WO2023188268A1 - 回転翼機 - Google Patents

回転翼機 Download PDF

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Publication number
WO2023188268A1
WO2023188268A1 PCT/JP2022/016517 JP2022016517W WO2023188268A1 WO 2023188268 A1 WO2023188268 A1 WO 2023188268A1 JP 2022016517 W JP2022016517 W JP 2022016517W WO 2023188268 A1 WO2023188268 A1 WO 2023188268A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotor
main body
downwash
angle
reaction force
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.)
Ceased
Application number
PCT/JP2022/016517
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
誠 野村
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.)
Sankyo Mokko Co Ltd
Original Assignee
Sankyo Mokko Co Ltd
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 Sankyo Mokko Co Ltd filed Critical Sankyo Mokko Co Ltd
Priority to PCT/JP2022/016517 priority Critical patent/WO2023188268A1/ja
Priority to JP2024511026A priority patent/JPWO2023188268A1/ja
Publication of WO2023188268A1 publication Critical patent/WO2023188268A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use

Definitions

  • the technology of the present disclosure relates to rotary wing aircraft.
  • helicopters are equipped with a tail rotor to counteract the reversal torque caused by the rotation of the main rotor.
  • the tail rotor consumes 20-30% of the engine power. Therefore, a helicopter without a tail rotor has been proposed as described below.
  • Japanese Unexamined Patent Publication No. 07-304499 discloses that a fan is rotated using part of the power of an engine for driving a main rotor, airflow by the fan is guided rearward via a tail boom, and a blowout port is used to rotate a fan.
  • a helicopter is disclosed that cancels the counter torque generated in the fuselage by ejecting air in a horizontal direction substantially perpendicular to the axis of the aircraft.
  • the technology of the present disclosure provides a rotary wing aircraft that can generate a reaction force in the direction opposite to the reaction torque generated in the main body by the rotation of the rotor, without using engine output for rotation of the rotor.
  • the purpose is to provide.
  • a rotary wing aircraft includes a main body, a rotor that rotates above the main body, a rotor drive unit that rotates the rotor, and a rotor drive unit that is attached to the main body and that rotates the rotor. It is arranged in a region where downwash is supplied by the rotation of the rotor by the rotor drive unit, and when the downwash is supplied, it is applied to the main body in a direction opposite to the direction of the counter torque generated in the main body by the rotation of the rotor. and a member that generates a reaction force.
  • the member has a first curved surface through which the downwash flows, and a second curved surface through which the downwash flows and is opposite to the first curved surface. , and a first length of the first curved surface in the direction in which the downwash flows is longer than a second length of the second curved surface in the direction in which the downwash flows.
  • the cross-sectional shape of the member is the shape of a wing cross-section.
  • the member is rotatably attached to the main body via a shaft, and the member is arranged in the direction of the downwash. As the inclination angle increases, the generated reaction force increases, and the rotorcraft:
  • the apparatus further includes a motor that rotates the member, and a control section that controls the motor so that the magnitude of the reaction force changes.
  • control unit tilts the member at an angle such that the reaction torque is canceled out by the reaction force with respect to the direction of the downwash. Control the motor.
  • a first aspect of the technology disclosed herein is capable of generating a reaction force in the direction opposite to the direction of the reaction torque generated in the main body by the rotation of the rotor, without using engine output for rotation of the rotor. can.
  • the second and third aspects of the technology of the present disclosure can provide a member with a simple configuration.
  • the fourth aspect of the technology of the present disclosure allows the magnitude of the reaction force to be adjusted.
  • the fifth aspect of the technology of the present disclosure can cancel out the counter torque generated in the main body due to rotation of the rotor.
  • FIG. 1 is a schematic perspective view of a helicopter 10A according to a first embodiment.
  • FIG. 3 is a diagram illustrating the principle by which a reaction force L for canceling the reaction torque RT is generated in a tail control wing 24 provided in the helicopter 10A.
  • 7 is a graph showing the relationship between the angle of attack a of the tail control wing 24 and the reaction force L.
  • FIG. It is a graph showing the relationship between the rotational speed v of the rotor 16 and the counter torque RT generated when the rotational speed of the rotor 16 is the rotational speed v.
  • the relationship between the rotational speed v of the rotor 16 and the angle of attack a of the tail control wing 24 for generating a reaction force L for canceling the reaction torque RT generated when the rotational speed of the rotor 16 is the rotational speed v is shown. It is a graph. 7 is a graph showing the relationship between the angle of attack a of the tail control wing 24 and the reaction force L generated in the tail control wing 24 when the angle of attack a is changed from A.
  • FIG. 7 is a graph showing the relationship between the amount of change ⁇ a in which the angle of attack a of the tail control wing 24 is changed from A and the amount of change in the direction of the main body 12 when the angle of attack a is changed.
  • FIG. 1 It is a schematic block diagram of the control system of helicopter 10A. It is a functional block diagram of CPU52 of helicopter 10A. 2 is a flowchart of a direction control program for controlling the direction of the main body 12, which is executed by the CPU 52 of the helicopter 10A according to the first embodiment. It is a schematic perspective view of tail control wing 24A of helicopter 10A of a 2nd embodiment. 7 is a graph showing the relationship between the angle ⁇ of the flap 24A2 of the tail control wing 24A and the reaction force L generated in the tail control wing 24 when the angle of attack a is A. FIG.
  • FIG. 1 shows a schematic perspective view of a helicopter 10A according to the first embodiment.
  • the helicopter 10A includes a main body 12, a rotor 16 provided on the upper part of the main body 12, a rotor drive unit 14 provided in the main body 12 and rotating the rotor 16, and a support 18 connected to the main body 12 and connected to the support 18.
  • a tail control wing 24 is rotatably provided around the tail control wing 24, and a motor 20 is provided on the support column 18 and rotates the tail control wing 24.
  • the helicopter 10A uses the lift generated by rotating the rotor 16 above the main body 2 to levitate the main body 12 in the air to ascend and descend the aircraft, and also uses a part of the lift as propulsive force. , horizontal flight and flight direction can be controlled. For this reason, the helicopter 10A includes a complicated mechanism, but since the configuration of the helicopter 10 is well known, a detailed explanation thereof will be omitted. The legs (skids) are also omitted.
  • the helicopter 10A does not include a tail rotor.
  • the helicopter 10A includes a tail control wing 24.
  • the tail control wing 24 is attached to the main body 12 and is disposed in a region where the downwash D is supplied by the rotation of the rotor 16 by the rotor drive unit 14. The rotation generates a reaction force in the direction opposite to the direction of the reaction torque RT generated in the main body 12.
  • FIG. 2 shows a diagram illustrating the principle by which a reaction force L for canceling the reaction torque RT is generated in the tail control wing 24 provided in the helicopter 10A.
  • the first curved surface of the tail control wing 24 on the right side of the paper in FIG. It has a shape.
  • downward downwash D due to the rotation of the rotor 16 is supplied to the tail control wing 24.
  • the first length of the first curved surface in the direction in which downwash D flows is longer than the second length of the second curved surface in the direction in which downwash D flows.
  • the flow velocity of the air flowing near the right side of the paper in FIG. 2 of the tail control wing 24 is faster than the flow velocity of the air flowing near the left side of the paper, so the pressure near the right side of the tail control wing 24 in FIG. 2 is equal to the pressure near the left side of the paper. become smaller. Therefore, a force L is generated on the tail control wing 24 on the right side of the paper in FIG. As shown in FIG. 1, a force L in the direction of clockwise rotation is applied to the main body 12 due to a force L generated in the tail control wing 24 to the right in the paper of FIG. As described above, the counter torque RT of counterclockwise rotation acts on the main body 2.
  • the angle of attack a is determined by the direction of the downwash D and a line (so-called chord line) CL connecting the leading edge FP and the trailing edge BP of the tail control wing 24 facing the downwash D. It is the angle formed by
  • the tail control wing 24 is provided rotatably about the strut 18, in particular about the center 18A of the strut 18 (see also FIG. 2).
  • the angle of attack a changes. As shown in FIG. 3, as the angle of attack a gradually increases, the reaction force L also gradually increases, but when the angle of attack a exceeds a certain value, the reaction force L decreases.
  • the relationship between the angle of attack a of the tail control wing 24 and the reaction force L is determined in advance according to the downwash flow velocity Dv.
  • FIG. 4 shows a graph showing the relationship between the rotational speed v of the rotor 16 and the reaction torque RT generated when the rotational speed of the rotor 16 is the rotational speed v.
  • the reaction torque RT increases as the rotational speed v of the rotor 16 increases.
  • the relationship between the rotational speed v of the rotor 16 and the counter torque RT is determined in advance.
  • FIG. 5 shows the rotational speed v of the rotor 16 and the angle of attack a of the tail control wing 24 for generating a reaction force L to cancel the reaction torque RT generated when the rotational speed of the rotor 16 is the rotational speed v.
  • a graph showing the relationship between
  • the relationship between the angle of attack a of the tail control wing 24 and the reaction force L is determined in advance according to the flow velocity Dv of the downwash D (see FIG. 3).
  • the flow velocity Dv of the downwash D is determined according to the rotational speed v of the rotor 16
  • the relationship between the angle of attack a of the tail control wing 24 and the reaction force L is also determined according to the flow velocity Dv of the downwash D.
  • the relationship between the rotational speed v of the rotor 16 and the counter torque RT is determined in advance (see FIG. 4).
  • the relationship between the rotational speed v of the rotor 16 and the angle of attack a of the tail control wing 24 for generating the reaction force L to cancel the reaction torque RT generated when the rotational speed of the rotor 16 is the rotational speed v. is also determined in advance as shown in FIG.
  • a graph showing the relationship is shown.
  • a graph showing the relationship between the amount of change and the amount of change is shown.
  • the main body 12 when it is desired to change the direction of the main body 12 to the right or to the left, by changing the angle of attack a according to the relationship shown in FIG. 7, the main body 12 can be directed in the desired direction.
  • FIG. 8 shows a schematic block diagram of the control system of the helicopter 10A.
  • the control system of the helicopter 10A includes a computer 50.
  • the computer 50 includes a CPU (Central Processing Unit) 52, a ROM (Read Only Memory) 54, a RAM (Random Access Memory) 56, and an input/output (I/O) port 58.
  • the CPU 52, ROM 54, RAM 56, and I/O port 58 are interconnected via a bus 60.
  • a secondary storage device 65, a communication device 63, a rotor drive section 14, and a motor 20 are connected to the I/O port 58.
  • the communication device 63 is a device that receives a direction change instruction signal from a remote control device operated by an operator on the ground.
  • the secondary storage device 65 stores a direction control program 65P (FIG. 10), which will be described later.
  • the direction control program 65P is read out from the ROM 54 to the RAM 54 and executed by the CPU 52, thereby executing the direction control process (therefore, the direction control method) to be described later.
  • the ROM 54 is a non-transitory tangible computer readable recording medium, such as an HDD (Hard Disk Drive) or SSD (Solid). Non-volatile memory such as state drive) It is a device.
  • the direction control program 65P may be stored in the ROM 54 instead of the secondary storage device 65.
  • the secondary storage device 65 stores the rotational speed v of the rotor 16 and the tail control wing 24 for generating a reaction force L for canceling the reaction torque RT generated when the rotational speed of the rotor 16 is the rotational speed v.
  • a relationship 65Q with the angle of attack a is stored in a data table or the like.
  • the secondary storage device 65 stores the amount of change in the angle of attack a of the tail control wing 24 from A and the amount of change ⁇ a in which the direction of the main body 12 changes when the angle of attack a is changed, as shown in FIG.
  • a relationship 65R corresponding to the flow velocity Dv of the downwash D is stored in a data table or the like.
  • FIG. 9 shows a functional block diagram of the CPU 52 of the helicopter 10A.
  • the functions of the CPU 52 include a calculation function, a capture function, a drive control function, and a judgment function.
  • the CPU 52 functions as a calculation unit 62, a capture unit 64, a drive control unit 66, and a determination unit 68 by executing any of the direction control programs.
  • FIG. 10 shows a flowchart of a direction control program for controlling the direction of the main body 12, which is executed by the CPU 52 of the helicopter 10A of the first embodiment.
  • the CPU 52 executes the direction control program, the direction control process and the direction control method are executed.
  • step 102 the calculation unit 62 calculates the rotational speed v of the rotor 16 based on the control data for rotating the rotor 16 via the rotor drive unit 14.
  • the rotational speed V of the rotor 16 may be acquired by a sensor that detects the rotational speed V of the rotor 16.
  • step 104 the intake unit 64 uses the rotational speed v of the rotor 16 calculated in step 102 to calculate the angle a of the tail control wing 24, which generates a reaction force L having a value equal to the value of the reaction torque RT, by 2.
  • the relationship 65Q stored in the storage device 65 is taken in.
  • the drive control unit 66 drives the motor 20 so that the angle of the tail control wing 24 becomes the angle a. This can prevent the main body 12 from rotating.
  • step 108 the determination unit 68 determines whether or not the flight is stopped. If it is determined that the flight has not stopped, the direction control process proceeds to step 110.
  • step 110 the determining unit 68 determines whether a direction change has been instructed by determining whether a direction change instruction signal has been received from a remote control device operated by an operator on the ground. If it is determined that a direction change has not been instructed, the direction control process returns to step 102. If it is determined that a direction change has been instructed, the direction control process proceeds to step 112, in which the import unit 64 stores in secondary storage the amount of change ⁇ a in the angle of the tail control wing 24 to face in the instructed direction. It is taken in from the above relationship 65R corresponding to the flow rate Dv of downwash D stored in the device 65.
  • the drive control unit 66 drives the motor 20 so that the angle of the tail control wing 24 changes by the amount of change ⁇ a. This allows the main body 12 to be directed in the designated direction.
  • step 108 If it is determined in step 108 that the flight has stopped, the direction control program ends.
  • the present embodiment can provide a tail control wing 24 with a simple configuration.
  • the magnitude of the reaction force can be adjusted.
  • the counter torque generated in the main body due to the rotation of the rotor can be canceled out.
  • steps 112 and 114 may be performed not by rotating the tail control wing 24 but by changing the plane of rotation of the rotor 16 as in a conventional helicopter.
  • a second embodiment will be described.
  • the configuration of the second embodiment has the same parts as the first embodiment, so the same parts are given the same reference numerals, the explanation thereof will be omitted, and the different parts will be mainly explained.
  • FIG. 11 shows a schematic perspective view of a tail control wing 24A of a helicopter according to a second embodiment.
  • the tail control wing 24A includes a tail control wing base 24A1 that is rotatably provided on the main body 12 via the support 18 and around the support 18, and a flap 24A2.
  • the flap 24 includes a support 25 that is rotatably supported by a support member 31 and a motor 29 that rotates the flap 24 around the center of the support 25.
  • the computer 50 can control the motor 29 to rotate the flap 24A2 to the left ( ⁇ direction) in the paper of FIG. 11 and to the opposite direction.
  • the angle ⁇ of the flap 24A2 is increased, the reaction force L generated in the tail control wing 24 is increased.
  • FIG. 13 shows a graph showing the relationship between the angle ⁇ of the flap 24A2 of the tail control wing 24A and the amount of change in the direction of the main body 12 when the angle ⁇ is changed.
  • the secondary storage device 65 stores the relationship between the angle ⁇ of the flap 24A2 of the tail control wing 24A and the amount of change in the direction of the main body 12 when the angle ⁇ is changed, depending on the flow velocity Dv of the downwash D. is stored in a data table or the like.
  • FIG. 14 shows a flowchart of a direction control program for controlling the direction of the main body 12, which is executed by the CPU 52 of the helicopter 10A of the second embodiment.
  • steps 102 to 110 of the direction control process of the first embodiment are executed.
  • step 110 If it is determined in step 110 that a direction change has been instructed, the direction control process proceeds to step 122, in which the intake unit 64 sets the flap angle ⁇ f ( ⁇ in FIG. 13) to face the instructed direction. ).
  • step 124 the drive control unit 66 drives the motor so that the angle of the flap 24A2 becomes the angle ⁇ f. This allows the main body 12 to be directed in the designated direction.
  • This embodiment can provide a tail control wing 24A with a simple configuration.
  • the magnitude of the reaction force can be adjusted.
  • the counter torque generated in the main body due to the rotation of the rotor can be canceled out.
  • steps 122 and 124 may be performed by changing the plane of rotation of the rotor 16, as in a conventional helicopter, instead of controlling the angle of the flap 24A2.
  • the reaction force is adjusted by the angle of the tail control wing base 24A1 and the further angle of the flap 24A2.
  • the number of blades of the rotor 16 is not limited to two, but may be three, four, five, six, etc.
  • one alternative device for the tail rotor including the strut 18, the motor 20, and the tail control wing 24 is provided at the rear of the main body 12, but the technology of the present disclosure is not limited to this. You can make money.
  • one of the alternative devices may be provided on each side of the main body 12 instead of the rear part of the main body 12 or together with the rear part of the main body 12.
  • the helicopter 10A is an unmanned rotary wing aircraft, but the technology of the present disclosure is not limited thereto, and may be a manned rotary wing aircraft.
  • each component may exist as long as there is no contradiction.
  • the direction control processing is realized by a software configuration using a computer, but the technology of the present disclosure is not limited to this.
  • the direction control process may be performed only by a hardware configuration such as an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). .
  • Part of the direction control processing may be executed by a software configuration, and the remaining processing may be executed by a hardware configuration.
  • Non-transitory computer-readable media includes various types of tangible storage media.
  • Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, and CDs. - R/W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)).
  • the program may also be provided to the computer on various types of temporary computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves.
  • the temporary computer-readable medium can provide the program to the computer via wired communication channels, such as electrical wires and fiber optics, or wireless communication channels.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
PCT/JP2022/016517 2022-03-31 2022-03-31 回転翼機 Ceased WO2023188268A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2022/016517 WO2023188268A1 (ja) 2022-03-31 2022-03-31 回転翼機
JP2024511026A JPWO2023188268A1 (https=) 2022-03-31 2022-03-31

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/016517 WO2023188268A1 (ja) 2022-03-31 2022-03-31 回転翼機

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WO2023188268A1 true WO2023188268A1 (ja) 2023-10-05

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PCT/JP2022/016517 Ceased WO2023188268A1 (ja) 2022-03-31 2022-03-31 回転翼機

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6416015B1 (en) * 2001-05-01 2002-07-09 Franklin D. Carson Anti-torque and yaw-control system for a rotary-wing aircraft
JP2003212192A (ja) * 2002-01-18 2003-07-30 Nishimura Mutsuko 回転翼機における方向安定システム
WO2012039702A1 (en) * 2010-09-20 2012-03-29 Bell Helicopter Textron Inc. Airfoil shaped tail boom

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6416015B1 (en) * 2001-05-01 2002-07-09 Franklin D. Carson Anti-torque and yaw-control system for a rotary-wing aircraft
JP2003212192A (ja) * 2002-01-18 2003-07-30 Nishimura Mutsuko 回転翼機における方向安定システム
WO2012039702A1 (en) * 2010-09-20 2012-03-29 Bell Helicopter Textron Inc. Airfoil shaped tail boom

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