CN110979652B - Two-steering engine direct-drive coaxial rotor system and control strategy - Google Patents
Two-steering engine direct-drive coaxial rotor system and control strategy Download PDFInfo
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- CN110979652B CN110979652B CN201911363099.0A CN201911363099A CN110979652B CN 110979652 B CN110979652 B CN 110979652B CN 201911363099 A CN201911363099 A CN 201911363099A CN 110979652 B CN110979652 B CN 110979652B
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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
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- 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
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- 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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Abstract
The invention discloses a two-steering engine direct-drive coaxial rotor system and a control strategy, and belongs to the technical field of structures of helicopters. The upper rotor wing power module, the upper rotor wing assembly, the upper tilting mechanism, the driving rudder cluster assembly, the lower tilting mechanism, the lower rotor wing assembly, the lower rotor wing power module, the upper fixed main shaft and the lower fixed main shaft are included. The invention drives the upper-layer tilting turntable and the lower-layer tilting turntable simultaneously through the two steering engines, carries out periodic variable pitch control on the upper-layer rotor wing and the lower-layer rotor wing, and provides lifting and course control force by controlling the rotating speed of the rotor wings. The tilting mechanism can shift azimuth angle in advance, and provides a flexible design scheme for different rotor characteristics. Compared with the disclosed coaxial aircraft with single-layer periodic variable pitch, the coaxial aircraft has more sufficient operating efficiency and higher wind resistance, has the least steering engine number and a simple structure, effectively improves the system reliability and greatly reduces the structural weight.
Description
Technical Field
The invention relates to the field of helicopters, in particular to a two-steering engine direct-drive coaxial rotor system and a control strategy.
Background
The coaxial double-rotor aircraft does not need a tail rotor to provide balance torque, and the reverse torques of the upper rotor and the lower rotor are balanced with each other. Compared with a single-rotor helicopter and a multi-rotor aircraft, the helicopter has smaller volume and smaller storage volume. Coaxial multi-rotor aircraft also have higher energy utilization than multi-rotor aircraft and are therefore increasingly important in aerial surveillance, load transportation and some special applications.
Although the coaxial double-rotor aircraft has many advantages, the disclosed coaxial aircraft adopts a simple single-layer periodic variable pitch mechanism, so that the flying maneuvering force is insufficient, and the wind resistance performance is poor. Or other known coaxial vehicles, are designed with a pitch mechanism that is too complex to achieve sufficient maneuvering forces.
Disclosure of Invention
The invention aims to overcome the problems and provides a two-steering engine direct-drive coaxial rotor system and a control strategy.
In order to achieve the purpose, the method adopted by the invention is as follows: the two-steering engine direct-drive coaxial rotor system comprises an upper rotor power module, an upper rotor assembly, an upper tilting mechanism, a driving rudder group assembly, a lower tilting mechanism, a lower rotor assembly, a lower rotor power module, an upper fixed main shaft and a lower fixed main shaft. The upper tilting mechanism comprises an upper tilting turntable, an upper synchronous connecting rod, an upper variable pitch connecting rod and an upper centripetal joint piece. The driving steering engine group component comprises an upper fastening piece, a steering engine group consisting of 2 steering engines, a rocker arm, a center seat, an upper limiting rotator, a lower fastening piece and a lower limiting rotator. The lower tilting mechanism comprises a lower tilting turntable, a lower rotating tilting turntable, a lower synchronous connecting rod, a lower variable-pitch connecting rod and a lower centripetal joint piece. The upper fixed main shaft and the lower fixed main shaft are respectively arranged on the upper fastening piece and the lower fastening piece in the driving steering engine group to form a basic framework of the aircraft and a rotating shaft around which a rotor rotates. The upper rotor power module is arranged at the uppermost part of the coaxial double-rotor system. The upper rotor assembly is installed below the upper rotor power module, the upper tilting mechanism is installed below the upper rotor assembly, the driving rudder group assembly is installed below the upper tilting mechanism, the lower tilting mechanism is installed below the driving rudder group assembly, the lower rotor assembly is installed below the lower tilting mechanism, and the lower rotor power module is installed below the lower rotor assembly. The steering wheel group that 2 steering wheel are constituteed is fixed connection in two different positions of center seat on, 2 rocking arm one end fixed connection on the moment of torsion output shaft of steering wheel, 2 go up synchronous connecting rod's one end and 2 down synchronous connecting rod's one end respectively with 2 the other end of rocking arm articulated. The other end of the 2 upper synchronous connecting rods is hinged with the 2 side extending rods of the upward inclined rotating disc, and the other end of the 2 lower synchronous connecting rods is hinged with the 2 side extending rods of the downward inclined rotating disc. The upper inclined rotary disc and the upper rotary inclined rotary disc are assembled through a bearing, the upper rotary inclined rotary disc is hinged with the upper centripetal joint piece, and the upper centripetal joint piece is fixedly connected with the upper fixed shaft. The lower inclined rotary table and the lower rotary inclined rotary table are assembled through a bearing, the lower rotary inclined rotary table is hinged with the lower centripetal joint piece, and the lower centripetal joint piece is fixedly connected with the lower fixed shaft. The up-tilting mechanism and the down-tilting mechanism are limited in central position to move up and down and cannot move up and down along the main shaft direction. The steering engine group composed of the 2 steering engines directly drives the upward-tilting turntable and the downward-tilting turntable. And the extension rod at the side edge of the upward-inclined turntable is connected with the central seat through the upper limiting rotator to limit the circumferential rotation of the upward-inclined turntable. The side extending rod of the declination rotating disc is connected with the central seat through the lower limiting rotator to limit the circumferential rotation of the declination rotating disc
Preferably, the connection point on the tilt-up rotor and the connection point on the corresponding rocker arm form a deflection angle of 0 ° or more and less than 90 ° around the rotation axis in a top view, and the connection point on the tilt-down rotor and the connection point on the corresponding rocker arm form a deflection angle of equal size and opposite direction corresponding to the tilt-up rotor around the rotation axis in a top view, so as to adapt to any phase angle of 90 ° or less than 90 ° generated by the upper and lower rotor assemblies during periodic pitch change.
As a preferred mode of the invention, the upper rotor assembly comprises an upper rotor, an upper rotor clamping piece, an upper rotor distance changing piece and an upper rotor hub. The lower rotor assembly comprises a lower rotor, a lower rotor clamping piece, a lower rotor distance changing piece and a lower hub. The upper rotor wing assembly is of a symmetrical two-blade structure or a multi-blade uniform distribution structure, the root of the upper rotor wing is hinged with one end of the upper rotor wing clamping piece, the other end of the upper rotor wing clamping piece is hinged with the upper rotor wing variable-pitch piece, and the upper rotor wing variable-pitch piece is hinged with the upper hub. The upper hub rotates circumferentially about the upper stationary main shaft. The upper rotor wing power module directly drives or drives the upper rotor hub through a reduction gear and drives the upper rotor wing assembly to rotate. The lower rotor wing assembly is of a symmetrical two-blade structure or a multi-blade uniform distribution structure, the root of the lower rotor wing is hinged with one end of the lower rotor wing clamping piece, the other end of the lower rotor wing clamping piece is hinged with the lower rotor wing variable-pitch piece, and the lower rotor wing variable-pitch piece is hinged with the lower rotor hub. The lower hub rotates circumferentially around the lower stationary main shaft. The lower rotor wing power module directly drives or drives the lower propeller hub through a reduction gear and drives the lower rotor wing assembly to rotate. The upper rotor wing power module and the lower rotor wing power module are respectively and fixedly arranged at the upper end of the upper fixed main shaft and the lower end of the lower fixed main shaft.
Preferably, the upper tilting disk and the middle of the upper tilting disk are assembled through a bearing, the upper tilting disk is hinged with one end of the upper variable pitch connecting rod, and the other end of the upper variable pitch connecting rod is hinged with a side extending rod of the upper rotor wing variable pitch piece. The lower rotating inclined rotary table is assembled with the lower inclined rotary table through a bearing, the lower rotating inclined rotary table is hinged with one end of the lower variable-pitch connecting rod, and the other end of the lower variable-pitch connecting rod is hinged with an extending rod on the side edge of the lower rotor variable-pitch piece. The upper variable pitch connecting rod and the lower variable pitch connecting rod are restrained by the upper circumferential synchronizer and the lower circumferential synchronizer and respectively drive the upper rotating inclined turntable and the upper rotor assembly and the lower rotating inclined turntable and the lower rotor assembly to do synchronous circumferential motion. The upper variable pitch connecting rod and the upper circumferential synchronizer can be the same part or two independent parts. The lower pitch link and the lower circumferential synchronizer can be the same part or two independent parts.
As a preferred aspect of the present invention, the upper and lower fastening members and the central seat may be separate components, or may be partially or completely designed as a single component with the central seat to simplify the number of components.
In a preferred embodiment of the present invention, the upper and lower fixed main shafts may be two independent shafts or may be an integrated shaft.
As a preferable aspect of the present invention, the steering engine set may be composed of a servo device in a rotary output form, or may be composed of a servo device in a linear output form.
Preferably, the upper and lower rotor wing power modules may be any one of direct drive or deceleration drive, electric or oil drive, double power or single power module.
Preferably, one end of the upper fastening member is fixedly connected to the upper fixing spindle, and the other end of the upper fastening member is fixedly connected to the center base. One end of the lower fastening piece is fixedly connected with the lower fixing main shaft, and the other end of the lower fastening piece is fixedly connected to the central seat. The upper and lower fasteners may also be designed partially or wholly as a single piece with the central seat to simplify the number of structural parts.
In a preferred embodiment of the present invention, the upper and lower flaps are not limited to being folded or not and in what folding manner, and may be folded in any manner of transverse one-sided folding, transverse Z-folding, longitudinal folding, and the like.
The invention also provides a flight control strategy of the coaxial dual-rotor aircraft, which comprises the following modes:
the tilting angle of the upper tilting turntable and the lower tilting turntable is directly driven and adjusted through a steering engine group consisting of 2 steering engines, and the rolling and pitching motions of the aircraft are controlled by periodically adjusting the pitch of the upper rotor wing and the lower rotor wing; the lifting motion of the aircraft is controlled by increasing and decreasing the rotating speed of the upper rotor wing and the lower rotor wing; the course motion of the aircraft is controlled by the differential adjustment of the rotating speeds of the upper rotor and the lower rotor.
Has the advantages that:
the pitch-changing mechanism and the control strategy thereof realize double-layer periodic pitch changing, have more sufficient operating efficiency and higher wind resistance compared with the disclosed coaxial aircraft with single-layer periodic pitch changing, and have the least number of driving steering engines and a more optimized structural connection mode compared with the disclosed coaxial aircraft with double-layer periodic pitch changing.
The invention realizes double-layer periodic pitch change by using the least number of steering engines and a simpler structure, provides sufficient control force for flight control performance, and efficiently exerts the maneuvering performance and wind resistance of the aircraft. And a method is provided for designing the torque conversion synchronizer under the condition that the phase angle of the rotor wing assembly is less than 90 degrees, so that the structure is simpler and more reliable, and meanwhile, the structure weight is greatly reduced.
Drawings
FIG. 1 is a general schematic diagram of a two-steering engine direct-drive coaxial rotor system;
FIG. 2 is a schematic view of a first configuration of a two-steering engine direct drive coaxial rotor system;
FIG. 3 is a schematic view of a second configuration of a two-steering engine direct drive coaxial rotor system;
the various components in fig. 1 to 3 are: 1. an upper rotor power module 2, an upper rotor component 3, an upper tilting mechanism 4, a driving rudder group component 5, a lower tilting mechanism 6, a lower rotor component 7, a lower rotor power module 8, an upper fixed main shaft 9, a lower fixed main shaft,
3a, an upward-inclining rotary table, 3b, an upward-rotating inclining rotary table, 3d, an upper synchronous connecting rod, 3c, an upper variable-pitch connecting rod, 3e, an upper centripetal joint component, 4a, an upper fastening component, 4b, a steering unit, 4e, a rocker arm, 4f, a center seat, 4g, an upper limiting rotator, 4i, a lower limiting rotator, 4h, a lower fastening component, 5a, a downward-inclining rotary table, 5b, a lower rotating inclining rotary table, 5c, a lower variable-pitch connecting rod, 5d, a lower synchronous connecting rod, 5e and a lower centripetal joint component.
2a, upper rotor, 2b, upper rotor clamp, 2c, upper rotor pitch, 2d, upper hub, 6a, lower rotor, 6b, lower rotor clamp, 6c, lower rotor pitch, 6d, lower hub.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific examples, which are carried out on the premise of the technical solution of the present invention, and it should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
Example 1:
as shown in figure 1, the two-steering engine direct-drive coaxial rotor system comprises an upper rotor power module 1 and a coaxial double-rotor system uppermost. The upper rotor assembly 2 is installed below the upper rotor power module 1, the upper tilting mechanism 3 is installed below the upper rotor assembly 2, the driving rudder group assembly 4 is installed below the upper tilting mechanism 3, the lower tilting mechanism 5 is installed below the driving rudder group assembly 4, the lower rotor assembly 6 is installed below the lower tilting mechanism 5, and the lower rotor power module 7 is installed below the lower rotor assembly 6.
As shown in fig. 2 and 3, the rudder vehicle comprises an upper rotor power module 1, an upper rotor assembly 2, an upper tilting mechanism 3, a driving rudder group assembly 4, a lower tilting mechanism 5, a lower rotor assembly 6, a lower rotor power module 7, an upper fixed spindle 8 and a lower fixed spindle 9. The upper tilting mechanism 3 comprises an upper tilting rotary table 3a, an upper tilting rotary table 3b, an upper synchronous connecting rod 3d, an upper variable pitch connecting rod 3c and an upper centripetal joint piece 3 e. The driving rudder machine group component 4 comprises an upper fastening piece 4a, a steering gear group 4b consisting of 2 steering gears, a rocker arm 4e, a center seat 4f, an upper limiting rotator 4g, a lower fastening piece 4h and a lower limiting rotator 4 i. The declination rotating mechanism 5 comprises a declination rotating disc 5a, a lower rotating declination rotating disc 5b, a lower synchronous connecting rod 5d, a lower variable pitch connecting rod 5c and a lower centripetal joint piece 5 e. An upper fixed main shaft 8 and a lower fixed main shaft 9 are respectively arranged on an upper fastening piece 4a and a lower fastening piece 4h in the driving rudder cluster assembly 4 to form a basic framework of the aircraft and a rotating shaft around which a rotor rotates. Steering wheel group 4b fixed connection that 2 steering wheel are constituteed is on two different positions of center seat 4f, and 2 rocking arm 4e one end fixed connection are on the moment of torsion output shaft of steering wheel, and 2 one ends of going up synchronous connecting rod 3d and 2 one ends of lower synchronous connecting rod 5d are articulated with the other end of 2 rocking arm 4e respectively. The other end of 2 upper synchronous connecting rods 3d is hinged with 2 side extending rods of the upper inclined rotating disc 3a, and the other end of 2 lower synchronous connecting rods 5d is hinged with 2 side extending rods of the lower inclined rotating disc 5 a.
The upper inclined rotary table 3a and the upper rotary inclined rotary table 3b are assembled through a bearing, the upper rotary inclined rotary table 3b is hinged with an upper centripetal joint piece 3e, and the upper centripetal joint piece 3e is fixedly connected with an upper fixed main shaft 8. The declination rotary table 5a and the lower rotary inclination rotary table 5b are assembled through a bearing, the lower rotary inclination rotary table 5b is hinged with a lower centripetal joint piece 5e, and the lower centripetal joint piece 5e is fixedly connected with a lower fixed main shaft 9. The up-tilting mechanism 3 and the down-tilting mechanism 5 are restricted from moving up and down at the center positions and cannot move up and down along the main shaft direction. A steering engine group 4b consisting of 2 steering engines directly drives an upward tilting turntable 3a and a downward tilting turntable 5 a. The side extending rod of the upward-inclined rotary table 3a is connected with the central seat 4f through an upper limiting rotator 4g, and the circumferential rotation of the upward-inclined rotary table 3a is limited. A side extending rod of the declination rotating disc 5a is connected with a central seat 4f through a lower limiting rotator 4i, and the circumferential rotation of the declination rotating disc 5a is limited.
As shown in fig. 2 and 3, the connection point on the tilting dial 3a and the connection point on the corresponding rocker arm 4e form a deflection angle of 0 ° or more and less than 90 ° around the circumferential direction of the rotation axis in a top view, and the connection point on the tilting dial 5a and the connection point on the corresponding rocker arm 4e form a deflection angle of equal size and opposite direction corresponding to the tilting dial around the circumferential direction of the rotation axis in a top view, so as to adapt to any phase angle condition of 90 ° or less than 90 ° generated by the upper and lower rotor assemblies 2 and 6 during cyclic pitch changing. Fig. 3 shows a specific example in which the phase angle is 90 and the tilting plates 3a and 5a have no tilt angle.
As shown in fig. 2 and 3, the upper rotor assembly 2 includes an upper rotor 2a, an upper rotor clamping member 2b, an upper rotor pitch piece 2c, and an upper hub 2 d. The lower rotor assembly 6 includes a lower rotor 6a, a lower rotor clamp 6b, a lower rotor pitch piece 6c, and a lower hub 6 d. The upper rotor wing assembly 2 is of a symmetrical two-blade structure or a multi-blade uniform distribution structure, the root of an upper rotor wing 2a is hinged with one end of an upper rotor wing clamping piece 2b, the other end of the upper rotor wing clamping piece 2b is hinged with an upper rotor wing distance changing piece 2c, and the upper rotor wing distance changing piece 2c is hinged with an upper hub 2 d. The upper hub 2d rotates circumferentially about the upper stationary main shaft 8. The upper rotor power module 1 directly drives or drives the upper hub 2d through a reduction gear and drives the upper rotor assembly 2 to rotate. The lower rotor wing assembly 6 is of a symmetrical two-blade structure or a multi-blade uniform distribution structure, the root of the lower rotor wing 6a is hinged with one end of a lower rotor wing clamping piece 6b, the other end of the lower rotor wing clamping piece 6b is hinged with a lower rotor wing distance changing piece 6c, and the lower rotor wing distance changing piece 6c is hinged with a lower rotor hub 6 d. The lower hub 6d rotates circumferentially about the lower stationary main shaft 9. The lower rotor power module 7 directly drives or drives the lower hub 6d through a reduction gear and drives the lower rotor assembly 6 to rotate. The upper rotor wing power module 1 and the lower rotor wing power module 7 are respectively and fixedly arranged at the upper end of an upper fixed main shaft 8 and the lower end of a lower fixed main shaft 9.
As shown in fig. 2 and 3, the upper tilting disk 3b is assembled with the upper tilting disk 3a through a bearing, the upper tilting disk 3b is hinged with one end of an upper pitch-variable connecting rod 3c, and the other end of the upper pitch-variable connecting rod 3c is hinged with a side extending rod of the upper wing pitch-variable part 2 c. The lower rotating inclined rotary table 5b and the lower inclined rotary table 5a are assembled through a bearing, the lower rotating inclined rotary table 5b is hinged with one end of a lower variable pitch connecting rod 5c, and the other end of the lower variable pitch connecting rod 5c is hinged with an extending rod at the side edge of a lower rotor wing variable pitch piece 6 c. The upper pitch-variable connecting rod 3c and the lower pitch-variable connecting rod 5c are constrained by the upper circumferential synchronizer and the lower circumferential synchronizer to respectively drive the upper rotating inclined rotary disc 3b and the upper rotor assembly 2 as well as the lower rotating inclined rotary disc 5b and the lower rotor assembly 6 to synchronously and circumferentially move. The upper pitch link 3c is the same member as the upper circumferential synchronizer 3c1, and the lower pitch link 5c is the same member as the lower circumferential synchronizer 5c 1. The upper pitch link 3c and the upper circumferential synchronizer 3c1 may be two separate components, and the lower pitch link 5c and the lower circumferential synchronizer 5c1 may be two separate components.
In this embodiment, the upper and lower fastening members 4a, 4h and the central seat 4f may be independent components, or may be designed as an integral component with the central seat 4f partially or entirely to reduce the number of structural components.
In this embodiment, the upper and lower fixed main shafts 8 and 9 may be two independent shafts or may be an integrated shaft.
In this embodiment, the steering engine set 4b may be composed of a servo device in a rotary output form, or a servo device in a linear output form.
In this embodiment, the upper and lower rotor power modules 1 and 7 may be any one of a direct-drive or deceleration-drive, an electric or oil-drive, a dual-power or single-power module.
In this embodiment, the upper and lower rotary wings 2a, 6a are not limited to being folded or not and what folding manner, and may be any one of a transverse one-side folding manner, a transverse Z-folding manner, a longitudinal folding manner, and the like.
In this embodiment, a control strategy may be employed for a coaxial dual rotor system, including the following:
the tilting angles of the upper rotating disk 3a and the lower rotating disk 5a are directly driven and adjusted through a steering engine group 4b consisting of 2 steering engines, and the upper rotating wing 2a and the lower rotating wing 6a are subjected to periodic variable pitch adjustment to control the rolling and pitching motion of the aircraft; the lifting motion of the aircraft is controlled by increasing and decreasing the rotating speeds of the upper rotor wing 2a and the lower rotor wing 6 a; the course motion of the aircraft is controlled by the differential regulation of the rotating speed of the upper rotor wing 2a and the lower rotor wing 6 a.
The technical means disclosed by the scheme of the invention are not limited to the technical means disclosed by the technical means, and the technical scheme also comprises the technical scheme formed by any combination of the technical characteristics. While the foregoing is directed to embodiments of the present invention, it will be appreciated by those skilled in the art that various changes may be made in the embodiments without departing from the principles of the invention, and that such changes and modifications are intended to be included within the scope of the invention.
Claims (10)
1. The utility model provides a coaxial rotor system is directly driven to two steering engines which characterized in that: the device comprises an upper rotor wing power module, an upper rotor wing assembly, an upper tilting mechanism, a driving rudder group assembly, a lower tilting mechanism, a lower rotor wing assembly, a lower rotor wing power module, an upper fixed main shaft and a lower fixed main shaft, wherein the upper tilting mechanism comprises an upper tilting turntable, an upper rotating tilting turntable, an upper synchronous connecting rod, an upper variable pitch connecting rod and an upper centripetal joint piece; the driving steering engine group component comprises an upper fastening piece, a steering engine group consisting of 2 steering engines, a rocker arm, a center seat, an upper limiting rotator, a lower fastening piece and a lower limiting rotator; the lower tilting mechanism comprises a lower tilting turntable, a lower rotating tilting turntable, a lower synchronous connecting rod, a lower variable-pitch connecting rod and a lower centripetal joint piece; the upper fixed main shaft and the lower fixed main shaft are respectively arranged on an upper fastener and a lower fastener in the driving rudder cluster assembly to form a basic framework of the aircraft and a rotating shaft around which a rotor rotates; the upper rotor power module is arranged at the uppermost part of the coaxial double-rotor system; the upper rotor assembly is arranged below the upper rotor power module, the upper tilting mechanism is arranged below the upper rotor assembly, the driving rudder group assembly is arranged below the upper tilting mechanism, the lower tilting mechanism is arranged below the driving rudder group assembly, the lower rotor assembly is arranged below the lower tilting mechanism, and the lower rotor power module is arranged below the lower rotor assembly; the steering engine group consisting of 2 steering engines is fixedly connected to two different positions of the center seat, one ends of 2 rocker arms are respectively and fixedly connected to torque output shafts of the two steering engines, and one ends of 2 upper synchronous connecting rods and one ends of 2 lower synchronous connecting rods are respectively hinged to the other ends of the 2 rocker arms; the other ends of the 2 upper synchronous connecting rods are hinged with 2 side extending rods of the upward inclined turntable, and the other ends of the 2 lower synchronous connecting rods are hinged with 2 side extending rods of the downward inclined turntable; the upper tilting rotary table is assembled with the upper rotating tilting rotary table through a bearing, the upper rotating tilting rotary table is hinged with the upper centripetal joint piece, and the upper centripetal joint piece is fixedly connected with the upper fixed shaft; the lower inclined rotary table is assembled with the lower rotary inclined rotary table through a bearing, the lower rotary inclined rotary table is hinged with the lower centripetal joint piece, and the lower centripetal joint piece is fixedly connected with the lower fixed shaft; the up-tilting mechanism and the down-tilting mechanism are limited in central position to move up and down and cannot move up and down along the direction of the main shaft; the steering engine group consisting of the 2 steering engines directly drives the upward-tilting turntable and the downward-tilting turntable; the extension rod at the side edge of the upward-inclined turntable is connected with the central seat through the upper limiting rotator to limit the circumferential rotation of the upward-inclined turntable; the side extending rod of the declination turntable is connected with the central seat through the lower limiting rotator to limit the circumferential rotation of the declination turntable.
2. The two-steering engine direct-drive coaxial rotor system according to claim 1, wherein: the connecting point on the upward-inclined turntable and the position corresponding to the connecting point of the rocker arm form deflection angles which are more than or equal to 0 degree and less than 90 degrees around the circumferential direction of the rotating shaft in a top view, and the connecting point on the downward-inclined turntable and the position corresponding to the connecting point of the rocker arm form deflection angles which are equal to the upper-inclined turntable in size and opposite in direction around the circumferential direction of the rotating shaft in the top view, so that the condition of any phase angle of 90 degrees or less than 90 degrees generated by the upper and lower rotor wing assemblies in periodic pitch changing is adapted.
3. The two-steering engine direct-drive coaxial rotor system according to claim 1, wherein: the upper rotor assembly comprises an upper rotor, an upper rotor clamping piece, an upper rotor distance changing piece and an upper hub; the lower rotor wing assembly comprises a lower rotor wing, a lower rotor wing clamping piece, a lower rotor wing distance changing piece and a lower propeller hub; the upper rotor wing assembly is of a symmetrical two-blade structure or a multi-blade uniform distribution structure, the root of the upper rotor wing is hinged with one end of the upper rotor wing clamping piece, the other end of the upper rotor wing clamping piece is hinged with the upper rotor wing variable-pitch piece, and the upper rotor wing variable-pitch piece is hinged with the upper hub; the upper propeller hub rotates circumferentially around the upper fixed main shaft; the upper rotor wing power module directly drives or drives the upper rotor hub through a reduction gear and drives the upper rotor wing assembly to rotate; the lower rotor wing assembly is of a symmetrical two-blade structure or a multi-blade uniform distribution structure, the root of the lower rotor wing is hinged with one end of the lower rotor wing clamping piece, the other end of the lower rotor wing clamping piece is hinged with the lower rotor wing variable-pitch piece, and the lower rotor wing variable-pitch piece is hinged with the lower rotor hub; the lower propeller hub rotates around the lower fixed main shaft in the circumferential direction; the lower rotor wing power module directly drives or drives the lower propeller hub through a reduction gear and drives the lower rotor wing assembly to rotate; the upper rotor wing power module and the lower rotor wing power module are respectively and fixedly arranged at the upper end of the upper fixed main shaft and the lower end of the lower fixed main shaft.
4. The two-steering engine direct-drive coaxial rotor system according to claim 1, wherein: the upper rotating inclined rotary disc is assembled with the middle of the upper inclined rotary disc through a bearing, the upper rotating inclined rotary disc is hinged with one end of an upper variable pitch connecting rod, and the other end of the upper variable pitch connecting rod is hinged with an extending rod on the side edge of the upper rotor wing variable pitch part; the lower rotating inclined rotary table is assembled with the lower inclined rotary table through a bearing, the lower rotating inclined rotary table is hinged with one end of the lower variable-pitch connecting rod, and the other end of the lower variable-pitch connecting rod is hinged with an extending rod on the side edge of the lower rotor variable-pitch piece; the upper pitch-variable connecting rod and the lower pitch-variable connecting rod are restrained by an upper circumferential synchronizer and a lower circumferential synchronizer and respectively drive the upper rotating inclined turntable and the upper rotor wing assembly and the lower rotating inclined turntable and the lower rotor wing assembly to synchronously and circumferentially move; the upper variable-pitch connecting rod and the upper circumferential synchronizer are the same component or two independent components; the lower pitch link and the lower circumferential synchronizer are the same component or two independent components.
5. The two-steering engine direct-drive coaxial rotor system according to claim 1, wherein: the upper and lower fasteners and the central seat are of a split structure or are of an integrated structure with the central seat.
6. The two-steering engine direct-drive coaxial rotor system according to claim 1, wherein the upper and lower fixed main shafts are two independent shafts or one integrated shaft.
7. The two-steering engine direct-drive coaxial rotor system according to claim 1, wherein the rudder unit comprises a servo device in a rotary output form or a servo device in a linear output form.
8. The two-steering-engine direct-drive coaxial rotor system according to claim 1, wherein the upper and lower rotor power modules are any one of a direct-drive electric dual-power module, a direct-drive electric single-power module, a direct-drive oil-drive dual-power module, a direct-drive oil-drive single-power module, a speed-reduction drive electric dual-power module, a speed-reduction drive electric single-power module, a speed-reduction drive oil-drive dual-power module and a speed-reduction drive oil-drive single-power module.
9. The two-steering engine direct-drive coaxial rotor system according to claim 1, wherein: the upper and lower rotary wings are of foldable or non-foldable structures, and the foldable structures are in any one of transverse single-edge folding, transverse Z-shaped folding and longitudinal folding modes.
10. The control strategy of the two-steering engine direct-drive coaxial rotor system according to claim 1, wherein: the control is carried out by the following steps:
the tilting angle of the upper tilting turntable and the lower tilting turntable is directly driven and adjusted through a steering engine group consisting of 2 steering engines, and the rolling and pitching motions of the aircraft are controlled by periodically adjusting the pitch of the upper rotor wing and the lower rotor wing; the lifting motion of the aircraft is controlled by increasing and decreasing the rotating speed of the upper rotor wing and the lower rotor wing; the course motion of the aircraft is controlled by the differential adjustment of the rotating speeds of the upper rotor and the lower rotor.
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| CN111409819A (en) * | 2020-04-13 | 2020-07-14 | 深圳市赛为智能股份有限公司 | Double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and control method thereof |
| CN111413998B (en) * | 2020-04-14 | 2023-05-23 | 中国人民解放军32180部队 | High-wind-resistance tandem rotor wing mooring unmanned aerial vehicle and flight control method thereof |
| CN112937847A (en) * | 2021-03-31 | 2021-06-11 | 珠海市双捷科技有限公司 | Coaxial contra-rotor helicopter |
| CN113815851B (en) * | 2021-10-28 | 2024-08-09 | 湖南韬讯航空科技有限公司 | Rotor wing turning propulsion device, helicopter and control method |
| CN113815854B (en) * | 2021-10-29 | 2024-06-11 | 湖南韬讯航空科技有限公司 | Aircraft rotor system and control method |
| CN114506450A (en) * | 2022-03-01 | 2022-05-17 | 北京海空行科技有限公司 | Electronic coaxial unmanned aerial vehicle rotor system |
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