and third rotors is equal to the reactive torque of the second rotor, the first and third rotors turn in the same direction and in opposite directions to the direction of the second rotor, and since the angular velocities of the three rotors are the same, the sum of the reactive torques of the first and third rotors is equal in number to the reactive torque of the second rotor and in opposite directions, the reactive torques of the three rotors cancel each other out.
Figure DEST_PATH_4092DEST_PATH_IMAGE033
=2*（
Figure DEST_PATH_185674DEST_PATH_IMAGE034
Figure DEST_PATH_296718DEST_PATH_IMAGE034
） …………………………………（11）
Because the solidity of three rotors is the same, and the wing section is the same, and aspect ratio is the same, and the paddle quantity is the same, so the torque coefficient of rotor is close the same:
Figure DEST_PATH_196541DEST_PATH_IMAGE035
≈
Figure DEST_PATH_293810DEST_PATH_IMAGE036
……………………………………………（12）
Figure DEST_PATH_329899DEST_PATH_IMAGE035
≈
Figure DEST_PATH_956053DEST_PATH_IMAGE037
……………………………………………（13）
equation (11) is simplified as:
Figure DEST_PATH_749697DEST_PATH_IMAGE038
=2
Figure DEST_PATH_853919DEST_PATH_IMAGE039
…………………………………………………（14）
Figure DEST_PATH_541252DEST_PATH_IMAGE040
…………………………………………………（15）
Figure DEST_PATH_338307DEST_PATH_IMAGE041
……………………………………………（16）
solving formula (16) to obtain:
Figure DEST_PATH_602935DEST_PATH_IMAGE042
≈0.87
Figure DEST_PATH_776427DEST_PATH_IMAGE001
since the angular velocities of the three rotors are the same, the blade radius at the second rotor is
Figure DEST_PATH_318267DEST_PATH_IMAGE001
The first rotor has a blade radius of 0.87%
Figure DEST_PATH_286223DEST_PATH_IMAGE001
The third rotor also had a blade radius of 0.87 ×
Figure DEST_PATH_382355DEST_PATH_IMAGE001
The sum of the reaction torques of the first and third rotors is equal in number to the reaction torque of the second rotor, but in opposite directions, so that the reaction torques of the three rotors cancel each other out.
The accelerator of an engine for driving the rotors is increased, meanwhile, the total distance of the three rotors is increased, the lift force of the three rotors is increased, and when the total lift force is larger than the weight of the tandem three-rotor helicopter with unequal radii, the tandem three-rotor helicopter with unequal radii vertically ascends.
And reducing the throttle of an engine for driving the rotor, and hovering the unequal-radius tandem three-rotor helicopter when the total lift force is equal to the weight of the unequal-radius tandem three-rotor helicopter.
And continuously reducing the throttle of an engine driving the rotor wing, and when the total lift force is less than the weight of the tandem three-rotor helicopter with unequal radii, the tandem three-rotor helicopter with unequal radii vertically descends.
When the tandem three-rotor helicopter with unequal radii is in the air, the cyclic variable pitch controller of the first rotor is operated to tilt rightwards, the tip rotating surface of the first rotor tilts rightwards, the lift force of the first rotor tilts rightwards, meanwhile, the cyclic variable pitch controller of the third rotor is operated to tilt leftwards, the tip rotating surface of the third rotor tilts leftwards, the lift force of the third rotor tilts leftwards, the first rotor and the third rotor jointly generate a right-steering torque, and the torque drives the helicopter body to steer rightwards; the cyclic pitch controller of manipulating the first rotor wing inclines to the left, the tip rotating surface of the first rotor wing inclines to the left, the lift force of the first rotor wing inclines to the left, meanwhile, the cyclic pitch controller of manipulating the third rotor wing inclines to the right, the tip rotating surface of the third rotor wing inclines to the right, the lift force of the third rotor wing inclines to the right, the first rotor wing and the third rotor wing jointly generate a left steering moment, and the moment drives the fuselage to steer to the left, so that course manipulation is realized.
When the tandem three-rotor helicopter with unequal radii is in the air, the cyclic pitch controller for operating the second rotor wing inclines forwards, the rotating surface of the tip of the second rotor wing inclines forwards, the lifting force of the second rotor wing inclines forwards, and the helicopter body inclines forwards; the pitch controller for operating the second rotor wing tilts backwards, the tip rotating surface of the second rotor wing tilts backwards, the lifting force of the second rotor wing tilts backwards, and the machine body tilts backwards to realize pitching operation.
When the tandem three-rotor helicopter with unequal radii is in the air, the cyclic pitch controller of the second rotor wing is operated to incline leftward, the rotating plane of the tip of the second rotor wing inclines leftward, and the lift force of the second rotor wing inclines leftward, so that the helicopter body rolls leftward; the cyclic pitch controller for operating the second rotor wing inclines rightwards, the tip rotating surface of the second rotor wing inclines rightwards, and the lift force of the second rotor wing inclines rightwards, so that the aircraft body rolls rightwards, and the roll operation is realized.
When the longitudinal three-rotor helicopter with unequal radiuses is in the air, the helicopter body is controlled to bow forwards, meanwhile, an accelerator of an engine for driving the three rotors is increased, and the longitudinal three-rotor helicopter with unequal radiuses flies forwards; the helicopter body is controlled to tilt backwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter with unequal radiuses flies backwards; the helicopter body is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem type three-rotor helicopter with unequal radiuses flies leftwards; the helicopter body is controlled to roll rightwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem type three-rotor helicopter with unequal radiuses flies rightwards.
Pitching and rolling are controlled by the second rotor wing, the course is controlled by the first rotor wing and the third rotor wing, the second rotor wing does not participate in the course control, the course control is independent, the control characteristic of the longitudinal three-rotor helicopter with unequal radiuses is improved, and the control characteristic is similar to that of a single-rotor helicopter (the single-rotor helicopter, the rotor wings control pitching and rolling, and the tail propeller controls the course).
The blade radius at the second rotor is
Figure DEST_PATH_234905DEST_PATH_IMAGE001
The first rotor has a blade radius of 0.87%
Figure DEST_PATH_365672DEST_PATH_IMAGE001
The third rotor also had a blade radius of 0.87 ×
Figure DEST_PATH_35687DEST_PATH_IMAGE001
Wherein the coefficient 0.87 is
Figure DEST_PATH_619115DEST_PATH_IMAGE035
≈
Figure DEST_PATH_524623DEST_PATH_IMAGE037
，
Figure DEST_PATH_509897DEST_PATH_IMAGE035
≈
Figure DEST_PATH_350814DEST_PATH_IMAGE036
The approximate result of (a) is that within plus or minus 5 percent of 0.87, i.e., 0.82-0.92, the reactive torques of the three rotors are substantially cancelled, the uncancelled reactive torques interfere with the heading, and the interference is overcome by the heading steering of the first and third rotors.
The utility model has the advantages that the three rotors are adopted, the load capacity is much larger than that of a single-rotor helicopter, the reaction torques of the three rotors are mutually offset, and the power consumption for overcoming the reaction torque is reduced; the three rotors are adopted, course control is executed by the special rotors, the three rotors are similar to the single-rotor helicopter in control, the rotating surfaces are partially overlapped on the horizontal projection, the occupied space of the tandem three-rotor helicopter is saved, the three rotors adopt the same solidity, the hovering efficiency is improved, and the tandem layout is suitable for flying in narrow places.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a three-view diagram of a structure of the utility model of a vertical three-rotor helicopter with unequal radiuses and two paddles for each rotor.
Fig. 2 is a three-view diagram of the structure of the utility model of the vertical three-rotor helicopter with unequal radiuses and three blades adopted by each rotor.
Fig. 3 is a three-view diagram of a structure of the present invention, in which each rotor of the vertical three-rotor helicopter with unequal radii adopts four blades.
In the figure 1, a first rotor with two blades, 2, a second rotor with two blades, 3, a third rotor with two blades, 4, a collective and cyclic pitch controller of the first rotor, 5, a collective and cyclic pitch controller of the second rotor, 6, a collective and cyclic pitch controller of the third rotor, 7, a first tower, 8, a second tower, 9, a third tower, 10, a stringer, 11, a fuselage, 12, an undercarriage, 301, a first rotor with three blades, 302, a second rotor with three blades, 303, a third rotor with three blades,
401. a first rotor with four blades is used 402. a second rotor with four blades is used 403. a third rotor with four blades, p.
Detailed Description
In the embodiment shown in fig. 1, a longitudinal beam, hereinafter referred to as a longitudinal beam (10), is arranged at the top of a fuselage (11), a first small tower (7) is arranged on a cantilever at the front end of the longitudinal beam (10), the first small tower (7) of the wing profile plays the role of a vertical tail wing, a first rotor wing (1) consisting of two blades is arranged on the first small tower (7), the center of the longitudinal beam (10) is positioned above the gravity center (P), the top of the machine body (11) above the gravity center (P) is provided with a second small tower (8), the second small tower (8) of the wing profile plays the role of a vertical tail wing, a second rotor wing (2) consisting of two blades is arranged on the second small tower (8), a third small tower (9) is arranged on a cantilever at the rear end of the longitudinal beam (10), the third small tower (9) of the wing profile plays the role of a vertical tail wing, and a third rotor (3) consisting of two blades is arranged on the third small tower (9).
The interval that sets up three towelettes equals, and third towelette (9) are than second towelette height (8), and second towelette (8) are than first towelette height (7), can reduce the influence of rotor downwash air current in front to the rotor behind.
The interval of three rotors on three pylons is equal, and this interval size is less than the diameter of second rotor (2), makes first rotor (1) rotating surface on first pylon (7) and second rotor (2) rotating surface on second pylon (8) have the part to overlap on the horizontal projection, and second rotor (2) rotating surface on second pylon (8) and third rotor (3) rotating surface on third pylon (9) have the part to overlap on the horizontal projection, has saved the occupation space of three rotors.
The paddle shell of each rotor is connected with a rotor shaft through a paddle shell, the paddle shell is provided with a paddle waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, a total pitch controller is arranged for controlling the lift force of the rotor, and a periodic variable pitch controller is arranged for controlling the dumping angle of a rotating surface of a rotor tip, so that the lift force direction of the rotor is changed.
The total pitch and cyclic pitch controller (4) drives the blade pitch of the first rotor (1), the total pitch and cyclic pitch controller (5) drives the blade pitch of the second rotor (2), and the total pitch and cyclic pitch controller (6) drives the blade pitch of the third rotor (3).
The engine is arranged, the three rotors are driven simultaneously through the transmission device, the angular speeds of the three rotors are the same, the steering directions of the first rotor (1) and the third rotor (3) are the same, and the steering directions of the first rotor (1) and the second rotor (2) are opposite.
Setting: the second rotor (2) has a blade radius R2The first rotor (1) has a blade radius of 0.87R2The third rotor (3) also has a blade radius of 0.87R2The rotor wing synchronizer is arranged to ensure that the phase difference between adjacent blades of the first rotor wing (1) and the second rotor wing (2) is 90 degrees, the phase difference between adjacent blades of the second rotor wing (2) and the third rotor wing (3) is 90 degrees, so that the rotor wings are prevented from colliding with each other, and the height required by a small tower is reduced.
An undercarriage (12) is arranged under the fuselage (10) near the center of gravity (P).
The working principle of the tandem three-rotor helicopter with unequal radiuses is as follows: and a first rotor (1) and a third rotor (3) are arranged to rotate anticlockwise, and a second rotor (2) rotates clockwise.
Let the radius of the first rotor (1) be R1The second rotor (2) has a blade radius R2The third rotor (3) has a blade radius R3，The width of the first rotor (1) is b1The width of the second rotor (2) is b2The width of the third rotor (3) is b3The angular velocities of the three rotors are the same
Figure DEST_PATH_421538DEST_PATH_IMAGE002
。
The aspect ratios of the three rotors are the same, so:
Figure DEST_PATH_474945DEST_PATH_IMAGE043
…………………………………………(17)
Figure DEST_PATH_721250DEST_PATH_IMAGE044
…………………………………………(18)
setting the solidity of a first rotor (1) as
Figure DEST_PATH_201909DEST_PATH_IMAGE045
The second rotor (2) has a solidity of
Figure DEST_PATH_25509DEST_PATH_IMAGE046
The third rotor (3) has the solidity of
Figure DEST_PATH_882607DEST_PATH_IMAGE047
。
Figure DEST_PATH_244404DEST_PATH_IMAGE048
………………………………………………（19）
Figure DEST_PATH_895965DEST_PATH_IMAGE049
………………………………………………（20）
Figure DEST_PATH_941282DEST_PATH_IMAGE050
………………………………………………（21）
Wherein K is the blade number of the rotor, and K = 2. The solidity of the three rotors is the same:
Figure DEST_PATH_867649DEST_PATH_IMAGE045
=
Figure DEST_PATH_416442DEST_PATH_IMAGE046
………………………………………………（22）
Figure DEST_PATH_911009DEST_PATH_IMAGE046
=
Figure DEST_PATH_178042DEST_PATH_IMAGE047
………………………………………………（23）
the torque formula for the rotor is:
Figure DEST_PATH_642521DEST_PATH_IMAGE051
…………………………………………（24）
in the formula
Figure DEST_PATH_311400DEST_PATH_IMAGE052
Torque of rotor
Figure DEST_PATH_226135DEST_PATH_IMAGE053
The torque coefficient of the rotor is such that,
Figure DEST_PATH_714886DEST_PATH_IMAGE054
the density of the air is higher than that of the air,
Figure DEST_PATH_717477DEST_PATH_IMAGE055
the radius of the rotor wing is such that,
Figure DEST_PATH_772020DEST_PATH_IMAGE002
the angular velocity of the rotor.
The first rotor (1) has a torque coefficient of
Figure DEST_PATH_936285DEST_PATH_IMAGE035
The torque of the first rotor being
Figure DEST_PATH_584436DEST_PATH_IMAGE031
：
Figure DEST_PATH_125138DEST_PATH_IMAGE056
…………………………………………（25）
The second rotor (2) has a torque coefficient of
Figure DEST_PATH_34188DEST_PATH_IMAGE037
The torque of the second rotor is
Figure DEST_PATH_634934DEST_PATH_IMAGE030
：
Figure DEST_PATH_98276DEST_PATH_IMAGE057
…………………………………………（26）
The third rotor (3) has a torque coefficient of
Figure DEST_PATH_708249DEST_PATH_IMAGE036
The third rotor has a torque of
Figure DEST_PATH_206227DEST_PATH_IMAGE032
：
Figure DEST_PATH_633666DEST_PATH_IMAGE058
…………………………………………（27）
Since the counter-torque of the rotors is proportional to the torque of the rotors, the torque of the rotors is the same, the counter-torque is also the same, since the first rotor (1) and the third rotor (3) are the same, R is1=R3，
Figure DEST_PATH_849884DEST_PATH_IMAGE035
=
Figure DEST_PATH_138914DEST_PATH_IMAGE036
Therefore, the temperature of the molten steel is controlled,
Figure DEST_PATH_491398DEST_PATH_IMAGE031
=
Figure DEST_PATH_168367DEST_PATH_IMAGE032
the reaction torque of the first rotor (1) and the third rotor (3) is the same.
Order to
Figure DEST_PATH_137460DEST_PATH_IMAGE030
=
Figure DEST_PATH_823656DEST_PATH_IMAGE031
+
Figure DEST_PATH_686439DEST_PATH_IMAGE032
I.e. by
Figure DEST_PATH_799888DEST_PATH_IMAGE030
=2*
Figure DEST_PATH_256277DEST_PATH_IMAGE031
The sum of the reactive torques of the first rotor (1) and the third rotor (3) is equal to the reactive torque of the second rotor (2), the first rotor (1) and the third rotor (3) rotate anticlockwise, the second rotor (2) rotates clockwise, and since the angular speeds of the three rotors are the same, the sum of the reactive torques of the first rotor (1) and the third rotor (3) is equal to the reactive torque of the second rotor (2) in number and the directions are opposite, the reactive torques of the three rotors are mutually offset.
By
Figure DEST_PATH_480585DEST_PATH_IMAGE030
=2*
Figure DEST_PATH_214186DEST_PATH_IMAGE031
Equations (25) and (26) give:
Figure DEST_PATH_498537DEST_PATH_IMAGE033
=2*（
Figure DEST_PATH_176643DEST_PATH_IMAGE034
） ……………………………………………（27）
because the solidity of three rotors is the same, and the wing section is the same, and aspect ratio is the same, and the paddle quantity is the same, so the torque coefficient of rotor is close the same:
Figure DEST_PATH_204642DEST_PATH_IMAGE035
≈
Figure DEST_PATH_386224DEST_PATH_IMAGE036
……………………………………………（28）
Figure DEST_PATH_107056DEST_PATH_IMAGE035
≈
Figure DEST_PATH_6878DEST_PATH_IMAGE037
……………………………………………（29）
equation (27) reduces to:
Figure DEST_PATH_494360DEST_PATH_IMAGE038
=2
Figure DEST_PATH_530450DEST_PATH_IMAGE039
…………………………………………………（30）
Figure DEST_PATH_156603DEST_PATH_IMAGE040
…………………………………………………（31）
Figure DEST_PATH_684667DEST_PATH_IMAGE059
……………………………………………（32）
solving formula (32) to obtain:
Figure DEST_PATH_54469DEST_PATH_IMAGE042
≈0.87
Figure DEST_PATH_741802DEST_PATH_IMAGE001
the blade radius of the second rotor (2) is equal to
Figure DEST_PATH_538857DEST_PATH_IMAGE001
The first rotor (1) has a blade radius of 0.87%
Figure DEST_PATH_803485DEST_PATH_IMAGE001
The third rotor (3) also has a blade radius of 0.87%
Figure DEST_PATH_711398DEST_PATH_IMAGE001
The sum of the reaction torques of the first rotor (1) and the third rotor (3) is equal to the reaction torque of the second rotor (2) in number, but opposite in direction, so that the reaction torques of the three rotors cancel each other.
The accelerator of an engine for driving the rotors is increased, meanwhile, the total distance of the three rotors is increased, the lift force of the three rotors is increased, and when the total lift force is larger than the weight of the tandem three-rotor helicopter with unequal radii, the tandem three-rotor helicopter with unequal radii vertically ascends.
And reducing the throttle of an engine for driving the rotor, and hovering the unequal-radius tandem three-rotor helicopter when the total lift force is equal to the weight of the unequal-radius tandem three-rotor helicopter.
And continuously reducing the throttle of an engine driving the rotor wing, and when the total lift force is less than the weight of the tandem three-rotor helicopter with unequal radii, the tandem three-rotor helicopter with unequal radii vertically descends.
When the tandem three-rotor helicopter with unequal radii is in the air, a cyclic variable-pitch controller (4) of a first rotor (1) is operated to tilt rightwards, a tip rotating surface of the first rotor (1) tilts rightwards, the lift force of the first rotor (1) tilts rightwards, meanwhile, a cyclic variable-pitch controller (6) of a third rotor (3) tilts leftwards, a tip rotating surface of the third rotor (3) tilts leftwards, the lift force of the third rotor (3) tilts leftwards, the first rotor (1) and the third rotor (3) jointly generate a rightward steering moment, and the moment drives a helicopter body (11) to steer rightwards; the pitch controller (4) of the first rotor (1) is controlled to incline to the left, the tip rotating surface of the first rotor (1) inclines to the left, the lift force of the first rotor (1) inclines to the left, meanwhile, the pitch controller (6) of the third rotor (3) is controlled to incline to the right, the tip rotating surface of the third rotor (3) inclines to the right, the lift force of the third rotor (3) inclines to the right, the first rotor (1) and the third rotor (3) jointly generate a left steering moment, and the moment drives the airframe (11) to steer to the left to realize course control.
When the tandem three-rotor helicopter with unequal radii is in the air, the cyclic pitch controller (5) for operating the second rotor (2) inclines forwards, the rotating plane of the tip of the second rotor (2) inclines forwards, the lifting force of the second rotor (2) inclines forwards, and the helicopter body (11) inclines forwards; the pitch controller (5) for operating the second rotor (2) tilts backwards, the tip rotating surface of the second rotor (2) tilts backwards, the lifting force of the second rotor (2) tilts backwards, and the machine body (11) tilts backwards to realize pitching operation.
When the tandem three-rotor helicopter with unequal radii is in the air, the cyclic pitch controller (5) of the second rotor (2) is operated to tilt to the left, the tip rotating surface of the second rotor (2) tilts to the left, and the lift force of the second rotor (2) tilts to the left, so that the helicopter body (11) rolls to the left; the cyclic pitch controller for operating the second rotor (2) inclines rightwards, the tip rotating surface of the second rotor (2) inclines rightwards, and the lift force of the second rotor (2) inclines rightwards, so that the fuselage (11) rolls rightwards, and the roll operation is realized.
When the longitudinal three-rotor helicopter with unequal radiuses is in the air, the helicopter body (11) is controlled to bow forwards, meanwhile, an accelerator of an engine driving the three rotors is increased, and the longitudinal three-rotor helicopter with unequal radiuses flies forwards; the helicopter body (11) is controlled to tilt backwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter with unequal radiuses flies backwards; the helicopter body (11) is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter with unequal radiuses flies leftwards; the fuselage (11) is controlled to roll rightwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter with unequal radiuses flies rightwards.
Pitching and rolling are controlled by the second rotor (2), the course is controlled by the first rotor (1) and the third rotor (3), the second rotor (2) does not participate in the course control, the course control is independent, the control characteristic of the three-rotor helicopter with unequal radii and vertical columns is improved, and the three-rotor helicopter is similar to the single-rotor helicopter in control (the single-rotor helicopter, the rotors control pitching and rolling, and the tail propeller controls the course).
In the embodiment shown in fig. 2, a longitudinal beam (10) is arranged at the top of a fuselage (11), a first small tower (7) is arranged on a cantilever at the front end of the longitudinal beam (10), the first small tower (7) of the wing profile plays a role of a vertical tail wing, a first rotor (301) consisting of three blades is arranged on the first small tower (7), the center of the longitudinal beam (10) is positioned above a gravity center (P), a second small tower (8) is arranged at the top of the fuselage (11) above the gravity center (P), the second small tower (8) of the wing profile plays a role of a vertical tail wing, a second rotor (302) consisting of two or three blades is arranged on the second small tower (8), a third small tower (9) is arranged on a cantilever at the rear end of the longitudinal beam (10), the third small tower (9) of the wing profile plays a role of a vertical tail wing, and a third rotor (303) consisting of three blades is arranged on the third small tower (9).
The interval that sets up three towelettes equals, and third towelette (9) are than second towelette height (8), and second towelette (8) are than first towelette height (7), can reduce the influence of rotor downwash air current in front to the rotor behind.
The interval of three rotors on three pylons is equal, and this interval size is less than the diameter of second rotor (2), makes first rotor (1) rotating surface on first pylon (7) and second rotor (2) rotating surface on second pylon (8) have the part to overlap on the horizontal projection, and second rotor (2) rotating surface on second pylon (8) and third rotor (3) rotating surface on third pylon (9) have the part to overlap on the horizontal projection, has saved the occupation space of three rotors.
The paddle shell of each rotor is connected with a rotor shaft through a paddle shell, the paddle shell is provided with a paddle waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, a total pitch controller is arranged for controlling the lift force of the rotor, and a periodic variable pitch controller is arranged for controlling the dumping angle of a rotating surface of a rotor tip, so that the lift force direction of the rotor is changed.
The collective and cyclic pitch controller (4) drives the pitch of the blades of the first rotor (301), the collective and cyclic pitch controller (5) drives the pitch of the blades of the second rotor (302), and the collective and cyclic pitch controller (6) drives the pitch of the blades of the third rotor (303).
The engine is arranged, the three rotors are driven simultaneously through the transmission device, the angular speeds of the three rotors are the same, the steering directions of the first rotor (3011) and the third rotor (303) are the same, and the steering directions of the first rotor (301) and the second rotor (302) are opposite.
Setting: the second rotor (302) has a blade radius R2The first rotor (301) has a blade radius of 0.87R2The third rotor (303) also has a blade radius of 0.87R2The rotor synchronization means are arranged so that the adjacent blades of the first rotor (301) and the second rotor (302) are 60 ° out of phase and the adjacent blades of the second rotor (302) and the third rotor (303) are 60 ° out of phase preventing the rotor blades from colliding with each other and reducing the height required by the pylons.
An undercarriage (12) is arranged under the fuselage (10) near the center of gravity (P).
The working principle of the tandem three-rotor helicopter with unequal radiuses is as follows: the first rotor wing (301) and the third rotor wing (303) rotate anticlockwise, and the second rotor wing (302) rotates clockwise.
Let the blade radius of the first rotor (301) be R1The second rotor (302) has a blade radius R2The third rotor (303) has a blade radius of R3，The width of the first rotor (301) is b1The second rotor (302) has a blade width of b2The width of the third rotor (303) is b3The angular velocities of the three rotors are the same
Figure DEST_PATH_253238DEST_PATH_IMAGE002
。
The aspect ratios of the three rotors are the same, so:
Figure DEST_PATH_221194DEST_PATH_IMAGE043
…………………………………………(33)
Figure DEST_PATH_317326DEST_PATH_IMAGE044
…………………………………………(34)
setting the solidity of a first rotor (301) as
Figure DEST_PATH_435455DEST_PATH_IMAGE045
The solidity of the second rotor (302) is
Figure DEST_PATH_566222DEST_PATH_IMAGE046
The third rotor (303) has a solidity of
Figure DEST_PATH_236237DEST_PATH_IMAGE047
。
Figure DEST_PATH_554086DEST_PATH_IMAGE048
………………………………………………（35）
Figure DEST_PATH_725173DEST_PATH_IMAGE049
………………………………………………（36）
Figure DEST_PATH_710447DEST_PATH_IMAGE050
………………………………………………（37）
Wherein K is the blade number of the rotor, and K = 3. The solidity of the three rotors is the same:
Figure DEST_PATH_551364DEST_PATH_IMAGE045
=
Figure DEST_PATH_356509DEST_PATH_IMAGE046
………………………………………………（38）
Figure DEST_PATH_409916DEST_PATH_IMAGE046
=
Figure DEST_PATH_656220DEST_PATH_IMAGE060
………………………………………………（39）
the torque formula for the rotor is:
Figure DEST_PATH_136880DEST_PATH_IMAGE051
…………………………………………（40）
in the formula
Figure DEST_PATH_226059DEST_PATH_IMAGE052
The torque of the rotor is transmitted to the rotor,
Figure DEST_PATH_817577DEST_PATH_IMAGE053
the torque coefficient of the rotor is such that,
Figure DEST_PATH_433235DEST_PATH_IMAGE054
the density of the air is higher than that of the air,
Figure DEST_PATH_84797DEST_PATH_IMAGE055
the radius of the rotor wing is such that,
Figure DEST_PATH_395692DEST_PATH_IMAGE002
the angular velocity of the rotor.
The first rotor (301) has a torque coefficient of
Figure DEST_PATH_790901DEST_PATH_IMAGE035
The torque of the first rotor being
Figure DEST_PATH_605274DEST_PATH_IMAGE031
：
Figure DEST_PATH_834261DEST_PATH_IMAGE056
…………………………………………（41）
The second rotor (302) has a torque coefficient of
Figure DEST_PATH_101294DEST_PATH_IMAGE037
The torque of the second rotor is
Figure DEST_PATH_831353DEST_PATH_IMAGE030
：
Figure DEST_PATH_500231DEST_PATH_IMAGE057
…………………………………………（42）
The third rotor (303) has a torque coefficient of
Figure DEST_PATH_149387DEST_PATH_IMAGE036
The third rotor has a torque of
Figure DEST_PATH_903717DEST_PATH_IMAGE032
：
Figure DEST_PATH_906308DEST_PATH_IMAGE061
…………………………………………（43）
Since the counter-torque of the rotors is proportional to the torque of the rotors, the torque of the rotors is the same, the counter-torque is also the same, since the first rotor (301) and the third rotor (303) are the same, R is the same1=R3，
Figure DEST_PATH_960852DEST_PATH_IMAGE035
=
Figure DEST_PATH_125117DEST_PATH_IMAGE036
Therefore, the temperature of the molten steel is controlled,
Figure DEST_PATH_773267DEST_PATH_IMAGE031
=
Figure DEST_PATH_313970DEST_PATH_IMAGE032
the reaction torque of the first rotor (301) and the third rotor (303) is the same.
Order to
Figure DEST_PATH_223020DEST_PATH_IMAGE030
=
Figure DEST_PATH_823765DEST_PATH_IMAGE031
+
Figure DEST_PATH_942900DEST_PATH_IMAGE032
I.e. by
Figure DEST_PATH_287294DEST_PATH_IMAGE030
=2*
Figure DEST_PATH_519692DEST_PATH_IMAGE031
The sum of the reactive torques of the first rotor (301) and the third rotor (303) is equal to the reactive torque of the second rotor (302), the first rotor (301) and the third rotor (303) rotate anticlockwise, the second rotor (302) rotates clockwise, and the reactive torques of the three rotors are mutually cancelled because the angular speeds of the three rotors are the same, and the sum of the reactive torques of the first rotor (301) and the third rotor (303) is equal to the reactive torque of the second rotor (302) in number and opposite in direction.
By
Figure DEST_PATH_822497DEST_PATH_IMAGE030
=2*
Figure DEST_PATH_773136DEST_PATH_IMAGE031
Formula (41) and formula (42) give:
Figure DEST_PATH_62166DEST_PATH_IMAGE033
=2*（
Figure DEST_PATH_414650DEST_PATH_IMAGE034
） ……………………………………………（44）
because the solidity of three rotors is the same, and the wing section is the same, and aspect ratio is the same, and the paddle quantity is the same, so the torque coefficient of rotor is close the same:
Figure DEST_PATH_888356DEST_PATH_IMAGE035
≈
Figure DEST_PATH_326291DEST_PATH_IMAGE036
……………………………………………（45）
Figure DEST_PATH_668279DEST_PATH_IMAGE035
≈
Figure DEST_PATH_875270DEST_PATH_IMAGE037
……………………………………………（46）
equation (44) reduces to:
Figure DEST_PATH_988719DEST_PATH_IMAGE038
=2
Figure DEST_PATH_445108DEST_PATH_IMAGE039
…………………………………………………（47）
Figure DEST_PATH_669416DEST_PATH_IMAGE040
…………………………………………………（48）
Figure DEST_PATH_403017DEST_PATH_IMAGE059
……………………………………………（49）
solving formula (49) to obtain:
Figure DEST_PATH_421789DEST_PATH_IMAGE042
≈0.87
Figure DEST_PATH_365474DEST_PATH_IMAGE001
the blade radius at the second rotor (302) is equal to
Figure DEST_PATH_393473DEST_PATH_IMAGE001
The first rotor (301) has a blade radius of 0.87%
Figure DEST_PATH_230848DEST_PATH_IMAGE001
The third rotor (303) also has a blade radius of 0.87 ×
Figure DEST_PATH_686100DEST_PATH_IMAGE001
The sum of the reaction torques of the first rotor (301) and the third rotor (303) is equal in number to the reaction torque of the second rotor (302), but in opposite directions, so that the reaction torques of the three rotors cancel each other.
The accelerator of an engine for driving the rotors is increased, meanwhile, the total distance of the three rotors is increased, the lift force of the three rotors is increased, and when the total lift force is larger than the weight of the tandem three-rotor helicopter with unequal radii, the tandem three-rotor helicopter with unequal radii vertically ascends.
And reducing the throttle of an engine for driving the rotor, and hovering the unequal-radius tandem three-rotor helicopter when the total lift force is equal to the weight of the unequal-radius tandem three-rotor helicopter.
And continuously reducing the throttle of an engine driving the rotor wing, and when the total lift force is less than the weight of the tandem three-rotor helicopter with unequal radii, the tandem three-rotor helicopter with unequal radii vertically descends.
When the tandem three-rotor helicopter with unequal radii is in the air, the cyclic pitch controller (4) of the first rotor (301) is operated to tilt rightwards, the tip rotating surface of the first rotor (1) tilts rightwards, the lift force of the first rotor (301) tilts rightwards, meanwhile, the cyclic pitch controller (6) of the third rotor (303) is operated to tilt leftwards, the tip rotating surface of the third rotor (303) tilts leftwards, the lift force of the third rotor (303) tilts leftwards, the first rotor (301) and the third rotor (303) jointly generate a right-turning moment, and the moment drives the fuselage (11) to turn rightwards; the cyclic pitch controller (4) of the first rotor wing (301) is operated to tilt to the left, the tip rotating surface of the first rotor wing (301) tilts to the left, the lift force of the first rotor wing (301) tilts to the left, meanwhile, the cyclic pitch controller (6) of the third rotor wing (303) tilts to the right, the tip rotating surface of the third rotor wing (303) tilts to the right, the lift force of the third rotor wing (303) tilts to the right, the first rotor wing (301) and the third rotor wing (303) jointly generate a left steering moment, and the moment drives the fuselage (11) to steer to the left to realize course steering.
When the tandem three-rotor helicopter with unequal radii is in the air, the cyclic controller (5) for operating the second rotor (302) tilts forwards, the rotating plane of the tip of the second rotor (302) tilts forwards, the lifting force of the second rotor (302) tilts forwards, and the fuselage (11) tilts forwards; the cyclic controller (5) for operating the second rotor wing (302) inclines backwards, the rotating surface of the tip of the second rotor wing (302) inclines backwards, the lifting force of the second rotor wing (302) inclines backwards, and the fuselage (11) tilts backwards, so that the pitching operation is realized.
When the tandem three-rotor helicopter with unequal radii is in the air, the cyclic pitch controller (5) of the second rotor (302) is operated to tilt to the left, the tip rotating surface of the second rotor (302) tilts to the left, and the lift force of the second rotor (302) tilts to the left, so that the helicopter body (11) rolls to the left; the cyclic controller of the second rotor (302) is operated to tilt to the right, the tip rotating surface of the second rotor (302) is tilted to the right, and the lift force of the second rotor (302) is tilted to the right, so that the fuselage (11) rolls to the right, thereby realizing the roll operation.
When the longitudinal three-rotor helicopter with unequal radiuses is in the air, the helicopter body (11) is controlled to bow forwards, meanwhile, an accelerator of an engine driving the three rotors is increased, and the longitudinal three-rotor helicopter with unequal radiuses flies forwards; the helicopter body (11) is controlled to tilt backwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter with unequal radiuses flies backwards; the helicopter body (11) is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter with unequal radiuses flies leftwards; the fuselage (11) is controlled to roll rightwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter with unequal radiuses flies rightwards.
Pitching and rolling are controlled by a second rotor (302), the course direction is controlled by the first rotor (301) and a third rotor (303), the second rotor (302) does not participate in the course direction control, the course direction control is independent, and the control characteristic of the three-rotor helicopter with unequal radii and longitudes is improved, and is similar to the control characteristic of a single-rotor helicopter (the single-rotor helicopter, the rotors control pitching and rolling, and the tail propeller controls the course direction).
In the embodiment shown in fig. 3, a longitudinal beam (10) is arranged at the top of a fuselage (11), a first small tower (7) is arranged on a cantilever at the front end of the longitudinal beam (10), the first small tower (7) of the wing profile plays a role of a vertical tail wing, a first rotor (401) consisting of four blades is arranged on the first small tower (7), the center of the longitudinal beam (10) is positioned above a gravity center (P), a second small tower (8) is arranged at the top of the fuselage (11) above the gravity center (P), the second small tower (8) of the wing profile plays a role of a vertical tail wing, a second rotor (402) consisting of four blades is arranged on the second small tower (8), a third small tower (9) is arranged on a cantilever at the rear end of the longitudinal beam (10), the third small tower (9) of the wing profile plays a role of a vertical tail wing, and a third rotor (403) consisting of four blades is arranged on the third small tower (9).
The interval that sets up three towelettes equals, and third towelette (9) are than second towelette height (8), and second towelette (8) are than first towelette height (7), can reduce the influence of rotor downwash air current in front to the rotor behind.
The distances among the three rotors on the three small towers are equal, and the distance is smaller than the diameter of the second rotor (402), so that the rotating surface of the first rotor (401) on the first small tower (7) is partially overlapped with the rotating surface of the second rotor (402) on the second small tower (8) in horizontal projection, and the rotating surface of the second rotor (402) on the second small tower (8) is partially overlapped with the rotating surface of the third rotor (403) on the third small tower (9) in horizontal projection, thereby saving the occupied space of the three rotors.
The paddle shell of each rotor is connected with a rotor shaft through a paddle shell, the paddle shell is provided with a paddle waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, a total pitch controller is arranged for controlling the lift force of the rotor, and a periodic variable pitch controller is arranged for controlling the dumping angle of a rotating surface of a rotor tip, so that the lift force direction of the rotor is changed.
A collective and cyclic pitch controller (4) drives the pitch of the blades of a first rotor (401), a collective and cyclic pitch controller (5) drives the pitch of the blades of a second rotor (402), and a collective and cyclic pitch controller (6) drives the pitch of the blades of a third rotor (403).
An engine is arranged, three rotors are driven simultaneously through a transmission device, the angular speeds of the three rotors are the same, the steering directions of the first rotor (401) and the third rotor (403) are the same, and the steering directions of the first rotor (401) and the second rotor (402) are opposite.
Setting: the second rotor (402) has a blade radius R2The first rotor (401) has a blade radius of 0.87R2The third rotor (403) also has a blade radius of 0.87R2The rotor synchronization means are arranged such that adjacent blades of the first rotor (401) and the second rotor (402) are out of phase by 45 DEG and adjacent blades of the second rotor (402) and the third rotor (403) are out of phase by 45 DEG to prevent the rotor blades from colliding with each other and to reduce the height required by the pylons.
An undercarriage (12) is arranged under the fuselage (10) near the center of gravity (P).
The working principle of the tandem three-rotor helicopter with unequal radiuses is as follows: the first rotor (401) and the third rotor (403) are set to rotate anticlockwise, and the second rotor (402) rotates clockwise.
Let the blade radius of the first rotor (401) be R1The second rotor (402) has a blade radius R2The third rotor (403) has a blade radius R3，The width of the first rotor (401) is b1The second rotor (402) has a blade width of b2The width of the third rotor (403) is b3The angular velocities of the three rotors are the same
Figure DEST_PATH_851502DEST_PATH_IMAGE002
。
The aspect ratios of the three rotors are the same, so:
Figure DEST_PATH_417613DEST_PATH_IMAGE043
…………………………………………(50)
Figure DEST_PATH_719281DEST_PATH_IMAGE044
…………………………………………(51)
setting the solidity of a first rotor (401) as
Figure DEST_PATH_751959DEST_PATH_IMAGE045
The second rotor (402) has a solidity of
Figure DEST_PATH_873499DEST_PATH_IMAGE046
The third rotor (403) has a solidity of
Figure DEST_PATH_774459DEST_PATH_IMAGE047
。
Figure DEST_PATH_930633DEST_PATH_IMAGE048
………………………………………………（52）
Figure DEST_PATH_383480DEST_PATH_IMAGE049
………………………………………………（53）
Figure DEST_PATH_992316DEST_PATH_IMAGE050
………………………………………………（54）
Wherein K is the blade number of the rotor, and K = 4. The solidity of the three rotors is the same:
Figure DEST_PATH_431388DEST_PATH_IMAGE045
=
Figure DEST_PATH_442069DEST_PATH_IMAGE046
………………………………………………（55）
Figure DEST_PATH_410025DEST_PATH_IMAGE046
=
Figure DEST_PATH_912682DEST_PATH_IMAGE060
………………………………………………（56）
the torque formula for the rotor is:
Figure DEST_PATH_624286DEST_PATH_IMAGE051
…………………………………………（57）
in the formula
Figure DEST_PATH_20632DEST_PATH_IMAGE052
The torque of the rotor is transmitted to the rotor,
Figure DEST_PATH_159490DEST_PATH_IMAGE053
the torque coefficient of the rotor is such that,
Figure DEST_PATH_398710DEST_PATH_IMAGE054
the density of the air is higher than that of the air,
Figure DEST_PATH_914005DEST_PATH_IMAGE055
the radius of the rotor wing is such that,
Figure DEST_PATH_164858DEST_PATH_IMAGE002
the angular velocity of the rotor.
The first rotor (401) has a torque coefficient of
Figure DEST_PATH_474616DEST_PATH_IMAGE035
The torque of the first rotor being
Figure DEST_PATH_951865DEST_PATH_IMAGE031
：
Figure DEST_PATH_5272DEST_PATH_IMAGE056
…………………………………………（58）
The second rotor (402) has a torque coefficient of
Figure DEST_PATH_845052DEST_PATH_IMAGE037
The torque of the second rotor is
Figure DEST_PATH_856870DEST_PATH_IMAGE030
：
Figure DEST_PATH_414890DEST_PATH_IMAGE057
…………………………………………（59）
The third rotor (403) has a torque coefficient of
Figure DEST_PATH_662201DEST_PATH_IMAGE036
The third rotor has a torque of
Figure DEST_PATH_356487DEST_PATH_IMAGE032
：
Figure DEST_PATH_804786DEST_PATH_IMAGE061
…………………………………………（60）
Since the counter-torque of the rotors is proportional to the torque of the rotors, the torque of the rotors is the same, the counter-torque is also the same, and since the first rotor (401) and the third rotor (403) are the same, R is the same1=R3，
Figure DEST_PATH_584523DEST_PATH_IMAGE035
=
Figure DEST_PATH_386257DEST_PATH_IMAGE036
Therefore, the temperature of the molten steel is controlled,
Figure DEST_PATH_200630DEST_PATH_IMAGE031
=
Figure DEST_PATH_554251DEST_PATH_IMAGE032
the reaction torque of the first rotor (401) and the third rotor (403) is the same.
Order to
Figure DEST_PATH_821284DEST_PATH_IMAGE030
=
Figure DEST_PATH_675976DEST_PATH_IMAGE031
+
Figure DEST_PATH_344855DEST_PATH_IMAGE032
I.e. by
Figure DEST_PATH_338219DEST_PATH_IMAGE030
=2*
Figure DEST_PATH_623707DEST_PATH_IMAGE031
The sum of the reactive torques of the first rotor (401) and the third rotor (403) is equal to the reactive torque of the second rotor (402), the first rotor (1) and the third rotor (3) rotate anticlockwise, the second rotor (2) rotates clockwise, and the reactive torques of the three rotors are mutually offset due to the fact that the angular speeds of the three rotors are the same, the sum of the reactive torques of the first rotor (1) and the third rotor (3) is equal to the reactive torque of the second rotor (2) in number and the directions are opposite.
By
Figure DEST_PATH_360718DEST_PATH_IMAGE030
=2*
Figure DEST_PATH_290628DEST_PATH_IMAGE031
Formula (58) and formula (59):
Figure DEST_PATH_720473DEST_PATH_IMAGE033
=2*（
Figure DEST_PATH_493257DEST_PATH_IMAGE034
） ……………………………………………（61）
because the solidity of three rotors is the same, and the wing section is the same, and aspect ratio is the same, and the paddle quantity is the same, so the torque coefficient of rotor is close the same:
Figure DEST_PATH_768380DEST_PATH_IMAGE035
≈
Figure DEST_PATH_79362DEST_PATH_IMAGE036
……………………………………………（62）
Figure DEST_PATH_414528DEST_PATH_IMAGE035
≈
Figure DEST_PATH_143450DEST_PATH_IMAGE037
……………………………………………（63）
equation (61) is simplified as:
Figure DEST_PATH_753423DEST_PATH_IMAGE038
=2
Figure DEST_PATH_251400DEST_PATH_IMAGE039
…………………………………………………（64）
Figure DEST_PATH_429572DEST_PATH_IMAGE040
…………………………………………………（65）
Figure DEST_PATH_380210DEST_PATH_IMAGE059
……………………………………………（66）
solving formula (66) to obtain:
Figure DEST_PATH_793874DEST_PATH_IMAGE042
≈0.87
Figure DEST_PATH_146358DEST_PATH_IMAGE001
since the angular velocities of the three rotors are the same, the blade radius at the second rotor (402) is
Figure DEST_PATH_744699DEST_PATH_IMAGE001
The first rotor (401) has a blade radius of 0.87%
Figure DEST_PATH_182633DEST_PATH_IMAGE001
The third rotor (403) also has a blade radius of 0.87 ×
Figure DEST_PATH_603250DEST_PATH_IMAGE001
The sum of the reaction torques of the first rotor (401) and the third rotor (403) is equal in number to the reaction torque of the second rotor (402), but in opposite directions, so that the reaction torques of the three rotors cancel each other.
The accelerator of an engine for driving the rotors is increased, meanwhile, the total distance of the three rotors is increased, the lift force of the three rotors is increased, and when the total lift force is larger than the weight of the tandem three-rotor helicopter with unequal radii, the tandem three-rotor helicopter with unequal radii vertically ascends.
And reducing the throttle of an engine for driving the rotor, and hovering the unequal-radius tandem three-rotor helicopter when the total lift force is equal to the weight of the unequal-radius tandem three-rotor helicopter.
And continuously reducing the throttle of an engine driving the rotor wing, and when the total lift force is less than the weight of the tandem three-rotor helicopter with unequal radii, the tandem three-rotor helicopter with unequal radii vertically descends.
When the tandem three-rotor helicopter with unequal radii is in the air, a cyclic pitch controller (4) of a first rotor (401) is operated to tilt rightwards, a tip rotating surface of the first rotor (401) tilts rightwards, the lift force of the first rotor (401) tilts rightwards, meanwhile, a cyclic pitch controller (6) of a third rotor (403) is operated to tilt leftwards, a tip rotating surface of the third rotor (403) tilts leftwards, the lift force of the third rotor (403) tilts leftwards, the first rotor (401) and the third rotor (403) jointly generate a right-turning moment, and the moment drives a fuselage (11) to turn rightwards; the cyclic pitch controller (4) of the first rotor wing (401) is operated to tilt to the left, the tip rotating surface of the first rotor wing (401) is tilted to the left, the lift force of the first rotor wing (401) is tilted to the left, meanwhile, the cyclic pitch controller (6) of the third rotor wing (403) is operated to tilt to the right, the tip rotating surface of the third rotor wing (403) is tilted to the right, the lift force of the third rotor wing (403) is tilted to the right, the first rotor wing (401) and the third rotor wing (403) jointly generate a left steering moment, and the moment drives the fuselage (11) to steer to the left to realize course steering.
When the tandem three-rotor helicopter with unequal radii is in the air, the cyclic controller (5) for operating the second rotor (402) tilts forwards, the tip rotating surface of the second rotor (402) tilts forwards, the lift force of the second rotor (402) tilts forwards, and the fuselage (11) tilts forwards; the cyclic controller (5) for operating the second rotor (402) tilts backwards, the tip rotating surface of the second rotor (402) tilts backwards, the lifting force of the second rotor (402) tilts backwards, and the fuselage (11) tilts backwards, so that the pitching operation is realized.
When the tandem three-rotor helicopter with unequal radii is in the air, the cyclic pitch controller (5) of the second rotor (402) is operated to tilt to the left, the tip rotating surface of the second rotor (402) tilts to the left, and the lift force of the second rotor (402) tilts to the left, so that the helicopter body (11) rolls to the left; the cyclic pitch controller for operating the second rotor (402) tilts to the right, the tip rotation plane of the second rotor (402) tilts to the right, and the lift force of the second rotor (402) tilts to the right, causing the fuselage (11) to roll to the right, thereby effecting roll operation.
When the longitudinal three-rotor helicopter with unequal radiuses is in the air, the helicopter body (11) is controlled to bow forwards, meanwhile, an accelerator of an engine driving the three rotors is increased, and the longitudinal three-rotor helicopter with unequal radiuses flies forwards; the helicopter body (11) is controlled to tilt backwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter with unequal radiuses flies backwards; the helicopter body (11) is controlled to roll leftwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter with unequal radiuses flies leftwards; the fuselage (11) is controlled to roll rightwards, the accelerator of an engine driving the three rotors is increased simultaneously, and the tandem three-rotor helicopter with unequal radiuses flies rightwards.
Pitching and rolling are controlled by a second rotor (402), the course direction is controlled by the first rotor (401) and a third rotor (403), the second rotor (402) does not participate in the course direction control, the course direction control is independent, and the control characteristic of the three-rotor helicopter with unequal radii and longitudes is improved, and is similar to the control of a single-rotor helicopter (the single-rotor helicopter, the rotors control the pitching and rolling, and the tail propeller controls the course direction).

Claims (5)

1. A vertical three-rotor helicopter with unequal radii is characterized in that an undercarriage is arranged below a helicopter body and close to the center of gravity, a longitudinal beam is arranged at the top of the helicopter body, a first small wing-shaped tower is arranged on a cantilever at the front end of the longitudinal beam, a first rotor wing is arranged on the first small tower, the center of the longitudinal beam is arranged above the center of gravity, a second small wing-shaped tower is arranged at the top of the helicopter body above the center of gravity, a second rotor wing is arranged on the second small tower, a third small wing-shaped tower is arranged on a cantilever at the rear end of the longitudinal beam, a third rotor wing is arranged on the third small tower, the three towers are arranged at equal intervals, the third tower is higher than the second small tower, the second small tower is higher than the first small tower, the influence of washing air flow in front of the rotor wings on the rotor wings behind is reduced, the small towers of the wing-shaped towers have the function of vertical tail wings, the intervals of the three rotor wings on the three small towers are equal, and the interval size is smaller than the diameter of the middle rotor wing, the second rotor rotating surface on the second small tower is partially overlapped with the third rotor rotating surface on the third small tower on the horizontal projection, the occupied space of the three rotors is reduced, the rotating surface of each rotor is horizontally arranged, the blade of each rotor is connected with the rotor shaft through the shell of the propeller, the shell of the propeller is provided with a blade waving device consisting of a waving hinge, a shimmy hinge and a variable pitch hinge, a total pitch controller is arranged to control the lift force of the rotors, a periodical variable pitch controller is arranged to control the dump angle of the tip rotating surface of the rotors, so that the lift force direction of the rotors is changed, an engine is arranged, and the three rotors are driven to rotate through a transmission device simultaneously, and the three-rotor-propeller-driven helicopter is characterized in that: make the angular velocity of three rotor the same, make turning to of first rotor and third rotor the same, make turning to of first rotor and second rotor opposite, every rotor adopts the same wing section, the same aspect ratio, the paddle of the same quantity is constituteed, the paddle radius of front and back rotor is the same, the paddle radius of front and back rotor equals 0.87 times of middle rotor paddle radius, the sum of the counter torque that first rotor and third rotor were adopted is equal opposite with the counter torque quantity of second rotor, the counter torque of three rotor offsets each other, rotor synchronizer makes the phase difference of three rotors remain invariable all the time, prevent rotor paddle collision each other.
2. The unequal-radius tandem triple-rotor helicopter according to claim 1, wherein the blade radii of the front and rear rotors are the same, and the blade radii of the front and rear rotors are equal to 0.82 to 0.92 times the blade radius of the intermediate rotor.
3. A rotorcraft helicopter according to claim 1, wherein two blades are used for each of the three rotors, and rotor synchronisation means is provided to maintain the phase difference between adjacent blades of the first rotor and the second rotor at 90 ° and the phase difference between adjacent blades of the second rotor and the third rotor at 90 ° to prevent the rotor blades from colliding with each other.
4. A rotorcraft helicopter according to claim 1, wherein three rotors each have three blades, and rotor synchronisation means is provided to maintain the first rotor at 60 ° out of phase with the adjacent blades of the second rotor, and the second rotor at 60 ° out of phase with the adjacent blades of the third rotor to prevent rotor blades from colliding with one another.
5. A rotorcraft helicopter according to claim 1, wherein the three rotors comprise four blades and the rotor synchronisation means is arranged such that the adjacent blades of the first rotor are always at 45 ° out of phase with the adjacent blades of the second rotor and the adjacent blades of the second rotor are always at 45 ° out of phase with the adjacent blades of the third rotor to prevent the rotor blades from colliding with each other.
CN201921893493.0U 2019-11-05 2019-11-05 Radius unequal longitudinal three-rotor helicopter Expired - Fee Related CN210942239U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921893493.0U CN210942239U (en) 2019-11-05 2019-11-05 Radius unequal longitudinal three-rotor helicopter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921893493.0U CN210942239U (en) 2019-11-05 2019-11-05 Radius unequal longitudinal three-rotor helicopter

Publications (1)

Publication Number Publication Date
CN210942239U true CN210942239U (en) 2020-07-07

Family

ID=71376307

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201921893493.0U Expired - Fee Related CN210942239U (en) 2019-11-05 2019-11-05 Radius unequal longitudinal three-rotor helicopter

Country Status (1)

Country Link
CN (1) CN210942239U (en)

Similar Documents

Publication Publication Date Title
CN105539833B (en) Fixed-wing Multi-axis aircraft
CN106915457B (en) A kind of variable co-axial helicopter steerable system of the rotor inclinator depth of parallelism up and down
CN108528692A (en) A kind of folded wing double-rotor aerobat and its control method
CN106828885A (en) A kind of use jet form control driftage and the tiltrotor of pitching
CN107042885A (en) A kind of tiltrotor of the duct structure control driftage of use fan and pitching
WO2022113086A1 (en) Rotorcraft
CN104943859A (en) Unmanned helicopter
CN210942239U (en) Radius unequal longitudinal three-rotor helicopter
CN110979649A (en) Braking differential type rotor propeller fixed wing helicopter
CN109625259A (en) Cross-arranging type propeller aircraft helicopter
CN110626494A (en) Tandem three-rotor helicopter
CN111776206A (en) Three-rotor helicopter with unequal chord lengths
CN205469816U (en) Stationary vane multiaxis aircraft
CN207482180U (en) Aircraft
CN110606199A (en) Radius unequal longitudinal three-rotor helicopter
CN211391681U (en) Synchronous reverse rotation vertical six-rotor helicopter
CN211055367U (en) Synchronous reverse rotation longitudinal four-rotor helicopter
CN211055368U (en) Tandem five-rotor helicopter
CN212172527U (en) Transverse three-rotor helicopter
CN212448070U (en) Three-rotor helicopter with unequal chord lengths
CN206278258U (en) A kind of control system of the rollover of aircraft, driftage and yaw stability
CN210083540U (en) Tandem multi-rotor heavy-load helicopter
CN110254704A (en) Division of labor formula propeller aircraft helicopter
CN107757876A (en) Aircraft
CN110789710A (en) Negative camber airfoil fuselage brake induced differential multi-rotor helicopter

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20200707