WO2015058363A1 - 旋翼驱动方法及装置 - Google Patents
旋翼驱动方法及装置 Download PDFInfo
- Publication number
- WO2015058363A1 WO2015058363A1 PCT/CN2013/085744 CN2013085744W WO2015058363A1 WO 2015058363 A1 WO2015058363 A1 WO 2015058363A1 CN 2013085744 W CN2013085744 W CN 2013085744W WO 2015058363 A1 WO2015058363 A1 WO 2015058363A1
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- WO
- WIPO (PCT)
- Prior art keywords
- rotor
- motor
- upper rotor
- rotation
- rod
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 68
- 230000009471 action Effects 0.000 claims description 27
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 230000008602 contraction Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 238000004904 shortening Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 10
- 230000005540 biological transmission Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- ULEBESPCVWBNIF-BYPYZUCNSA-N L-arginine amide Chemical compound NC(=O)[C@@H](N)CCCNC(N)=N ULEBESPCVWBNIF-BYPYZUCNSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
- B64C27/605—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical including swash plate, spider or cam mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/80—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement for differential adjustment of blade pitch between two or more lifting rotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H47/00—Combinations of mechanical gearing with fluid clutches or fluid gearing
- F16H47/02—Combinations of mechanical gearing with fluid clutches or fluid gearing the fluid gearing being of the volumetric type
Definitions
- a so-called twin-rotor coaxial helicopter includes: an upper rotor and a lower rotor having the same structure, a main shaft composed of a reversely rotating inner shaft and an outer shaft, wherein the upper rotor is mounted at one end of the inner shaft, and the lower rotor is mounted At one end of the outer shaft, and between the upper rotor and the lower rotor; wherein the upper rotor rotates with the inner shaft, and the lower rotor rotates with the outer shaft, so that the upper and lower rotors can rotate in opposite directions, and then the upper and lower rotors
- the generated torque is balanced with each other in a flight condition with no heading, no need to install the tail rotor and the tail beam, and the heading manipulation can be realized by generating an unbalanced torque by the difference between the total distance of the upper
- an embodiment of the present invention discloses a rotor driving method and apparatus to solve the drawbacks of the complicated driving process existing in the rotor driving method corresponding to the prior rotor driving system.
- the technical solution is as follows:
- an embodiment of the present invention provides a rotor driving method, which is applicable to a dual-rotor coaxial helicopter, and the double-rotor coaxial helicopter includes: an outer shaft 19; a lower rotor hub 14, fixed On the outside of one end of the outer shaft 19; at least two first blade holders connected to the lower rotor hub 14, each of the first blade holders being rotatable relative to the lower rotor hub 14 is twisted, and each of the first blade holders includes a first paddle 20 and a second paddle 22, wherein the first paddle 20 and the second paddle 22 together hold the lower rotor a paddle; an inner shaft 15; an upper rotor hub 16, fixed to an outer side of one end of the inner shaft 15; at least two second blade holders connected to
- a rotor drive system comprising an upper rotor drive system and a lower rotor drive system; the rotor drive method comprising: receiving a flight control command; Obtaining a current rotation state of the first motor 9 corresponding to at least three first servos 8 of the lower rotor drive system, and a corresponding one of the at least three second servos 58 of the upper rotor drive system The current state of rotation of the two motors 49; wherein each of the first servos 8 uniquely corresponds to a first motor 9, each of the second servos 58 uniquely corresponds to a second motor 49, and each of the first motors 9 uniquely corresponds to one In the current rotation state, each second motor 49 uniquely corresponds to a current rotation state; determining a first rotation state required by the first motor 9 according to the flight control command and the current rotation state of the first motor 9; Each of the first motors 9 uniquely corresponds to a first rotation state; determining a second rotation state required by the second motor 49 according to the flight control command and
- the flight control command is: a takeoff command, a hovering command, a forward command, a backward command, a leftward steering command, or a rightward steering command.
- determining the first rotation state required by the first motor 9 according to the flight control instruction and the current rotation state of the first motor 9 includes: according to the current rotation state of the first motor 9, Determining a current torsion angle of each of the first blade holders relative to the lower rotor hub 14; wherein each of the first blade holders uniquely corresponds to a current torsion angle; Determining the first twist required for each first blade holder to rotate relative to the lower rotor hub 14 with respect to the current torsion angle of each of the first blade holders relative to the lower rotor hub 14 An angle; wherein each of the first blade holders uniquely corresponds to a first twist Angle; determining a first rotation state required for each first motor 9 according to a first torsion angle required for each first blade holder to rotate relative to the lower rotor hub 14; correspondingly,
- an embodiment of the present invention provides a rotor driving device suitable for a dual-rotor coaxial helicopter, the twin-rotor coaxial helicopter comprising: an outer shaft 19; a lower rotor hub 14, fixed at the outer An outer side of one end of the shaft 19; at least two first blade holders coupled to the lower rotor hub 14, each of the first blade holders being rotatable relative to the lower rotor hub 14, and Each first blade holder includes a first paddle 20 and a second paddle 22, wherein the first paddle 20 and the second paddle 22 together clamp the lower rotor blade; the inner shaft 15; a rotor hub 16 fixed to an outer side of one end of the inner shaft 15; At least two second blade holders coupled to the upper rotor hub 16, each second blade holder being rotatable relative to the upper rotor hub 16, and each second blade clamp
- the holder includes a third paddle clamp 17 and a
- each second steering gear 58 includes: a housing, a second screw outer sleeve rod 28 having one end located in the housing and capable of up-and-down telescopic, each second screw An end of the outer sleeve 28 projecting from the housing is connected to the upper rotor swash plate 3;
- the rotor swash plate-fixed 3 is connected to the upper rotor swash plate-movement 4, and the upper rotor swash plate-moving 4 and
- the first sliding sleeve body 44 is disposed on the lower rotor swash plate 11 and penetrates the a through hole of the first rotation preventing lever 25;
- the second rotation preventing lever 29 is fixed at the steering gear mounting base 2 and has a through hole at the other end, and the second sliding sleeve body 30 is disposed on the upper rotating wing
- the swash plate is fixed to 3 and penetrates the through hole of the second rotation preventing lever 29.
- the first rotation state determining module includes: a current torsion angle determining unit, configured to determine, according to a current rotation state of the first motor 9, each first blade holder relative to the lower rotor a current torsion angle at which the hub 14 rotates; wherein each of the first blade holders uniquely corresponds to a current torsion angle; a first torsion angle determining unit for using the flight control command and each of the first blade clamps Determining a first twist angle required for each first blade holder to rotate relative to the lower rotor hub 14 with respect to a current torsion angle of rotation of the lower rotor hub 14; wherein, each a blade holder uniquely corresponds to a first torsion angle; a first rotation state determining unit for determining a first torsion angle required for each first blade holder to rotate relative to the lower rotor hub 14 Determining a first rotation state required for each of the first motors 9;
- the second rotation state determining module includes: a current angle determining unit,
- the flight control command is received; the current rotation state of the first motor 9 corresponding to the at least three first servos 8 is obtained, and the current state of the second motor 49 corresponding to the at least three second servos 58 is obtained.
- Rotating state determining a first rotation state required by the first motor 9 according to the flight control command and the current rotation state of the first motor 9; determining the second motor 49 according to the flight control command and the current rotation state of the second motor 49 a second rotation state required; controlling the first motor 9 to rotate in the corresponding first rotation state, so that the first screw outer casing rod 65 of each first steering gear 8 extends under the rotation of the corresponding first motor 9 Long, shortened or not moving, to drive the lower rotor swashplate - set 11 to tilt in a specific direction, and then drive the lower rotor swashplate - move 24, at least two inclined arm pull rod - lower 35, at least two paddle tilt arms - down
- the rotor 13 moves to thereby twist the first blade holder relative to the lower rotor hub 14; the second motor 49 is controlled to rotate in the corresponding second rotation state, so that the second screw of each second servo 58 Coat rod 28 Extending, shortening or not moving under the rotation of the corresponding second motor 49,
- At least two paddle tilt arm-upper rotors 42 move to effect twisting of the second blade holder relative to the upper rotor hub 16. It can be seen that, by using the rotor system driving method provided by the embodiment of the present invention, the expansion and contraction of the screw shaft of the screw connected to the steering gear of the motor can be controlled by controlling the angle of rotation of the motor, so that the screw sleeve and the blade holder are located at the screw sleeve. The components between the elements are linked to drive the blade clamping The body is twisted relative to the hub, thereby reducing the complexity of the rotor driving process, and thus solving the drawbacks of the complicated driving process of the rotor driving method corresponding to the existing rotor driving system.
- FIG. 1 is a front view of a rotor driving system in a dual-rotor coaxial helicopter to which a rotor driving method is applied according to an embodiment of the present invention
- FIG. 2 is a double-rotor to which a rotor driving method according to an embodiment of the present invention is applied;
- FIG. 1 is a front view of a rotor driving system in a dual-rotor coaxial helicopter to which a rotor driving method is applied according to an embodiment of the present invention
- FIG. 2 is a double-rotor to which a rotor driving method according to an embodiment of the present invention is applied
- FIG. 1 is a front view of a rotor driving system in a dual-rotor coaxial helicopter to which a rotor driving method is applied according to an embodiment of the present invention
- FIG. 2 is a double-rotor to which a rotor driving method according to an embodiment of the present invention is applied
- FIG. 3 is a left side view of a rotor drive system in a twin-rotor coaxial helicopter to which a rotor driving method is provided according to an embodiment of the present invention
- FIG. 4 is an embodiment of the present invention
- FIG. 5 is a rear view of a rotor drive system in a dual-rotor coaxial helicopter to which the rotor driving method is applied
- FIG. 5 is a dual-rotor coaxial helicopter applicable to a rotor driving method according to an embodiment of the present invention
- FIG. 6 is a right side view of a rotor drive system in a dual-rotor coaxial helicopter to which the rotor driving method is applied according to an embodiment of the present invention
- FIG. 5 is a rear view of a rotor drive system in a dual-rotor coaxial helicopter to which the rotor driving method is applied
- FIG. 5 is a dual-rotor coaxial helicopter applicable to a rotor driving method according to an embodiment of the present invention
- FIG. 6 is a right
- FIG. 7 is a view of an embodiment of the present invention.
- FIG. 8 is provided in accordance with an embodiment of the present invention
- FIG. 9 is a second flowchart of a method for driving a rotor according to an embodiment of the present invention.
- FIG. 10 is a flowchart of a method for driving a rotor according to an embodiment of the present invention;
- FIG. 11 is a schematic structural diagram of a rotor driving device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION The present invention will be described in detail below with reference to the drawings and embodiments.
- the embodiment of the invention provides a rotor driving method and device. It should be noted that the rotor driving method provided by the embodiment of the present invention is applicable to a dual-rotor coaxial helicopter. For clarity of description, a dual-rotor coaxial direct machine to which a rotor driving method according to an embodiment of the present invention is applied will be described below with reference to FIGS. 1-7.
- FIG. 1 is a front view of the rotor drive system in the twin-rotor coaxial helicopter
- FIG. 2 is a top view of the rotor drive system in the twin-rotor coaxial helicopter
- FIG. 3 is a view of the twin-rotor coaxial helicopter
- Figure 4 is a rear elevational view of the rotor drive system in the twin-rotor co-axial helicopter
- Figure 5 is a bottom view of the rotor drive system in the twin-rotor coaxial helicopter
- Figure 6 Right side view of the rotor drive system in a twin-rotor coaxial helicopter
- Figure 7 is a full cross-sectional view of the front view of the rotor drive system in the twin-rotor coaxial helicopter, with a section perpendicular to the centerline of the inner shaft and perpendicular to the paper surface The plane, projected to the left.
- the twin-rotor coaxial helicopter may include: an outer shaft 19; a lower rotor hub 14, fixed to an outer side of one end of the outer shaft 19; at least two first blade holders, Connected to the lower rotor hub 14, each first blade holder is rotatable relative to the lower rotor hub 14, and each first blade holder includes a first paddle 20 and a second paddle 22, wherein the first paddle 20 and the second paddle 22 jointly clamp the lower rotor blade; the inner shaft 15; An upper rotor hub 16 fixed to an outer side of one end of the inner shaft 15; at least two second blade holders coupled to the upper rotor hub 16, each second blade holder being capable of being opposite to the second rotor holder The upper rotor hub 16 is twisted, and each of the second blade holders includes a third paddle clamp 17 and a fourth paddle clamp 18, the third paddle clamp 17 and the fourth paddle clamp 18 co-clamping the upper rotor blade
- the casing may include: an upper cover 26, a casing main body 27 and a lower cover
- each of the first blade holders can be twisted relative to the lower rotor hub 14, and each of the second blade holders can be twisted relative to the upper rotor hub 16.
- the second blade holder is provided with a paddle shaft 55 so as to be twistable relative to the upper rotor hub 16.
- the extended end 6 of the box body 27 is connected to the same pulley 7 so that the same pulley 7 can be unaffected by other components, and thus is powered by the twin-rotor coaxial helicopter.
- the engine of the device rotates smoothly under the action of the engine.
- the gear set built in the box may include: a bevel gear shaft 52, an upper bevel gear 54 and a lower bevel gear 50; wherein the same pulley 7 and the bevel gear shaft 52 are connected, and the bevel gear shaft 52 is respectively
- the upper bevel gear 54 is coupled to the lower bevel gear 50
- the upper bevel gear 54 is coupled to the outer shaft 19, and the lower bevel gear 50 is coupled to the inner shaft 15.
- a gear shaft end cap 53 may be included, which is disposed on the extended end 6 of the casing body 27 for axial positioning of the bevel gear shaft 52.
- the lower rotor redirecting assembly may be composed of two components, for example: the lower rotor redirecting assembly may be composed of the rotation preventing plate 21 and the lower rotor deflection lever-L arm 23 shown in FIGS. 3 and 6.
- the rotation preventing plate 21 is connected to one end of the lower rotor direction changing lever-L arm 23, and the other end of the rotation preventing plate 21 is connected to the lower rotor hub 14, and the lower rotor direction changing lever-L arm 23 The other end is connected to the lower rotor swash plate 24 .
- the lower rotor redirecting assembly can also be composed of one element, wherein one end of the element is connected to the lower rotor hub 14 and the other end is connected to the lower rotor swash plate 24 .
- the lower rotor redirecting assembly may be constructed of at least three components by which the lower rotor hub 14 and the lower rotor swashplate 24 are coupled, which is reasonable.
- first sliding sleeve body 44 and the second sliding sleeve body 30 can be set according to actual conditions.
- the first sliding sleeve body 44 can penetrate the through hole of the first rotation preventing lever 25, but The through hole is not worn out; or the first sliding sleeve 44 can penetrate the through hole of the first rotation preventing lever 25 and pass through the through hole, which is reasonable; and the second sliding sleeve body 30 can penetrate the through hole of the second rotation preventing lever 29, but does not pass through the through hole; or the second sliding sleeve body 30 can penetrate the through hole of the second rotation preventing rod 29 and pass through the through hole Through holes, this is all reasonable.
- connection between the components in the embodiments of the present invention may be a bearing connection or a threaded connection according to actual application requirements, of course, not limited thereto, for example: lower rotor swash plate-fixed 11 and lower rotor swash plate - the connection between the moving 24, the connection between the upper rotor swashplate-fixed 3 and the upper rotor swashplate-moving 4 can be connected by bearings; and the lower rotor redirecting assembly can be connected to the lower rotor swashplate -
- the L-arm end bearing block 12 on the movement 24 is connected to the lower rotor swashplate-movement 24;
- the upper rotor-direction-barrel-lower 45 can be connected to the tie rod plug-lower 64 by the lower rod joint bearing 32;
- the upper 41 can be connected to the upper end of the inclined arm of the paddle arm tilting arm-upper rotor 42 to achieve the connection with the paddle arm of the paddle arm - the upper rotor
- the rotor driving system provided by the embodiment of the present invention can be connected to the dual-rotor coaxial helicopter through the first connection point 60, the second connection point 61, the third connection point 62, and the fourth connection point 63. On the shelf.
- the upper rotor drive system may further include: an inner axle headstock-upper 37 coupled to each upper rotor redirecting lever-upper 40 to support each upper rotor deflector-upper 40 does not affect the rotation of each upper rotor redirecting rod-upper 40, and one end is fixed to one end of the inner rotor shaft 15 to which the upper rotor hub 16 is mounted; the inner shaft head frame-lower 31, with each upper rotor Connect to the lever-down 45 to support the change of each upper rotor The lever-down 45 does not affect the rotation of each upper rotor redirecting lever-lower 45, and one end is fixed to the inner shaft 15, and the other end is mounted with the upper rotor swash plate 46 with the upper rotor swash plate - Connect 4 to one end.
- the lower rotor drive system may further include: at least three first gearbox bodies 5, each of the first gearbox bodies 5 being coupled to the corresponding first motor 9, wherein each of the first gearboxes The body 5 adjusts the rotational speed outputted by the corresponding first motor 9; correspondingly, the upper rotor drive system may further include: at least three second gearbox bodies 43, each corresponding to the second gearbox body 43 The second motor 49 is connected, wherein each of the second gearbox bodies 43 adjusts the rotational speed output by the corresponding second motor 49.
- the first transmission case 5 is a gear type transmission case or a chain type transmission case
- the second transmission case 43 is a gear type transmission case or a chain type transmission case, of course.
- the width of the paddle tilting arm-lower rotor 13 fixed to one end of the first blade clamping body may be greater than the width of the other end; the paddle tilting arm-upper rotor 42 is fixed to the second paddle
- the width of one end of the leaf holder may be greater than the width of the other end, wherein the purpose of the inconsistent width is to make the paddle tilt arm-lower wing 13 and the paddle tilt arm-upper rotor 42 respectively reach equal strength, thereby reducing the tilt of the paddle
- the mass of the arm-lower rotor 13 and the paddle tilt arm-upper rotor 42 may be provided.
- a rotor driving method provided by the embodiment of the present invention may include:
- the operator can issue a flight control command through the operation interface, and then the flight control device on the frame of the coaxial helicopter receives the flight control command and according to the received flight control command Perform subsequent processing.
- the flight control instruction may be: a takeoff command, a hovering command, a forward command, a reverse command, a leftward steering command, or a rightward steering command; and the flight control command may be sent through a remote controller. Or, the flight control command can be sent through the ground control station, which is reasonable.
- Each of the first servos 8 uniquely corresponds to a first motor 9, and each of the second servos 58 uniquely corresponds to a second motor 49, and each of the first motors 9 uniquely corresponds to a current rotation state, and each second The motor 49 uniquely corresponds to a current state of rotation.
- the current rotation states of the respective first motors 9 may be the same or different, and the current rotation states of the respective second motors 49 may be the same or different. It will be understood by those skilled in the art that the rotational state of the motor can be the angle of rotation of the motor.
- each of the first motors 9 uniquely corresponds to a first rotation state. Also, the first rotational states required for each of the first motors 9 may be the same or different.
- the first motor 9 controlling the first motor 9 to rotate in the corresponding first rotation state, so that the first screw casing rod 65 of each first steering gear 8 is elongated, shortened or not under the rotation of the corresponding first motor 9.
- the first lead screw outer rod 65 of each first steering gear 8 is elongated, shortened or not moved under the rotation of the corresponding first motor 9, and can drive the lower rotary wing in the lower rotor drive system.
- the disc-fixing 11 is inclined in a specific direction, thereby driving the lower rotor swashplate-moving 24, at least two tilting arm levers-down 35, at least two paddle tilting arms-lower rotors 13 to move, thereby achieving the first blade clamping
- the body is twisted relative to the lower rotor hub 14.
- the first screw casing rod 65 of the first steering gear 8 will remain unchanged under the rotation of the corresponding first motor 9. , that is, does not elongate or shorten; and when the first rotational state of the first motor 9 is different from its current rotational state, the rotation of the first lead screw shaft 65 of the first steering gear 8 at the corresponding first motor 9 The lower will be elongated or shortened.
- the fixed 3 is inclined in a specific direction, and further drives the upper rotor swashplate-movement 4, at least two upper rotor redirecting rod-L arms 47, at least two upper rotor redirecting rods-down 45, at least two located in the inner shaft 15 a pull rod 56, at least two upper rotor redirecting rods - upper 40, at least two inclined arm rods - upper 41, at least two paddle tilting arms - upper rotor 42 moving, thereby achieving a second blade holder relative to The upper rotor hub 16 is twisted.
- the lower rotor hub 14 drives the lower rotor swashplate-moving 24 as the outer shaft 19 rotates;
- the upper rotor hub 16 rotates with the upper rotor swashplate-moving 4 as the inner shaft 15 rotates.
- the lower rotor swash plate 11 is not rotatable with the lower rotor swash plate-moving 24 under the action of the first rotation preventing lever 25 and the first sliding sleeve body 44 in the lower rotor driving system; the upper rotor driving system is The upper rotor swash plate-fixing 3 cannot rotate with the upper rotor swash plate-moving 4 under the action of the second rotation preventing lever 29 and the second sliding sleeve body 30.
- the flight control command is received; the current rotation state of the first motor 9 corresponding to the at least three first servos 8 is obtained, and the current state of the second motor 49 corresponding to the at least three second servos 58 is obtained.
- Rotating state determining a first rotation state required by the first motor 9 according to the flight control command and the current rotation state of the first motor 9; determining the second motor 49 according to the flight control command and the current rotation state of the second motor 49 a second rotation state required; controlling the first motor 9 to rotate in the corresponding first rotation state, so that the first screw outer casing rod 65 of each first steering gear 8 extends under the rotation of the corresponding first motor 9 Long, shortened or not moving, to drive the lower rotor swashplate - set 11 to tilt in a specific direction, and then drive the lower rotor swashplate - move 24, at least two inclined arm pull rod - down 35, at least two paddle tilt arm - down
- the rotor 13 moves to thereby twist the first blade holder relative to the lower rotor hub 14; the second motor 49 is controlled to rotate in the corresponding second rotation state such that the second screw of each second servo 58 Coat rod 28 Extending, shortening or not moving under the rotation of the corresponding second motor 49, so
- At least two paddle tilt arm-upper rotors 42 are moved to effect twisting of the second blade holder relative to the upper rotor hub 16.
- the expansion and contraction of the screw shaft of the screw connected to the steering gear of the motor can be controlled by controlling the angle of rotation of the motor, so that the screw sleeve and the blade holder are located at the screw sleeve.
- the respective elements are interlocked to drive the blade holder to be twisted relative to the hub, thereby reducing the complexity of the rotor driving process, thereby solving the existing rotor driving method corresponding to the existing rotor driving system.
- the current torsion angles of the respective first blade holders relative to the lower rotor hub 14 may be the same or different.
- S202. Determine, according to the flight control instruction and the current torsion angle of each of the first blade holders relative to the lower rotor hub 14, determine the rotation required of each of the first blade holders relative to the lower rotor hub 14. a first torsion angle; wherein each of the first blade holders uniquely corresponds to a first torsion angle.
- each first blade holder can be determined relative to the lower rotor hub 14 rotates the required first twist angle to perform subsequent processing.
- the first torsion angles of the respective first blade holders relative to the lower rotor hub 14 may be the same or different.
- S203 Determine a first rotation state required for each of the first motors 9 according to a first torsion angle required for each of the first blade holders to rotate relative to the lower rotor hub 14. After determining the first twist angle required for each first blade holder to rotate relative to the lower rotor hub 14, it may be based on each of the first blade holders previously constructed relative to the lower rotor hub 14 Rotate The corresponding relationship between the twist angle and the rotational state of the first motor 9 determines the first rotational state required for each of the first motors 9.
- the first rotation states required for each of the first motors 9 may be the same or different.
- determining the second rotation state required by the second motor 49 according to the flight control command and the current rotation state of the second motor 49, as shown in FIG. 10, may include:
- the correspondence relationship between the torsion angle of each of the second blade holders with respect to the upper rotor hub 16 and the rotation state of the second motor 49 can be obtained by calculation.
- the current torsion angles of the respective second blade holders relative to the lower rotor hub 16 may be the same or different.
- each second blade holder determines, according to the flight control command and the current torsion angle of each second blade holder relative to the rotation of the upper rotor hub 16, determining the rotation of each of the second blade holders relative to the upper rotor hub 16 a second torsion angle; wherein each of the second blade holders uniquely corresponds to a second torsion angle.
- the second rotation state required for each of the second motors 49 is determined. After determining the second twist angle required for each second blade holder to rotate relative to the upper rotor hub 16, it may be based on each of the second blade holders previously constructed relative to the upper rotor hub 16
- the second rotational state required for each of the second motors 49 is determined by the correspondence between the rotational torsion angle and the rotational state of the second motor 49.
- the second rotation states required for each of the second motors 49 may be the same or different.
- the manner of determining the first rotation state required by the first motor 9 according to the flight control command and the current rotation state of the first motor 9 is merely an example and should not constitute an implementation of the present invention.
- the definition of the example; likewise, the manner of determining the second rotation state required by the second motor 49 according to the flight control command and the current rotation state of the second motor 49 is merely an example and should not constitute the invention. Definition of the embodiment.
- the embodiment of the present invention further provides a rotor driving device, which is suitable for a dual-rotor coaxial helicopter.
- the twin-rotor coaxial helicopter may include: an outer shaft 19; a lower rotor hub 14, Fixed to an outer side of one end of the outer shaft 19; at least two first blade holders coupled to the lower rotor hub 14, each first blade holder being rotatable relative to the lower rotor The hub 14 is twisted, and each of the first blade holders includes a first paddle 20 and a second paddle 22, wherein the first paddle 20 and the second paddle 22 together clamp the lower rotor blade; An inner shaft 15; an upper rotor hub 16, fixed to an outer side of one end of the inner shaft 15; at least two second blade holders coupled to the upper rotor hub 16, each second blade clamp The holder can be twisted relative to the upper rotor hub 16, and each second blade holder includes a third paddle 17 and a fourth paddle 18, the third paddle 17 and the fourth paddle The clamps 18 jointly hold the upper rotor blades
- the lower rotor hub 14 is stationary relative to the outer shaft 19
- the upper rotor hub 16 is stationary relative to the inner shaft 15; and is composed of an upper rotor drive system and a lower rotor drive system a rotor driving system; as shown in FIG.
- the rotor driving device may include: an instruction receiving module 310, configured to receive a flight control instruction; a current state acquiring module 320, configured to obtain at least three of the lower rotor driving systems a current rotation state of the first motor 9 corresponding to the first steering gear 8, and a current rotation state of the second motor 49 corresponding to at least three second servos 58 of the upper rotor drive system; wherein, each The first servo 8 uniquely corresponds to a first Machine 9, each second servo 58 uniquely corresponds to a second motor 49, and each first motor 9 uniquely corresponds to a current rotation state, and each second motor 49 uniquely corresponds to a current rotation state;
- the module 330 is configured to determine, according to the flight control instruction and the current rotation state of the first motor 9, a first rotation state required by the first motor 9; wherein each first motor 9 uniquely corresponds to one a second rotation state determining module 340, configured to determine a second rotation state required by the second motor 49 according to the flight control instruction and the current rotation state of the
- the flight control command is received; the current rotation state of the first motor 9 corresponding to the at least three first servos 8 is obtained, and the current state of the second motor 49 corresponding to the at least three second servos 58 is obtained.
- Rotating state determining a first rotation state required by the first motor 9 according to the flight control command and the current rotation state of the first motor 9; determining the second motor 49 according to the flight control command and the current rotation state of the second motor 49 a second rotation state required; controlling the first motor 9 to rotate in the corresponding first rotation state, so that the first screw outer casing rod 65 of each first steering gear 8 extends under the rotation of the corresponding first motor 9 Long, shortened or not moving, to drive the lower rotor swashplate - set 11 to tilt in a specific direction, and then drive the lower rotor swashplate - move 24, at least two inclined arm pull rod - down 35, at least two paddle tilt arm - down
- the rotor 13 moves to thereby twist the first blade holder relative to the lower rotor hub 14; the second motor 49 is controlled to rotate in the corresponding second rotation state such that the second screw of each second servo 58 Coat rod 28 Extending, shortening or not moving under the rotation of the corresponding second motor 49, so
- At least two paddle tilt arm-upper rotors 42 are moved to effect twisting of the second blade holder relative to the upper rotor hub 16.
- the expansion and contraction of the screw shaft of the screw connected to the steering gear of the motor can be controlled by controlling the angle of rotation of the motor, so that the screw sleeve and the blade holder are located at the screw sleeve.
- the respective elements are interlocked to drive the blade holder to be twisted relative to the hub, thereby reducing the complexity of the rotor driving process, thereby solving the existing rotor driving method corresponding to the existing rotor driving system.
- the drawbacks of the driver process are complex.
- the first rotation state determining module 330 may include: a current torsion angle determining unit, configured to determine a current torsion angle of each first blade holder relative to the lower rotor hub 14 according to a current rotation state of the first motor 9; wherein, each a blade holder uniquely corresponding to a current torsion angle; a first torsion angle determining unit configured to rotate according to the flight control command and each of the first blade holders relative to the lower rotor hub 14 a first torsion angle required to rotate each of the first blade holders relative to the lower rotor hub 14; wherein each of the first blade holders uniquely corresponds to a first torsion angle; a first rotation state determining unit configured to determine a first rotation required for each of the first motors 9 in accordance with a first torsion angle required for each of the first blade holders to rotate relative to the lower rotor hub 14
- the second rotation state determining module 340 may include: a current angle determining unit, configured to determine, according to the current rotation state of the second
Abstract
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016549602A JP6097453B2 (ja) | 2013-10-23 | 2013-10-23 | ローター駆動方法及びローター駆動装置 |
EP13895808.7A EP3090944B1 (en) | 2013-10-23 | 2013-10-23 | Method and device for driving rotor |
US15/031,699 US9845149B2 (en) | 2013-10-23 | 2013-10-23 | Method and device for driving rotor |
RU2016117175A RU2641382C2 (ru) | 2013-10-23 | 2013-10-23 | Способ приведения во вращение несущего винта и соответствующее устройство |
PCT/CN2013/085744 WO2015058363A1 (zh) | 2013-10-23 | 2013-10-23 | 旋翼驱动方法及装置 |
BR112016008915-4A BR112016008915B1 (pt) | 2013-10-23 | 2013-10-23 | Método e dispositivo para o acionamento de um rotor |
AU2013403750A AU2013403750B2 (en) | 2013-10-23 | 2013-10-23 | Method and device for driving rotor |
AU2016100485A AU2016100485A4 (en) | 2013-10-23 | 2016-04-29 | Method and device for driving rotor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2013/085744 WO2015058363A1 (zh) | 2013-10-23 | 2013-10-23 | 旋翼驱动方法及装置 |
Publications (1)
Publication Number | Publication Date |
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WO2015058363A1 true WO2015058363A1 (zh) | 2015-04-30 |
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ID=52992129
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Application Number | Title | Priority Date | Filing Date |
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PCT/CN2013/085744 WO2015058363A1 (zh) | 2013-10-23 | 2013-10-23 | 旋翼驱动方法及装置 |
Country Status (7)
Country | Link |
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US (1) | US9845149B2 (zh) |
EP (1) | EP3090944B1 (zh) |
JP (1) | JP6097453B2 (zh) |
AU (2) | AU2013403750B2 (zh) |
BR (1) | BR112016008915B1 (zh) |
RU (1) | RU2641382C2 (zh) |
WO (1) | WO2015058363A1 (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10752346B2 (en) * | 2017-10-18 | 2020-08-25 | Textron Innovations Inc. | Rotor assembly with composite static mast |
DE102018106188A1 (de) * | 2018-03-16 | 2019-09-19 | Maschinenfabrik Gustav Eirich Gmbh & Co. Kg | Vorrichtung zur Umsetzung einer Linearbewegung in einem stationären System in eine Drehbewegung um eine Schwenkachse in einem sich um eine Drehachse drehenden System |
US10882611B2 (en) * | 2018-07-13 | 2021-01-05 | Textron Innovations Inc. | Augmented swashplate assembly |
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RU2155702C1 (ru) * | 1999-04-15 | 2000-09-10 | Кумертауское авиационное производственное предприятие | Система двух соосных несущих винтов летательного аппарата |
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CN102658865A (zh) * | 2012-05-17 | 2012-09-12 | 李游 | 共轴反转旋翼直升机的共轴传动和控制结构 |
CN103318407A (zh) * | 2013-06-05 | 2013-09-25 | 王开林 | 一种共轴式双旋翼无人直升机操纵系统的分立控制系统 |
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US3572616A (en) * | 1969-09-18 | 1971-03-30 | United Aircraft Corp | Pitch control mechanism for bladed rotor |
US4008979A (en) * | 1975-11-13 | 1977-02-22 | United Technologies Corporation | Control for helicopter having dual rigid rotors |
ES490715A0 (es) * | 1980-04-18 | 1981-02-16 | Campos Herruzo Juan | Sistema control de direccion de helicoptero coaxial, paso colectivo a la vez que tambien variable simultaneamente con signo contrario |
US7083142B2 (en) * | 2004-04-21 | 2006-08-01 | Sikorsky Aircraft Corporation | Compact co-axial rotor system for a rotary wing aircraft and a control system thereof |
GB2460441A (en) * | 2008-05-30 | 2009-12-02 | Gilo Ind Ltd | Flying machine |
US8070091B2 (en) * | 2008-10-08 | 2011-12-06 | Honeywell International Inc. | Electromechanical actuation system and method |
EP2543589B1 (en) * | 2011-07-06 | 2018-09-05 | Airbus Helicopters | Primary flight controls |
US20140312177A1 (en) * | 2013-04-18 | 2014-10-23 | Rajesh Gaonjur | Coaxial rotor/wing aircraft |
US9481456B2 (en) * | 2014-01-27 | 2016-11-01 | Sikorsky Aircraft Corporation | Relative acceleration blade position measurement |
US9317042B2 (en) * | 2014-01-28 | 2016-04-19 | Sikorsky Aircraft Corporation | Pitch feedback control splitting for helicopters with redundant actuators |
-
2013
- 2013-10-23 EP EP13895808.7A patent/EP3090944B1/en active Active
- 2013-10-23 RU RU2016117175A patent/RU2641382C2/ru active
- 2013-10-23 BR BR112016008915-4A patent/BR112016008915B1/pt active IP Right Grant
- 2013-10-23 WO PCT/CN2013/085744 patent/WO2015058363A1/zh active Application Filing
- 2013-10-23 US US15/031,699 patent/US9845149B2/en active Active
- 2013-10-23 JP JP2016549602A patent/JP6097453B2/ja active Active
- 2013-10-23 AU AU2013403750A patent/AU2013403750B2/en active Active
-
2016
- 2016-04-29 AU AU2016100485A patent/AU2016100485A4/en not_active Expired
Patent Citations (4)
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RU2155702C1 (ru) * | 1999-04-15 | 2000-09-10 | Кумертауское авиационное производственное предприятие | Система двух соосных несущих винтов летательного аппарата |
EP1944234A1 (de) * | 2007-01-12 | 2008-07-16 | Rotorfly Ltd. | Rotorsystem |
CN102658865A (zh) * | 2012-05-17 | 2012-09-12 | 李游 | 共轴反转旋翼直升机的共轴传动和控制结构 |
CN103318407A (zh) * | 2013-06-05 | 2013-09-25 | 王开林 | 一种共轴式双旋翼无人直升机操纵系统的分立控制系统 |
Also Published As
Publication number | Publication date |
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AU2016100485A4 (en) | 2016-05-26 |
US9845149B2 (en) | 2017-12-19 |
AU2013403750A1 (en) | 2016-05-19 |
RU2641382C2 (ru) | 2018-01-17 |
EP3090944A1 (en) | 2016-11-09 |
AU2013403750B2 (en) | 2017-04-06 |
BR112016008915B1 (pt) | 2021-09-14 |
BR112016008915A2 (zh) | 2017-08-01 |
EP3090944B1 (en) | 2020-06-24 |
JP6097453B2 (ja) | 2017-03-15 |
RU2016117175A (ru) | 2017-11-28 |
JP2016539052A (ja) | 2016-12-15 |
EP3090944A4 (en) | 2017-11-08 |
US20160251076A1 (en) | 2016-09-01 |
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