CN105966609B - A kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head - Google Patents
A kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head Download PDFInfo
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- CN105966609B CN105966609B CN201610372936.6A CN201610372936A CN105966609B CN 105966609 B CN105966609 B CN 105966609B CN 201610372936 A CN201610372936 A CN 201610372936A CN 105966609 B CN105966609 B CN 105966609B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/02—Gyroplanes
- B64C27/021—Rotor or rotor head construction
- B64C27/025—Rotor drives, in particular for taking off; Combination of autorotation rotors and driven rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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Abstract
A kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head of the present invention, including relatively independent thrust power module and landing power plant module, the thrust power module includes sequentially connected ROTEX914UL engine, engine input terminal pad and tail portion thrust propeller；The landing power plant module includes sequentially connected high density lithium battery, 207 motor of EMRAX, freewheel clutch and rotor head.Richochet system of the present invention is simpler compact compared to traditional richochet system mechanics drive mechanism；Control flow is simplified, controlling mechanism is changed, richochet process is made not need the close fit of multiple clutch on-off, does not need the change repeatedly of power transmission path, transmission process logic is simple clearly, is easily achieved；Body self weight is alleviated, payload space is increased；The power loss due to caused by complex mechanical structure in power transmission process is avoided, the power coupling during richochet is reduced.
Description
Technical field
The invention belongs to vehicle technology field, it is related to a kind of heavy from rotating with variable-distance teetering rotor head
Wing machine hybrid power richochet system.
Background technique
Autogyro is a kind of rotor class aircraft, lift is provided with autorotating rotor, before providing with tail undercarriage
Into thrust.Gyroplane structure and helicopter have certain difference, and rotor is not connected with engine driving system, fly in gyroplane
In the process, rotor wing rotation is blown to generate lift by front air-flow；Since the rotor of gyroplane is rotation type, it is transmitted to fuselage
On torque very little, therefore gyroplane does not need tail-rotor.After engine flame-out in flight, the rotor of gyroplane is remained in rotation shape
State, to guarantee safe landing.Gyroplane has the characteristics of helicopter and fixed wing aircraft concurrently, has good low latitude, low speed
Energy and safety, easy to operate, manufacture, use cost are low.
Autogyro has two kinds of modes of taking off of sliding race formula and great-jump-forward.Sliding race formula, which is taken off, increases rotor turn by sliding run
Speed makes lift reach takeoff condition, and this mode needs the runway of long range, and use environment is restricted.Great-jump-forward plays Photon
It crosses transmission device and rotor is driven to rotation in advance, reach the connection for disconnecting it with transmission system after desired speed, change simultaneously master
Rotor is always away from making lift meet takeoff condition, to realize richochet, push gyroplane to fly forward by horizontal thrust propeller later
Row.This mode does not need long range runway, has expanded the use scope of gyroplane.
Due to the labyrinth of richochet system, traditional heavy gyroplane does not have richochet function generally, it is necessary to which cunning is run
Fly.Since heavy gyroplane weight is big, required power is big, minority has the heavy gyroplane of richochet function its main rotor and prewhirls institute
Power is needed usually to be provided by engine.Existing heavy type autogyro richochet system structure is as shown in figure 9, by transfer gear, clutch
The multiple portions such as device, speed changer, power transmission and transfer gear, flywheel composition, power source are provided by single engine.Its base
This working principle are as follows: richochet preparation stage clutch 2 and clutch 3 engage, and clutch 1 disconnects, and the power of engine output is logical
It crosses a series of power transmissions and transfer gear driving rotor and flywheel rotates.Clutch 2 disconnects after rotor reaches desired speed, rotation
The wing drives rotor wing rotation by flywheel, while clutch 1 engages always away from increase, and the work of driven by engine vector propelling screws is real
Existing richochet.Clutch 3 disconnects after rotor enters autorotation, and rotor is rotated by air driven, vectored thrust propeller
Propulsive force, gyroplane flight forward are provided.
Some model plane grade autogyros realize ultra-short takeoff function using the method that motor is prewhirled, but its main rotor is not
Energy displacement, does not have richochet function.So-called ultra-short takeoff, refer to first allow main rotor have certain initial speed after, then into
Row takes off, and such mode can shorten ground run distance, but it substantially still falls within takeoff mode, still limited
In the environment that takes off.Since heavy gyroplane required power of prewhirling is big, cannot be prewhirled as model plane grade gyroplane using electricity
Mode.With the development of high-energy density lithium battery technology and high power density motor technology, electricity prewhirls system in heavy rotor
Application on machine is possibly realized.It prewhirls richochet system compared to electricity, structure is complicated for conventional heavy-duty gyroplane richochet system mechanics, is
It realizes richochet function, needs to design a series of power transmissions and transfer gear, increase the weight and mechanical structure of entire body
Complexity, and control flow is cumbersome, especially requires the assurance on each clutch on-off opportunity high, and system reliability is poor.Electricity
Although machine is prewhirled, mode is applied on model plane grade autogyro, shortens takeoff distance, its motor volume of prewhirling
Small, light weight is commonly mounted directly to below main rotor, for heavy autogyro, due to required motor volume and quality
Greatly, rotor head inertia is big, therefore can not directly adopt the frame mode of model plane grade gyroplane, it is necessary to use other structures.In addition,
The rotor head of conventional heavy-duty gyroplane with richochet function is to realize to become always away from function, and structure generallys use feathering shape
Formula, compared to teetering rotor head used by the gyroplane for not having richochet function, the structure is more complicated, and reliability
Difference.
Summary of the invention
In order to achieve the above object, the object of the present invention is to provide a kind of heavy types with variable-distance teetering rotor head
Autogyro hybrid power richochet system solves existing heavy gyroplane richochet system mechanics drive mechanism complexity, control
The problem of process is cumbersome, rotor head poor reliability.
A kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head of the present invention, packet
Relatively independent thrust power module and landing power plant module are included, the thrust power module includes sequentially connected
ROTEX914UL engine, engine input terminal pad and tail portion thrust propeller；The landing power plant module includes successively connecting
High density lithium battery, 207 motor of EMRAX, freewheel clutch and the rotor head connect.
It is of the invention to be further characterized in that,
207 motor of EMRAX is connect by primary speed-down mechanism with freewheel clutch.
The primary speed-down mechanism is made of motor output gear and main rotor shaft input gear, the primary speed-down mechanism
Gyroplane body is fixed on by bearing block.
The main paddle includes blade, and blade is pressed from both sides by paddle and connect with rotor head.
The rotor head includes bracket, cross axle telescoping universal joint and main rotor shaft, and the bracket is fixed on gyroplane machine
On body, the main rotor shaft lower end is engaged with freewheel clutch, cross axle telescoping universal joint upper end and main rotor shaft power
Connection, cross axle telescoping universal joint lower end is connected by power with freewheel clutch.
The rotor head includes pitch tilt disk and rolling pitch, and pitch tilt disk is articulated with branch by the first hinge joint
Frame top, the rolling pitch are nested in pitch tilt disk, and the rolling pitch is inclined by the second hinge joint with pitching
Swash plate is hinged, and one end of the pitch tilt disk and rolling pitch is provided with vertical the first pull rod and the second pull rod, described
First pull rod and the second pull rod other end, which are set, to be connected separately with first steering engine and second that verts and verts steering engine.
Be provided with above the rolling pitch can around fulcrum along main rotor shaft move vertically always away from shift fork, it is described always away from
Shift fork be always connected by power away from steering engine, it is described always away from being provided with always away from sliding sleeve above shift fork, it is described to be always connected with displacement away from sliding sleeve
Pull rod.
The pitch-change-link upper end and the clamping company of paddle.
The beneficial effects of the present invention are: it is dynamic to provide a kind of mixing that can be realized the heavy autogyro that great-jump-forward takes off
Richochet operating condition drive system and flat winged operating condition transmission system separate design are made thrust power module and landing by power richochet system
Power plant module is mutually independent, provides richochet operating condition rotor by 207 motor of EMRAX and prewhirls required power, by ROTEX914UL engine
Power needed for winged operating condition vector propelling screws before providing；The richochet preparation stage is pre- by 207 motor direct-drive rotor of EMRAX
Energy storage is revolved, increases rotor after rotor reaches critical speed always away from richochet is realized, ROTEX914UL engine starts to drive tail portion
The work of vector propelling screws, driving motor stop, and rotor enters autorotation, before realizing under the action of thrust propeller
Fly.Rotor always away from adjustment mechanism do not use feathering form, but realized on the basis of seesaw type structure.It avoids
The complicated machinery drive mechanism of conventional heavy-duty gyroplane richochet system eliminates transfer gear, clutch, transmission, flywheel and moves
A series of mechanisms of power transmission, richochet system mechanics drive mechanism are simpler compact；Control flow is simplified, control is changed
Mechanism makes richochet process not need the close fit of multiple clutch on-off, does not need the change repeatedly of power transmission path, passes
Dynamic process logic is simple clearly, is easily achieved；The self weight of gyroplane body is alleviated, payload increases；A series of biographies cancelled
Motivation structure can make engine mounting positions more rearward, be conducive to the adjustment of machine gravity position, while cabin is significantly increased
Load space；Engine direct drives tail undercarriage, avoids the function due to caused by complex mechanical structure in power transmission process
Rate loss, reduces the power coupling during richochet, and system effectiveness improves；Rotor head uses seesaw form, increases simultaneously
Become always away from structure, have the function of always away from adjustment, left and right is verted, front and back is verted, compared to traditional teetering rotor head, increase
The total spacing mechanism of change may be implemented gyroplane main rotor always away from adjustment, to lay the foundation for richochet function, and tradition has
The rotorcraft rotor head multimode of richochet function imitates the rotor head form of helicopter, and using feathering structure, structure is complicated, reliably
Property it is poor, rotor head of the present invention has both the simple advantage of teetering rotor head high reliablity, structure and feathering formula and revolves
Wing head can realize the advantages of richochet, and structure novel is highly reliable.Meanwhile the reliability of whole system is significantly enhanced.The system
Use so that same level heavy type gyroplane is had the function that takes off vertically of helicopter, but also more than same level helicopter structure
Simply, reliability is stronger, and cost is lower.The richochet system is suitable for 400kg grades of heavy gyroplanes.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head of the present invention
The structural principle block diagram of system.
Fig. 2 is a kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head of the present invention
The structural schematic diagram of system.
Fig. 3 is a kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head of the present invention
The main paddle and rotor head structural schematic diagram of system.
Fig. 4 is a kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head of the present invention
The complete machine power supply plan figure of system.
Fig. 5 is a kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head of the present invention
The complete machine control system signal flow graph of system.
Fig. 6 is a kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head of the present invention
The work flow diagram of system.
Fig. 7 is a kind of heavy autogyro hybrid power richochet work with variable-distance teetering rotor head of the present invention
Condition rotor head revolving speed changes over time curve graph.
Fig. 8 is a kind of heavy autogyro hybrid power richochet work with variable-distance teetering rotor head of the present invention
Condition richochet height time history plot.
Fig. 9 is existing richochet system structure diagram.
In figure, 1. main paddles, 2. rotor heads, 3. motor output gears, 207 motor of 4.EMRAX, 5.ROTEX914UL starts
Machine, 6. engines input terminal pad, and 7. tail portion thrust propellers, 8. first vert steering engine, and 9. second vert steering engine, 10. main rotations
Wing axis input gear, 11. bearing blocks, 12. freewheel clutches, 13. high density lithium batteries；
101. paddle presss from both sides, 102. blades；
201. fulcrums, 202. second hinge joints, 203. pitch-change-links, 204. always away from sliding sleeve, and 205. always away from shift fork, 206. rollings
Turn pitch, 207. pitch tilt disks, 208. brackets, 209. cross axle telescoping universal joints, 210. first pull rods, 211. second draw
Bar, 212. always away from steering engine, 213. main rotor shafts, 214. first hinge joints.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A kind of mixing with variable-distance teetering rotor head suitable for 400kg grades of heavy autogyros of the present invention
Power richochet system, as shown in Figure 1, Figure 2 and Figure 3, including relatively independent thrust power module and landing power plant module,
The output shaft of ROTEX914UL engine 5 inputs terminal pad 6 by engine and is connected with tail portion thrust propeller 7, provides rotation
Fly power before gyroplane；207 motor 4 of EMRAX that required power is connected by one with rotor shaft of prewhirling of rotor head 2 provides when richochet,
207 motor 4 of EMRAX is powered by high density lithium battery 13, and 207 motor 4 of EMRAX passes through freewheel clutch 12 and rotor head 2
Connection.
Due to 207 motor of EMRAX, 4 mass weight, volume it is big, for avoid the excessive bring power loss of 2 inertia of rotor head and
Thus caused rigidity of structure increase in demand and 2 gross weight of bring rotor head increase, and are placed in rotation using by 207 motor 4 of EMRAX
The mode of wing machine internal body, and it is indirect in the driving of paddle side.
The power of 207 motor 4 of EMRAX output, is transferred to freewheel clutch 12 by primary speed-down mechanism.Wherein, level-one
Deceleration mechanism is fixed on gyroplane body by bearing block 11.Wherein, primary speed-down mechanism is by motor output gear 3 and main rotor
Axis input gear 10 is constituted.
Main paddle 1 includes blade 102, and blade 102 is connect by paddle folder 101 with rotor head 2.
Rotor head 2 includes bracket 208, cross axle telescoping universal joint 209 and main rotor shaft 213, and the bracket 208 is fixed on
On gyroplane body, 213 lower end of main rotor shaft is engaged with freewheel clutch 12, on the cross axle telescoping universal joint 209
End is connected by power with main rotor shaft 213, and 209 lower end of cross axle telescoping universal joint is connected by power with freewheel clutch 12.It is real
Existing power transmitting.The power of 207 motor 4 of EMRAX output is transferred to cross axle by primary speed-down structure and freewheel clutch 12
Telescoping universal joint 209, cross axle telescoping universal joint 209 connect with main rotor shaft 213 power being transferred to main rotor shaft 213.Ten
Word axis telescoping universal joint 209 has both function that is flexible and verting, to meet the needs of 2 pose adjustment of rotor head.
Rotor head 2 further includes pitch tilt disk 207 and rolling pitch 206, and pitch tilt disk 207 passes through the first hinge joint
214 are articulated with 208 top of bracket, and the rolling pitch 206 is nested in pitch tilt disk 207, the rolling pitch 206
Hinged with pitch tilt disk 207 by the second hinge joint 202, one end of the pitch tilt disk 207 and rolling pitch 206 is set
It is equipped with vertical the first pull rod 210 and the second pull rod 211, first pull rod 210 and 211 other end of the second pull rod are separately connected
There is first steering engine 8 and second that verts to vert steering engine 9.When first vert steering engine 8 and second vert steering engine 9 ibid or with lower movement
When, the first pull rod 210 and the second pull rod 211 are moved upwardly or downwardly simultaneously, drive pitch tilt disk 207 around the first hinge joint
214 rotations adjust the posture of body pitch orientation so that entire rotor head 2 be made to generate the movement of pitch orientation；It verts when first
Steering engine 8 and second vert 9 reversing differential of steering engine when, the first pull rod 210 and 211 1, the second pull rod move upwards, another to
Lower movement drives rolling pitch 206 to rotate around the second hinge joint 202, to make the fortune in the entire generation of rotor head 2 rolling direction
It is dynamic, adjust the posture in gyroplane body rolling direction.
Be provided with above rolling pitch 206 can around fulcrum 201 along main rotor shaft 213 move vertically always away from shift fork 205,
It is described always away from shift fork 205 be always connected by power away from steering engine 212, it is described always away from being provided with above shift fork 205 always away from sliding sleeve 204, institute
It states and is always connected with pitch-change-link 203 away from sliding sleeve 204.Always away from steering engine 212 drive always away from shift fork 205 around fulcrum 201 rotate, make always away from
The head of shift fork 205 pushes always away from 204 catenary motion of sliding sleeve along 213 catenary motion of main rotor shaft, then drives pitch-change-link
203 movement；203 upper end of pitch-change-link and paddle folder 101 are connected, and 101 rotation of paddle folder is driven to realize 102 displacement of blade.
The structure for the heavy gyroplane that the present invention is applicable in relates generally to rotor head 2 and tail portion thrust propeller 7.
The selectable gyroplane self weight 240kg of the present invention, can carry 160kg load, again than coefficient 0.6, gross weight m=
400kg。
By disk loadingTake P=9.8kg/m2, then 102 radius R=3.6m of blade, blade 102
Number k=2.
By rotor solidityσ=0.04 is taken, then 102 chord length c=0.22m of blade.
Choose ONERA OA212 aerofoil profile, lift resistance ratio under large Reynold numberIt is 120, minimum drag coefficient CdIt is 0.005.
Providing body kinetic model according to Newton-Euller method is
Rotor head 2 uses seesaw type structure, and paddle disk, there are two input quantity is manipulated, respectively chamfering and side are fallen after paddle disk
Angle.
2 pulling force expression formula of rotor head can be derived based on foline theory and momentum theory:
2 pulling force of rotor head and induced velocity are iteratively solved, and trim is carried out to gyroplane and obtains flying before gyroplane is minimum
Speed 37km/h stablizes rotor revolving speed Ω under flat fly0=590rpm=62rad/s.
Rotor is prewhirled the Ω of revolving speed Ω=1.5 when richochet0=885rpm=93rad/s, rotor are always by 0 ° of variation away from the angle of attack
6°。
Paddle disk inertia
By Cq=Tfactor(-0.0000025θ2+ 0.000005 θ -0.00008), θ is 102 angle of attack of blade, θ=6 ° are taken,
Tfactor=1.5, obtain Cq=2.1 × 10-4。
It enablesThen
It is calculated by series of iterations, obtains the song that 2 revolving speed of rotor head and richochet height change over time under richochet operating condition
Line is as shown in Figure 7, Figure 8.
Power needed for richochet operating conditionWherein, required torque when T prewhirls for rotor, n are that rotor is prewhirled revolving speed.
ByWherein k is the number of blade 102, and ρ is atmospheric density, CdoFor blade 102
Resistance coefficient, taking 0.008, c is 102 chord length of blade, can obtain the autogyro richochet institute prewhirled using 207 motor 4 of EMRAX
Needing power of motor is 76kw.
Select 207 motor 4 of EMRAX of ENSTROJ company, peak power 80KW, other major parameters such as the following table 1
It is shown.
Table 1
| Weight | Diameter | Highly | Voltage rating | Maximum current | Peak power | Maximum (top) speed | Peak torque |
| 9.1kg | 207mm | 85mm | 500V | 200A | 80kw | 6000rpm | 160Nm |
Richochet is prewhirled time 60s, and 207 motor of EMRAX, 4 revolving speed rises to 4500rpm, maximum power 76kw by 0.EMRAX
First stage decelerator, transmission ratio 5 are set between 207 motors 4 and main rotor.
207 motor of EMRAX, 4 voltage rating 500V, maximum operating currenbt are
Single lithium battery voltage 4.15V, rated capacity 6Ah, nominal discharge current 6A, discharge-rate 30C.Then maximum electric discharge
Electric current 180A, meets operating current requirements.
Battery pack is connected in series by 120 pieces of battery cells, battery pack power 3kwh.Battery pack power density 180Wh/
Kg, then required battery pack quality is 17kg.
Prewhirl working time 1min, and institute's electricity demand is 1.2kwh, and remaining capacity will be for executing agencies such as the steering engines of complete machine
And each controller and sensor are powered.
According to the above parameter, autogyro power supply system selects the high density lithium battery power supply of Hao Tai scientific & technical corporation.
The ROTEX914UL engine 5 that thrust is provided while richochet starts, and drives gyroplane flight forward, works as main rotor
Body speed reaches minimum forward flight speed when revolving speed drops to stable level speed.Acceleration needed for known to calculating is 12.5m/
s2。
By foline theory, thrust propeller 7 driving force in tail portion is
Wherein,
Based on Ge Laowo momentum theory model, thrust calculating formula can be obtained
It is 2865rpm that iterative solution, which obtains required 5 revolving speed of ROTEX914UL engine,.Using ROTEX914 engine 5,
Major parameter is as shown in table 2 below.
Table 2
| Weight | Peak power | Maximum (top) speed | Peak torque |
| 64kg | 84.5KW | 5800rpm | 144Nm |
From the above mentioned, heavy gyroplane hybrid power richochet overall system architecture proposed by the present invention is as shown in Figure 1, Figure 2 and Fig. 3
Shown, chief component includes main paddle 1, rotor head 2,207 motor 4 of EMRAX, ROTEX914UL engine 5, tail portion thrust
Propeller 7 and a series of mechanical structures.
Using the heavy gyroplane of the richochet system, the power of prewhirling when richochet is provided by 207 motor 4 of EMRAX,
Horizontal propulsive force when flight is provided by ROTEX914UL engine 5, and complete machine power supply plan is as shown in Figure 4.
System power supply mainly includes for the power supply of 207 motor 4 of EMRAX, is execution machine other than ROTEX914UL engine 5
Structure powers and powers for each controller and sensor.It can be the EMRAX that prewhirls using the high-energy density lithium battery group of 500V
207 motors 4 are directly powered, while further through voltage needed for the output of multichannel DC-DC voltage module.Its primary power distribution component packet
It includes:
(1) it prewhirls motor: 500V
(2) steering engine control panel signal end, heavy steering engine, airborne computer: 12V
(3) sensor power supply module: 5V
(4) steering engine control panel power end, light-duty steering engine: 8.4V
Complete machine control system signal flow of the invention is as shown in figure 5, control system is broadly divided into three parts:
(1) it signal acquisition module: is made of main rotor encoder, combination GPS navigation.Respectively acquire main rotor revolving speed and
Posture, speed and the location information of complete machine, the resolving for control instruction.
(2) it remote communication module: is mainly made of data radio station and ground based terminal.Data radio station is by the status information of complete machine
And control instruction is transmitted to host computer.
(3) it actuating mechanism controls module: is mainly made of steering engine control panel.The finger of steering engine control panel reception complete machine controller
It enables, drives related executing agency.
Above-mentioned 5 throttle steering engine of ROTEX914UL engine, for adjusting 5 accelerator open degree of ROTEX914UL engine, thus
Control thrust revolution speed of propeller and complete machine thrust size.Vertical fin yaw control motor is used to adjust the angle of attack of vertical fin, generate lateral force with
Yawing.Always away from steering engine 212 for adjusting main rotor blades 102 always away from pulling force when richochet being generated, when also may participate in flat fly
The control of complete machine height.The steering engine that verts verts before and after being used to adjust main rotor propeller hub with what is controlled, to generate pitching and rolling side
To control moment.
The work flow diagram of richochet system as shown in fig. 6, its working principle is that: entire richochet process richochet preparation, richochet
Start, richochet terminates three phases.Richochet preparation stage main rotor is prewhirled；When reaching critical speed increase main rotor always away from,
Lift is improved, richochet starts；After main rotor is under the effect of front incoming flow stablizes autorotation, richochet terminates.Entire mistake
Journey is 4 combination drive of ROTEX914UL engine 5 and 207 motor of EMRAX.
The richochet preparation stage controls the rotor angle of attack in zero liter of angle of attack, and 207 motor 4 of EMRAX, which directly drives rotor and prewhirls, to be added
Fast energy storage, since frictional ground force acts on, vehicle body keeps stable state.
When rotor revolving speed reaches critical speed 885rpm, richochet starts, and ROTEX914UL engine 5 starts, and prewhirls
207 motor 4 of EMRAX is closed, and the freewheel clutch 12 between 207 motor 4 of EMRAX and main rotor shaft 213 disengages, and is prevented
207 motor 4 of EMRAX is counter to be dragged.Increase the main rotor angle of attack to 6 ° simultaneously, the lift for obtaining gyroplane is greater than gravity, realizes jump
Formula is taken off.
After body takeoffs, tail portion thrust propeller 7 accelerates to rapidly 2865rpm, hereafter 5 turns of ROTEX914UL engine
Speed gradually decreases, and is down under the action of main rotor revolving speed is due to air drag when stablizing flat flank speed 590rpm, pushes away in tail portion
Body reaches minimum level speed 37km/h under the action of wrench of a force system paddle 7, and gyroplane enters preceding winged operating condition, and richochet terminates.
At this point, main rotor enters autorotation, body flies before stablizing under the action of tail portion thrust propeller 7.Work as needs
When landing, ROTEX914UL engine 5 is closed, main rotor revolving speed under air drag effect gradually decreases, and autogyro is flat
Steady landing.
One kind of the invention is suitable for 400kg grades of heavy autogyro hybrid power richochet systems, and richochet operating condition is in short-term
Between drive system mutually separated with flat winged operating condition long-time transmission system, provide richochet operating condition rotor by 207 motor of EMRAX and prewhirl
Required power, power needed for flying operating condition vector propelling screws before being provided as ROTEX914UL engine；The rotation of the richochet system
Wing head 2 is that have to become the always seesaw type structure away from function.The system had both made same level gyroplane possess vertically rising for helicopter
Chikung energy, but it is more simpler than same level helicopter structure, reliability is stronger, cost is lower.The hybrid power richochet system can
It is strong by property, be applied to 400kg grade heavy gyroplanes, can significantly simplify tradition can richochet heavy type gyroplane drive system structure with
Rotor system structure increases payload space；Richochet system effectiveness is promoted, energy consumption is reduced；Keep control logic clear, control stream
Journey is simple, it is easy to accomplish；Security of system is greatly enhanced with reliability.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (3)
1. a kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head, feature exist
In including relatively independent thrust power module and landing power plant module, the thrust power module includes sequentially connected
ROTEX914UL engine (5), engine input terminal pad (6) and tail portion thrust propeller (7)；The landing power plant module packet
Include sequentially connected high density lithium battery (13), 207 motor of EMRAX (4), freewheel clutch (12), rotor head (2) and main paddle
(1)；
The main paddle (1) includes blade (102), and blade (102) is connect by paddle folder (101) with rotor head (2)；
207 motor of EMRAX (4) is connect by primary speed-down mechanism with freewheel clutch (12)；
The primary speed-down mechanism is made of motor output gear (3) and main rotor shaft input gear (10), the primary speed-down
Mechanism is fixed on gyroplane body by bearing block (11)；
The rotor head (2) includes pitch tilt disk (207) and rolling pitch (206), and pitch tilt disk (207) passes through first
Hinge joint (214) is articulated with bracket (208) top, and the rolling pitch (206) is nested in pitch tilt disk (207), institute
It states rolling pitch (206) and passes through the second hinge joint (202) and pitch tilt disk (207) hingedly, the pitch tilt disk (207)
One end of rolling pitch (206) is provided with vertical the first pull rod (210) and the second pull rod (211), first pull rod
(210) it is connected separately with first steering engine (8) and second that verts with the second pull rod (211) other end and verts steering engine (9)；
Be provided with above the rolling pitch (206) can around fulcrum (201) along main rotor shaft (213) move vertically always away from group
It pitches (205), it is described always away from shift fork (205) and being always connected by power away from steering engine (212), it is described to be always provided with away from shift fork (205) top
It is described to be always connected with pitch-change-link (203) away from sliding sleeve (204) always away from sliding sleeve (204)；
A kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head, richochet
Journey is divided into richochet preparation, richochet starts, richochet terminates three phases；
The richochet preparation stage controls main paddle (1) angle of attack in zero liter of angle of attack, and it is pre- that 207 motor of EMRAX (4) directly drives main paddle (1)
Rotation accelerates energy storage, and since frictional ground force acts on, vehicle body keeps stable state；
When main paddle (1) revolving speed reaches critical speed, richochet starts, and ROTEX914UL engine (5) starting, prewhirl EMRAX 207
Motor (4) is closed, and the freewheel clutch (12) between 207 motor of EMRAX (4) and rotor head (2) disengages, and prevents EMRAX 207
Motor (4) is counter to be dragged；Increase main paddle (1) angle of attack simultaneously, the lift for obtaining gyroplane is greater than gravity, realizes that great-jump-forward takes off；
After body takeoffs, tail portion thrust propeller (7) accelerates rapidly, and hereafter ROTEX914UL engine (5) revolving speed gradually drops
It is low, it is down under the action of main paddle (1) revolving speed is due to air drag when stablizing flat flank speed, in tail portion thrust propeller (7)
Effect lower body reaches minimum level speed, and gyroplane enters preceding winged operating condition, and richochet terminates.
2. a kind of heavy autogyro hybrid power with variable-distance teetering rotor head according to claim 1
Richochet system, which is characterized in that the rotor head (2) includes bracket (208), cross axle telescoping universal joint (209) and main rotor
Axis (213), the bracket (208) are fixed on gyroplane body, main rotor shaft (213) lower end and freewheel clutch (12)
Engagement, cross axle telescoping universal joint (209) upper end are connected by power with main rotor shaft (213), and the cross axle stretches universal
Section (209) lower end is connected by power with freewheel clutch (12).
3. a kind of heavy autogyro hybrid power with variable-distance teetering rotor head according to claim 1
Richochet system, which is characterized in that pitch-change-link (203) upper end and paddle folder (101) are connected.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107344617A (en) * | 2017-08-22 | 2017-11-14 | 盐城市翔盛碳纤维科技有限公司 | The method for improving of rotor head, gyroplane and gyroplane |
| CN108082499B (en) * | 2018-01-29 | 2023-04-25 | 吉林大学 | Planetary hybrid helicopter power coupling system and driving method |
| CN109263864A (en) * | 2018-10-16 | 2019-01-25 | 北京理工大学 | A kind of control method and system based on land sky vehicle richochet |
| CN110001949A (en) * | 2019-03-13 | 2019-07-12 | 陈铭 | A kind of compound rotation unmanned helicopter of close coupled type |
| CN110539881B (en) * | 2019-09-04 | 2021-03-16 | 北京航空航天大学 | Unmanned autorotation gyroplane control system |
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