CN204979224U - Rotor controlling means and rotor craft - Google Patents
Rotor controlling means and rotor craft Download PDFInfo
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- CN204979224U CN204979224U CN201520396949.8U CN201520396949U CN204979224U CN 204979224 U CN204979224 U CN 204979224U CN 201520396949 U CN201520396949 U CN 201520396949U CN 204979224 U CN204979224 U CN 204979224U
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Abstract
The utility model is suitable for a rotor craft technical field provides a rotor controlling means and rotor craft. This rotor controlling means changes through power transmission assembly transmission to first screw and second screw including the servo mechanism, power transmission assembly, mount, first screw and the second screw that are equipped with the power main shaft, the torque that servo mechanism produced the sexual periodicity to the pitch of controlling first screw and second screw changes. This rotor controlling means utilizes the mount to connect power main shaft and first screw and second screw, avoid driving first screw and second screw and taken place emergence coupling phenomenon between the centripetal force that power that the pitch changes and first screw and second screw received, guaranteed that this rotor controlling means can control the pitch change of first screw and second screw accurately high -efficient, and make the rotor craft that has this rotor controlling means can obtain bigger every single move and roll control moment.
Description
Technical field
The utility model belongs to rotor craft technical field, particularly relates to a kind of rotor control setup and has the rotor craft of this rotor control setup.
Background technology
The present age, miniature self-service cyclogyro was divided into two types usually: multi-rotor aerocraft and the single rotor craft being similar to helicopter.
At present, the most common and the most most widely used is multi-rotor aerocraft, and this kind of aircraft has the screw propeller of more than 4 or 4 usually, for the attitude providing lift and control aircraft.Wherein, modal in this kind of aircraft is quadrotor, quadrotor has four screw propellers, controls the flying height of aircraft and the attitude by regulating the speed discrepancy between each screw propeller to control aircraft by the mean speed adjusting four screw propellers.But, traditional multi-rotor aerocraft needs at least 4 motors could realize the control to aircraft, from aerodynamic angle, it is high not as the pneumatic efficiency of traditional helicopter or coaxial double-oar helicopter, and this directly causes the cruise duration of the quadrotor of same order or power configuration not as traditional helicopter.
Single rotor craft is mainly divided into following three types:
The first single rotor craft has two main screws, two coaxial rotations of screw propeller and hand of rotation is contrary.This single rotor craft is provided with tilting frame structure below screw propeller, this tilting frame structure is controlled by actuating device, the control to aircraft pitching and roll two degree of freedom is realized by the pitch of one or two screw propeller of control of this tilting frame structural periodicity, by the driftage regulating the speed discrepancy of two screw propellers to control aircraft, control lift size by the mean speed or pitch regulating two screw propellers and then control the flying height of aircraft.Although this aircraft employs coaxial double-oar and improves flight efficiency, but the pitching of aircraft and roll gesture stability need to rely at least two servomotors and tilting frame structure to realize, it is comparatively complicated that most tilting frame structure uses bar linkage structure to realize its structure, and in order to drive the servomotor price of tilting frame also costly.Therefore, the manufacturing cost of this kind of aircraft is high, easily damages tilting frame structure and servomotor when rotor collides, and compares and be difficult to repair after tilting frame structural failure; Tilting frame structure and servomotor occupy the larger space of fuselage in addition, too increase weight simultaneously.
The second list rotor craft has three screw propellers, and wherein two is main screw, the coaxial rotation of main screw and hand of rotation is contrary.Have a little screw propeller at the afterbody of aircraft, its S. A. and main screw are parallel.By the driftage regulating the speed discrepancy of two screw propellers to control aircraft, controlled pitching and the roll of aircraft by the screw propeller rotating of tail-rotor and the cooperation of yaw freedom, control lift size by the mean speed or pitch regulating two screw propellers and then control the flying height of aircraft.A this aircraft tail undercarriage replaces the function of tilting frame, but needs yaw axis constantly to adjust the position of tail undercarriage due to its pitching and roll unloads, which results in its pitching and roll gesture stability speed is extremely low; In addition, because the screw propeller of afterbody had not only needed to provide thrust upwards but also need to provide downward thrust, so its blade design is symmetrical aerofoil profile, this causes its pneumatic efficiency very low, often needs larger blade could produce certain control effort; In addition, the strut bar of its tail undercarriage can be exposed under the downwash flow of screw propeller, and this also makes it have lost the lift of a part.Although this kind of aircraft does not use tilting frame and servomotor and provides cost savings, but the speed control of its pitching and roll attitude is very low, be the manipulator of aircraft also or automatic flight control system is all difficult to reach the precise manipulation to aircraft, so this type of aircraft is mainly used in the helicopter toy of low side.
The third single rotor craft has two screw propellers, and one is main rotor, and one is tail rotor, and the S. A. of tail rotor is vertical with main rotor, and tail rotor is offset the moment of torsion of main rotor by changing rotating speed or changing pitch and controls the driftage of aircraft simultaneously; Below main rotor, be provided with the tilting frame structure controlled by actuating device, the pitch periodically being controlled main rotor by this tilting frame structure is realized the control in aircraft pitching and roll two degree of freedom.But, this aircraft is the same with the first single rotor craft, all have employed tilting frame structure and at least two servomotors to control pitching and the roll attitude of aircraft, but it use a tail screw propeller vertical with main rotor shaft to offset the moment of torsion of main rotor and to control driftage, this makes this aircraft equally also have the shortcoming of the first single rotor craft, and namely tilting frame and the servomotor for controlling tilting frame all easily damage and more difficult maintenance; In addition, its this aircraft is the same with the second list rotor craft, all has the strut bar for supporting afterbody motor, and tail screw propeller strut bar can be exposed under the downwash flow of screw propeller, and this also makes it have lost the lift of a part.
For the mode of above-mentioned various traditional rotor aircraft, the control that multi-rotor aerocraft at least needs four motors could realize aircraft, and its cruise duration is short and pneumatic efficiency is low; Single rotor craft not only needs the motor driving its main rotor to rotate, but also needs tilting frame and at least two servomotors just can complete gesture stability, but its structure is comparatively complicated.For this reason, in order to make single rotor craft structure simple and can gesture stability be realized, a kind of passive rotor control mechanism of minute vehicle is disclosed in patent (publication number is WO2014/150526), specifically disclose and utilize wheel shaft by the blade of the transmission of power to a pair of drive motor screw propeller, to realize the gesture stability of aircraft, and between wheel shaft and screw propeller, a pair hinge is installed respectively.But, this structure but also exists following defect: because hinge axes is not vertical with power spindle, cause when screw propeller is around pivot, distance between the center of gravity of screw propeller and power spindle there occurs change, therefore, the control effort that centripetal force suffered by screw propeller can be subject to screw propeller is coupled, especially the centripetal force at high speed suffered by this screw propeller is far longer than the Maximum controlling moment that motor can produce, and this directly results in the pneumatic angle of attack variation of propeller blade at high speed too small being difficult to and produces larger control torque.And, the test parameter curve provided in patent (publication number is WO2014/150526) also demonstrate that this problem, namely be rotating speed and the longitudinal axis at its transverse axis be can find out in the diagram curve of moment, the arrival moment plateau that its control torque is too early, be coupled simultaneously and also bring adverse influence to the accurate control of control system.
Utility model content
The purpose of this utility model is to provide a kind of rotor control setup, and the screw propeller being intended to solve single rotor craft in prior art easily produces the technical matters of centripetal force coupling phenomenon.
The utility model is achieved in that a kind of rotor control setup, comprising:
Actuating device, is provided with power spindle;
Power transfer assembly, comprises power input shaft, the first output shaft and the second output shaft, and described first output shaft is coaxially fixedly connected with described second output shaft, and perpendicular with described power input shaft, and described power input shaft is fixedly connected with described power spindle;
Fixed mount, is coaxially connected with described power spindle;
The first screw propeller that radial direction along described fixed mount is coaxially arranged and the second screw propeller, described first screw propeller to be fixed on described fixed mount and to be fixedly connected with described first output shaft, and described second screw propeller to be fixed on described fixed mount and to be fixedly connected with described second output shaft; Wherein, the longitudinal axis of described first screw propeller is parallel with the pivot center of described first screw propeller, the pivot center of described first screw propeller is vertical with described power spindle, the longitudinal axis of described second screw propeller is parallel with the pivot center of described second screw propeller, and the pivot center of described second screw propeller is vertical with described power spindle;
Wherein, the Periodic Rotating angular acceleration that described actuating device produces and result in periodic torque change, this periodic torque change is passed to described first screw propeller and described second screw propeller through described power transfer assembly, changes by the pitch controlling described first screw propeller and described second screw propeller the control realized aircraft pitching and roll degree of freedom.
Further, described fixed mount comprises the mounting circular ring of described first screw propeller of fixed installation and described second screw propeller and to be arranged in described mounting circular ring and to be provided with the cradle portion of mounting hole, and described power spindle is fixedly connected with described power input shaft through described mounting hole.
Further, described rotor control setup also comprises restriction described power spindle and described fixed mount relative displacement and is the flexible member of ring-type, and described flexible member is fixed between the hole wall of described power spindle and described mounting hole.
Further, described first screw propeller comprises and being fixedly installed on described mounting circular ring and the first transmission shaft be coaxially fixedly connected with described first output shaft and the first blade be fixedly connected with described first transmission shaft; Described second screw propeller comprises and being fixedly installed on described mounting circular ring and the second driving shaft be coaxially fixedly connected with described second output shaft and the second blade be fixedly connected with described second driving shaft.
Further, described power transfer assembly also comprises and has power intake and the universal joint mechanism of clutch end and be connected with described universal joint mechanism and be provided with the installing frame of described first output shaft and described second output shaft, wherein, described power input shaft is arranged at the power intake of described universal joint mechanism, and described first output shaft is arranged at the clutch end of described universal joint mechanism.
Further, described universal joint mechanism is Cardan joint, near constant velocity universal joint, constant-velocity universal joint, cardan universal joint, dual cardan type U-joint, triple axle universal-joint, Rzeppa joint, spherical aberration formula universal-joint or around property universal-joint.
Further, described power transfer assembly also comprises with the first gear that described power input shaft is coaxially fixedly connected with, rotates the second gear of being installed on described first output shaft and to be fixedly installed on described second output shaft and to be positioned at the 3rd gear of the described first relative both sides of gear with described second gear, described second gear and described 3rd gear and described first gears meshing.
Further, described actuating device comprises:
Motor, has described power spindle;
Rotational position sensor, is fixedly connected on described motor and relative position for detecting described electric machine rotation;
Control system, receives the relative position signal of described rotational position sensor and controls described motor, produces cyclical variation to make the angular acceleration of described motor.
Further, described control system comprises attitude controller and electric machine controller;
Described attitude controller receives the command signal of aviator and the attitude of flight vehicle signal from inertia measurement unit, generates a control command and described control command is sent to electric machine controller according to the programmed algorithm preset;
Described electric machine controller receives the position signal that the control command of described attitude controller and described rotational position sensor provide, and generating the drive singal driving described motor rotation, the pitch that described drive singal and described electric machine controller drive the intrinsic drive singal of described motor to superpose to control described first screw propeller and described second screw propeller changes.
Further, described drive singal is a sinusoidal drive signals, and the described motor of uniform rotation receives described sinusoidal drive signals and generating period angular acceleration change; The described pitch of the phase decision of described sinusoidal drive signals changes the position in described aircraft system of axes.
Further, described rotational position sensor is Magnetic Sensor, Hall element or photoelectric code disk.
The utility model additionally provides a kind of rotor craft, comprises rotor control setup, and described rotor control setup is above-mentioned rotor control setup.
The utility model relative to the technique effect of prior art is: this rotor control setup utilizes described fixed mount to connect described power spindle and described first screw propeller and described second screw propeller, make the longitudinal axis of described first screw propeller parallel with the pivot center of described first screw propeller and make the longitudinal axis of described second screw propeller parallel with the pivot center of described second screw propeller, and the pivot center of described first screw propeller pivot center that is vertical with described power spindle and described second screw propeller is vertical with described power spindle, this annexation avoids and drives the power of described first screw propeller and described second screw propeller generation pitch change and between described first screw propeller and the centripetal force suffered by described second screw propeller, coupling phenomenon occur, ensure that this rotor control setup accurately can control the pitch change of described first screw propeller and described second screw propeller efficiently, and make the rotor craft with this rotor control setup can obtain larger pitching and control of sideward roll moment.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, be briefly described to the accompanying drawing used required in the utility model embodiment or description of the prior art below, apparently, accompanying drawing described is below only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the block diagram of the rotor control setup that the utility model one embodiment provides;
Fig. 2 is the partial exploded view of rotor control setup in Fig. 1;
Fig. 3 is the constructional drawing of Fig. 2 medium power transmitting assembly;
Fig. 4 is the block diagram of the rotor control setup that another embodiment of the utility model provides;
Fig. 5 is the partial exploded view of rotor control setup in Fig. 4;
The birds-eye view of rotor control setup in aircraft system of axes that Fig. 6 the utility model embodiment provides;
Fig. 7 is the first screw propeller of providing of the utility model embodiment and the angle of rotational home position and the graph of a relation of aircraft angular acceleration;
Fig. 8 is the first screw propeller of providing of the utility model embodiment and the pitch of the second screw propeller and the graph of a relation of included angle A;
Fig. 9 is the block diagram of the control part of the rotor control setup that the utility model embodiment provides.
Main element nomenclature:
10 actuating device 27 second gears
12 motors 28 the 3rd gear
120 power spindle 30 fixed mounts
14 rotational position sensor 32 mounting circular rings
16 control system 34 cradle portion
162 attitude controller 35 mounting holes
164 electric machine controller 36 coupling links
20 power transfer assembly 37 pipe links
21 power input shaft 40 first screw propellers
22 first output shaft 42 first transmission shafts
23 second output shaft 44 first blades
24 universal joint mechanism 50 second screw propellers
242 power intake 52 second driving shafts
244 clutch end 54 second blades
25 installing frame 60 flexible members
26 first gears
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Please refer to Fig. 1 to Fig. 5, the rotor control setup that the utility model embodiment provides comprises:
Actuating device 10, is provided with power spindle 120;
Power transfer assembly 20, comprise power input shaft 21, first output shaft 22 and the second output shaft 23, described first output shaft 22 is coaxially fixedly connected with described second output shaft 23, and perpendicular with described power input shaft 21, and described power input shaft 21 is fixedly connected with described power spindle 120;
Fixed mount 30, is coaxially connected with described power spindle 120;
The first screw propeller 40 and the second screw propeller 50 that radial direction along described fixed mount 30 is coaxially arranged, described first screw propeller 40 to be fixed on described fixed mount 30 and to be fixedly connected with described first output shaft 22, and described second screw propeller 50 to be fixed on described fixed mount 30 and to be fixedly connected with described second output shaft 23; Wherein, the longitudinal axis of described first screw propeller 40 is parallel with the pivot center of described first screw propeller 40, the pivot center of described first screw propeller 40 is vertical with described power spindle 120, the longitudinal axis of described second screw propeller 50 is parallel with the pivot center of described second screw propeller 50, and the pivot center of described second screw propeller 50 is vertical with described power spindle 120;
Wherein, the Periodic Rotating angular acceleration that described actuating device 10 produces and result in periodic torque change, this periodic torque change is passed to described first screw propeller 40 and described second screw propeller 50 through described power transfer assembly 20, changes by the pitch controlling described first screw propeller 40 and described second screw propeller 50 control realized aircraft pitching and roll degree of freedom.
The rotor control setup that the utility model embodiment provides utilizes described fixed mount 30 to connect described power spindle 120 and described first screw propeller 40 and described second screw propeller 50, make the longitudinal axis of described first screw propeller 40 parallel with the pivot center of described first screw propeller 40 and make the longitudinal axis of described second screw propeller 50 parallel with the pivot center of described second screw propeller 50, and the pivot center of described first screw propeller 40 pivot center that is vertical with described power spindle 120 and described second screw propeller 50 is vertical with described power spindle 120, this annexation avoids and drives described first screw propeller 40 and described second screw propeller 50 power of pitch change occurs and between described first screw propeller 40 and the centripetal force suffered by described second screw propeller 50, coupling phenomenon occurs, ensure that this rotor control setup accurately can control the pitch change of described first screw propeller 40 and described second screw propeller 50 efficiently, and make the rotor craft with this rotor control setup can obtain larger pitching and control of sideward roll moment.
In this embodiment, described first output shaft 22 and described second output shaft 23 can be same axle two parts or by connection structure co-axially fixed two sections of axles, the connection mode of described first output shaft 22 and described second output shaft 23 can be other arbitrary structures, is as the criterion to be coaxially fixedly connected with.
In this embodiment, described fixed mount 30 one-tenth is circular, the power spindle 120 of described actuating device 10 is arranged along the axis of described fixed mount 30, described first screw propeller 40 and described second screw propeller 50 are arranged along the radial direction of described fixed mount 30, and described first screw propeller 40 and the described axis of the second screw propeller 50 and the intersect vertical axis of described power spindle 120.
In operational process, described actuating device 10 produces Periodic Rotating angular acceleration change, and this angular acceleration change be result in periodic torque change, and this periodic torque change is passed to described first screw propeller 40 and described second screw propeller 50 through described power spindle 120 by described transmission of power main frame, thus drive described first screw propeller 40 and described second screw propeller 50 that pitch change occurs around the axial-rotation of described power spindle 120, realize the control to described aircraft pitching and roll two degree of freedom thus, structure is simple and pneumatic efficiency is high.
Please refer to Fig. 1, Fig. 2, Fig. 4 and Fig. 5, further, described fixed mount 30 comprises the mounting circular ring 32 of described first screw propeller 40 of fixed installation and described second screw propeller 50 and to be arranged in described mounting circular ring 32 and to be provided with the cradle portion 34 of mounting hole 35, and described power spindle 120 is fixedly connected with described power input shaft 21 through described mounting hole 35.Described mounting circular ring 32 and described cradle portion 34 are by one-body molded and make.Described cradle portion 34 comprises the coupling link 36 that is provided with described mounting hole 35 and multiplely gives prominence to the pipe link 37 extended on described mounting circular ring 32 inwall along described coupling link 36 outer wall, described mounting hole 35, described coupling link 36 are coaxially arranged with described mounting circular ring 32, and the aperture of described mounting hole 35 is much smaller than the aperture of described mounting circular ring 32.The ring that described power transfer assembly 20 is contained in described mounting circular ring 32 is interior to be connected with described first screw propeller 40 and described second screw propeller 50, thus realizes transmission of power.
The rotor control setup that the utility model embodiment provides utilizes the power spindle 120 of described actuating device 10 to be fixedly connected on described power input shaft 21 through described mounting hole 35, and be fixedly connected on described first screw propeller 40 and described second screw propeller 50 respectively by described first output shaft 22 of described power transfer assembly 20 and described second output shaft 23, simultaneously, described mounting circular ring 32 is utilized to fix described first screw propeller 40 and described second screw propeller 50, occur relatively rotating between described first screw propeller 40 and described second screw propeller 50 to limit and centripetal force coupling phenomenon occurs.When described actuating device 10 drives described power spindle 120 to rotate, described power spindle 120 drives described first screw propeller 40 and described second screw propeller 50 to rotate, to change the pitch of described first screw propeller 40 and described second screw propeller 50 by described power transfer assembly 20.
Please refer to Fig. 2 and Fig. 5, further, described rotor control setup also comprises the described power spindle of restriction 120 with described fixed mount 30 relative displacement and be the flexible member 50 of ring-type, and described flexible member 50 is fixed between described power spindle 120 and the hole wall of described mounting hole 35.Utilize described flexible member 50 to limit relatively rotating between described power spindle 120 and described fixed mount 30, and relatively rotated Angle ambiguity in certain angle scope, preferably, maximum relative displacement is no more than 180 °.In this embodiment, described flexible member 50 is circular and coaxial with described fixed mount 30.
Please refer to Fig. 1 to Fig. 5, further, described first screw propeller 40 comprises and being fixedly installed on described mounting circular ring 32 and the first transmission shaft 42 be coaxially fixedly connected with described first output shaft 22 and the first blade 44 be fixedly connected with described first transmission shaft 42; Described second screw propeller 50 comprises and being fixedly installed on described mounting circular ring 32 and the second driving shaft 52 be coaxially fixedly connected with described second output shaft 23 and the second blade be fixedly connected with described second driving shaft 52.The two ends of described first transmission shaft 42 fix described first output shaft 22 and described first blade 44 respectively, the two ends of described second driving shaft 52 fix described second output shaft 23 and described second blade respectively, and described first transmission shaft 42, described first output shaft 22, described second output shaft 23 are coaxially fixedly connected with described second driving shaft 52.By described first transmission shaft 42 and described second driving shaft 52 are individually fixed on described mounting circular ring 32, to make described first screw propeller 40 and described second screw propeller 50 rotate with the rotation of described power spindle 120 with described fixed mount 30, avoid producing centripetal force coupling phenomenon between described first screw propeller 40 and described second screw propeller 50.In this embodiment, described first blade 44 is identical with described second blade construction.
Please refer to Fig. 1 to Fig. 3, further, described power transfer assembly 20 also comprises and has power intake 242 and the universal joint mechanism 24 of clutch end 244 and be connected with described universal joint mechanism 24 and be provided with the installing frame 25 of described first output shaft 22 and described second output shaft 23, wherein, described power input shaft 21 is arranged at the power intake 242 of described universal joint mechanism 24, and described first output shaft 22 is arranged at the clutch end 244 of described universal joint mechanism 24.Described installing frame 25 is between described first output shaft 22 and described second output shaft 23, and described installing frame 25, described first output shaft 22 and described second output shaft 23 are by one-body molded and make.Described universal joint mechanism 24 is between described installing frame 25 and described power spindle 120, and the clutch end 244 of described universal-joint is connected to described first output shaft 22, described power intake 242 is connected to described power spindle 120 by described power input shaft 21, to drive described universal joint mechanism 24 to rotate by described actuating device 10, thus described installing frame 25, described first screw propeller 40 and described second screw propeller 50 is driven to rotate.
When the power spindle 120 of described actuating device 10 produces angular acceleration, produce twist moment between the meeting of described power spindle 120 and described fixed mount 30 and produce relative displacement, this relative displacement is delivered on the first transmission shaft 42 vertical with described power spindle 120 and described second driving shaft 52 by described universal joint mechanism 24, and drive the change of described first screw propeller 40 and the pneumatic angle of attack of described second screw propeller 50, and then generation control torque, thus realize the control to aircraft pitching and roll two degree of freedom.
In this embodiment, described universal joint mechanism 24 is Cardan joint, near constant velocity universal joint, constant-velocity universal joint, cardan universal joint, dual cardan type U-joint, triple axle universal-joint, Rzeppa joint, spherical aberration formula universal-joint or around property universal-joint.In other embodiments, described universal joint mechanism 24 also can be the universal-joint of other types, does not enumerate one by one herein.
Please refer to Fig. 4 and Fig. 5, further, described power transfer assembly 20 also comprise coaxially be fixedly connected with described power input shaft 21 the first gear 26, rotate the second gear 27 of being installed on described first output shaft 22 and to be fixedly installed on described second output shaft 23 and to be positioned at the 3rd gear 28 of the described first relative both sides of gear 26 with described second gear 27, described second gear 27 and described 3rd gear 28 engage with described first gear 26.Described first transmission shaft 42, described first output shaft 22, described second gear 27, described 3rd gear 28, described second output shaft 23 and described second driving shaft 52 are coaxially arranged, and described second gear 27 and described 3rd gear 28 are relatively arranged on the both sides of described first gear 26 and all engage with described first gear 26.Described first output shaft 22 is fixedly connected with described second gear 27 and coaxial with the turning cylinder of described second gear 27, described second output shaft 23 passes described 3rd gear 28 and is coaxially fixedly connected with second driving shaft 52, and described 3rd gear 28 can relatively rotate with described second output shaft 23.In this embodiment, described first output shaft 22 and described second output shaft 23 are two sections of same axle.
When the power spindle 120 of described actuating device 10 produces angular acceleration, produce twist moment between the meeting of described power spindle 120 and described fixed mount 30 and produce relative displacement, described first gear 26 and described second gear 27 engage with described 3rd gear 28 and are delivered to by this relative displacement on the first transmission shaft 42 vertical with described power spindle 120 and described second driving shaft 52, and drive the change of described first screw propeller 40 and the pneumatic angle of attack of described second screw propeller 50, and then generation control torque, thus the control realized aircraft pitching and roll two degree of freedom.
In this embodiment, described power transfer assembly 20 can be the coupler of other types or flexible antifatigue material.
Please refer to Fig. 1 to Fig. 5 and Fig. 9, further, described actuating device 10 comprises:
Motor 12, has described power spindle 120;
Rotational position sensor 14, be fixedly connected on described motor 12 and for detect described motor 12 rotate relative position;
Control system 16, receives the relative position signal of described rotational position sensor 14 and controls described motor 12, produces cyclical variation to make the angular acceleration of described motor 12.
The rotor control setup that the utility model embodiment provides completes the control to aircraft pitching and roll attitude by use motor 12, not only alleviate weight and manufacturing cost, substantially prolongs cruise duration, and larger capacity weight can be carried, also improve reliability simultaneously.
The rotor control setup that the utility model embodiment provides utilizes control system 16 to make motor 12 produce periodically variable angular acceleration, the angular acceleration of this change makes the moment variations between described motor 12 main shaft and described fixed mount 30, and be connected by described flexible member 50 with between described fixed mount 30 due to described motor 12 main shaft, like this, moment variations can make to produce relative displacement between the power spindle 120 of described motor 12 and described fixed mount 30, this relative displacement is passed to described first output shaft 22 and described second output shaft 23 by power transfer assembly 20, and the pitch of described first screw propeller 40 and described second screw propeller 50 is directly changed by the first transmission shaft 42 be fixedly connected with described first output shaft 22 and the second driving shaft 52 be fixedly connected with described second output shaft 23.
In this embodiment, described rotational position sensor 14 can obtain the position signal of described first screw propeller 40 and described second screw propeller 50 relative flight device system of axes, and described rotational position sensor 14 is Magnetic Sensor, Hall element or photoelectric code disk.
Please refer to Fig. 1 to Fig. 5 and Fig. 9, further, described control system 16 comprises attitude controller 162 and electric machine controller 164;
Described attitude controller 162 receives the command signal of aviator and the attitude of flight vehicle signal from inertia measurement unit 15, generates a control command and described control command is sent to electric machine controller 164 according to the programmed algorithm preset;
Described electric machine controller 164 receives the position signal that the control command of described attitude controller 162 and described rotational position sensor 14 provide, and generating the drive singal driving described motor 12 to operate, the pitch that described drive singal and described electric machine controller 164 drive the intrinsic drive singal of described motor 12 to superpose to control described first screw propeller 40 and described second screw propeller 50 changes.
In this embodiment, the drive singal driving described motor 12 to operate comprises the mean speed signal maintaining aircraft average lift and the described motor 12 that makes controlling aircraft pitching and roll attitude produces the signal of periodically angular acceleration change.
Please refer to Fig. 6 to Fig. 8, further, described drive singal is a sinusoidal drive signals, and the described motor 12 of uniform rotation receives described sinusoidal drive signals and generating period angular acceleration change; The described pitch of the phase decision of described sinusoidal drive signals changes the position in described aircraft system of axes.
In this embodiment, described sinusoidal drive signals superposes with described intrinsic drive singal, when the motor 12 of uniform rotation receives this sinusoidal drive signals, the rotating speed of described motor 12 can produce periodic change, this rotation speed change can produce the change of angular acceleration, and the change of angular acceleration can make to produce moment variations between the described power spindle 120 that connected by described flexible member 50 and described fixed mount 30, like this, relative displacement can be produced between described power spindle 120 and described fixed mount 30, this relative displacement is passed to described first output shaft 22 and described second output shaft 23 by power transfer assembly 20, and the pitch of described first screw propeller 40 and described second screw propeller 50 is directly changed by described first transmission shaft 42 that is connected with described first output shaft 22 and described second output shaft 23 and described second driving shaft 52.
The amplitude of this sinusoidal drive signals determines the size of pitch change, thus determines the size acting on control torque on described aircraft.The phase decision of described sinusoidal drive signals control torque acts on described carry-on direction, and namely the size and Orientation of flying vehicles control moment is controlled, thus achieves the control to aircraft pitching and roll two degree of freedom.Meanwhile, described first screw propeller 40 of phase decision of this sinusoidal drive signals and described second position of screw propeller 50 pitch change in aircraft system of axes.
In other embodiments, described drive singal can be the signal of any-mode, is as the criterion with the angular acceleration making motor can produce required size.
The mode of operation of this rotor control setup is described for a cycle of operations (i.e. described first screw propeller 40 rotating 360 degrees) below:
The birds-eye view of the rotor control setup that Fig. 6 provides for the utility model embodiment, in figure, described aircraft is divided into four quadrants as shown in the figure, these four quadrants are considered as aircraft system of axes, in this aircraft system of axes, specify that the included angle A of described first screw propeller 40 axis and described first quartile reference position is the reference by location value of electric machine controller 164, in motion process, described first screw propeller 40 rotates in the counterclockwise direction and is 0-360 ° with the included angle A variation range of reference position.Suppose that described aircraft needs flight forward, now there is angular acceleration change as shown in the curve of Fig. 7 after receiving the drive singal of described electric machine controller 164 in described motor 12.
Please refer to Fig. 6 to Fig. 8, when the described axis of the first screw propeller 40 and the included angle A of reference position are less than 180 °, the angular acceleration of described motor 12 be on the occasion of, now, positive-displacement is produced between described power spindle 120 and described fixed mount 30, this positive-displacement is passed to described first output shaft 22 and described second output shaft 23 by power transfer assembly 20, be passed on the first blade 44 of described first screw propeller 40 and the second blade of described second screw propeller 50 by the first transmission shaft 42 be connected mutually with described first output shaft 22 and described second output shaft 23 and described second driving shaft 52 again, the pitch of described first screw propeller 40 is negative value, and the pitch of described second screw propeller 50 be on the occasion of.Due to when the included angle A of described first screw propeller 40 and reference position is within 180 °, the pitch of described first screw propeller 40 is negative value, the pitch of described second screw propeller 50 be on the occasion of, therefore, the first screw propeller 40 being positioned at described first quartile and described second quadrant can produce downward lift, and the second screw propeller 50 being positioned at described third quadrant and described fourth quadrant can produce lift upwards, like this, described aircraft can be subject to a twist moment of making a concerted effort forwards.
Please refer to Fig. 6 to Fig. 8, when the described axis of the first screw propeller 40 and the included angle A of reference position are 180 °, the angular acceleration of described motor 12 is zero, relative displacement is there is not between described power spindle 120 and described fixed mount 30, now, the pitch of described first screw propeller 40 and described second screw propeller 50 is zero, and therefore, the lift size and Orientation that described first screw propeller 40 produces with described second screw propeller 50 is all identical.
Please refer to Fig. 6 to Fig. 8, when the axis of described first screw propeller 40 and the included angle A of reference position are between 180 ° and 360 °, the angular acceleration of described motor 12 is negative value, now, negative sense displacement is produced between described power spindle 120 and described fixed mount 30, this negative sense displacement is passed to described first output shaft 22 and described second output shaft 23 by power transfer assembly 20, be passed on the first blade 44 of described first screw propeller 40 and the second blade of described second screw propeller 50 by the first transmission shaft 42 be connected mutually with described first output shaft 22 and described second output shaft 23 and described second driving shaft 52 again, the pitch of described first screw propeller 40 be on the occasion of, and the pitch of described second screw propeller 50 is negative value.Due to when the included angle A of described first screw propeller 40 and reference position is within 180 °, the pitch of described first screw propeller 40 be on the occasion of, the pitch of described second screw propeller 50 is negative value, therefore, the second screw propeller 50 being positioned at described first quartile and described second quadrant can produce downward lift, and the first screw propeller 40 being positioned at described third quadrant and described fourth quadrant can produce lift upwards, like this, described aircraft can be subject to a twist moment of making a concerted effort forwards.
Therefore, in a cycle of operations, described aircraft is subject to a twist moment of making a concerted effort forwards of the rotor control setup provided from the utility model embodiment, and under the control of this twist moment, aircraft can complete the action of flight forward.
The rotor craft that the utility model embodiment provides comprises rotor control setup, and described rotor control setup is above-mentioned rotor control setup.The rotor control setup that rotor control setup and the various embodiments described above that this embodiment provides provide has identical structure and feature, and role is identical, is not repeated herein.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (12)
1. a rotor control setup, is characterized in that, comprising:
Actuating device, is provided with power spindle;
Power transfer assembly, comprises power input shaft, the first output shaft and the second output shaft, and described first output shaft is coaxially fixedly connected with described second output shaft, and perpendicular with described power input shaft, and described power input shaft is fixedly connected with described power spindle;
Fixed mount, is coaxially connected with described power spindle;
The first screw propeller that radial direction along described fixed mount is coaxially arranged and the second screw propeller, described first screw propeller to be fixed on described fixed mount and to be fixedly connected with described first output shaft, and described second screw propeller to be fixed on described fixed mount and to be fixedly connected with described second output shaft; Wherein, the longitudinal axis of described first screw propeller is parallel with the pivot center of described first screw propeller, the pivot center of described first screw propeller is vertical with described power spindle, the longitudinal axis of described second screw propeller is parallel with the pivot center of described second screw propeller, and the pivot center of described second screw propeller is vertical with described power spindle;
Wherein, the Periodic Rotating angular acceleration that described actuating device produces and result in periodic torque change, this periodic torque change is passed to described first screw propeller and described second screw propeller through described power transfer assembly, changes by the pitch controlling described first screw propeller and described second screw propeller the control realized aircraft pitching and roll degree of freedom.
2. rotor control setup as claimed in claim 1, it is characterized in that, described fixed mount comprises the mounting circular ring of described first screw propeller of fixed installation and described second screw propeller and to be arranged in described mounting circular ring and to be provided with the cradle portion of mounting hole, and described power spindle is fixedly connected with described power input shaft through described mounting hole.
3. rotor control setup as claimed in claim 2, is characterized in that, also comprise the described power spindle of restriction with described fixed mount relative displacement and be the flexible member of ring-type, described flexible member is fixed between the hole wall of described power spindle and described mounting hole.
4. rotor control setup as claimed in claim 2, it is characterized in that, described first screw propeller comprises and being fixedly installed on described mounting circular ring and the first transmission shaft be coaxially fixedly connected with described first output shaft and the first blade be fixedly connected with described first transmission shaft; Described second screw propeller comprises and being fixedly installed on described mounting circular ring and the second driving shaft be coaxially fixedly connected with described second output shaft and the second blade be fixedly connected with described second driving shaft.
5. rotor control setup as claimed in claim 1, it is characterized in that, described power transfer assembly also comprises and has power intake and the universal joint mechanism of clutch end and be connected with described universal joint mechanism and be provided with the installing frame of described first output shaft and described second output shaft, wherein, described power input shaft is arranged at the power intake of described universal joint mechanism, and described first output shaft is arranged at the clutch end of described universal joint mechanism.
6. rotor control setup as claimed in claim 5, it is characterized in that, described universal joint mechanism is Cardan joint, near constant velocity universal joint, constant-velocity universal joint, cardan universal joint, dual cardan type U-joint, triple axle universal-joint, Rzeppa joint, spherical aberration formula universal-joint or around property universal-joint.
7. rotor control setup as claimed in claim 1, it is characterized in that, described power transfer assembly also comprises with the first gear that described power input shaft is coaxially fixedly connected with, rotates the second gear of being installed on described first output shaft and to be fixedly installed on described second output shaft and to be positioned at the 3rd gear of the described first relative both sides of gear with described second gear, described second gear and described 3rd gear and described first gears meshing.
8. the rotor control setup as described in claim 1 to 7 any one, is characterized in that, described actuating device comprises:
Motor, has described power spindle;
Rotational position sensor, is fixedly connected on described motor and relative position for detecting described electric machine rotation;
Control system, receives the relative position signal of described rotational position sensor and controls described motor, produces cyclical variation to make the angular acceleration of described motor.
9. rotor control setup as claimed in claim 8, it is characterized in that, described control system comprises attitude controller and electric machine controller;
Described attitude controller receives the command signal of aviator and the attitude of flight vehicle signal from inertia measurement unit, generates a control command and described control command is sent to electric machine controller according to the programmed algorithm preset;
Described electric machine controller receives the position signal that the control command of described attitude controller and described rotational position sensor provide, and generating the drive singal driving described motor rotation, the pitch that described drive singal and described electric machine controller drive the intrinsic drive singal of described motor to superpose to control described first screw propeller and described second screw propeller changes.
10. rotor control setup as claimed in claim 9, it is characterized in that, described drive singal is a sinusoidal drive signals, and the described motor of uniform rotation receives described sinusoidal drive signals and generating period angular acceleration change; The described pitch of the phase decision of described sinusoidal drive signals changes the position in described aircraft system of axes.
11. rotor control setups as claimed in claim 8, it is characterized in that, described rotational position sensor is Magnetic Sensor, Hall element or photoelectric code disk.
12. 1 kinds of rotor crafts, comprise rotor control setup, it is characterized in that, described rotor control setup is the rotor control setup as described in claim 1 to 11 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520396949.8U CN204979224U (en) | 2015-06-10 | 2015-06-10 | Rotor controlling means and rotor craft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520396949.8U CN204979224U (en) | 2015-06-10 | 2015-06-10 | Rotor controlling means and rotor craft |
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| Publication Number | Publication Date |
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| CN204979224U true CN204979224U (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520396949.8U Withdrawn - After Issue CN204979224U (en) | 2015-06-10 | 2015-06-10 | Rotor controlling means and rotor craft |
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| CN (1) | CN204979224U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104973242A (en) * | 2015-06-10 | 2015-10-14 | 胡家祺 | Rotor control unit and a rotorcraft |
| WO2017024623A1 (en) * | 2015-08-07 | 2017-02-16 | 深圳加创科技有限公司 | Variable pitch rotorcraft and multirotor |
| CN107323662A (en) * | 2017-07-24 | 2017-11-07 | 燕山大学 | Helicopter Main rotor flexible parallel connection drive device |
| WO2019029045A1 (en) * | 2017-08-07 | 2019-02-14 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle controlling method and device, and unmanned aerial vehicle |
-
2015
- 2015-06-10 CN CN201520396949.8U patent/CN204979224U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104973242A (en) * | 2015-06-10 | 2015-10-14 | 胡家祺 | Rotor control unit and a rotorcraft |
| WO2016197964A1 (en) * | 2015-06-10 | 2016-12-15 | 胡家祺 | Rotor control device and rotorcraft |
| CN104973242B (en) * | 2015-06-10 | 2017-10-20 | 胡家祺 | Rotor control device and rotor craft |
| WO2017024623A1 (en) * | 2015-08-07 | 2017-02-16 | 深圳加创科技有限公司 | Variable pitch rotorcraft and multirotor |
| CN107323662A (en) * | 2017-07-24 | 2017-11-07 | 燕山大学 | Helicopter Main rotor flexible parallel connection drive device |
| WO2019029045A1 (en) * | 2017-08-07 | 2019-02-14 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle controlling method and device, and unmanned aerial vehicle |
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