CN113815852B - Rotor vector steering device, coaxial rotor, single-propeller helicopter and control method - Google Patents
Rotor vector steering device, coaxial rotor, single-propeller helicopter and control method Download PDFInfo
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- CN113815852B CN113815852B CN202111266641.8A CN202111266641A CN113815852B CN 113815852 B CN113815852 B CN 113815852B CN 202111266641 A CN202111266641 A CN 202111266641A CN 113815852 B CN113815852 B CN 113815852B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 230000001141 propulsive effect Effects 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/06—Helicopters with single rotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/37—Rotors having articulated joints
- B64C27/41—Rotors having articulated joints with flapping hinge or universal joint, common to the blades
- B64C27/43—Rotors having articulated joints with flapping hinge or universal joint, common to the blades see-saw type, i.e. two-bladed rotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a rotor vector steering device, a coaxial rotor, a single-propeller helicopter and a control method. According to the invention, the tilting drive assembly drives the tilting slide disc to tilt, so that the rotor wing of the sliding tilting rotor wing assembly can tilt, and the motion control of the aircraft is realized. Because the structure is simplified on the whole scheme, the transmission structure is more reliable, the manufacturing cost is lower, and compared with a rotor wing mechanism of a common single-propeller helicopter, the rotor wing mechanism has stronger maneuverability, quicker response, higher efficiency and simpler control method.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to a rotor vector direction changing device, a coaxial rotor, a single-propeller helicopter and a control method.
Background
In recent decades, with the research progress of composite materials, power systems, sensors, especially technologies such as flight control, unmanned helicopters have rapidly developed, and are becoming a focus of attention; in the field of unmanned helicopters, helicopter unmanned aerial vehicles become a new species of the aircraft world; the current helicopter unmanned aerial vehicle controls the flight state of the aircraft by controlling the pitch angle of the periodicity and the totality of the blades through a swash plate. In order to cooperate with such a control scheme, many links and hinges are required on the rotor system of the helicopter, and the phase angle of the rotor disk is required to be adjusted according to the structure on the control of the helicopter. The factors influencing the phase angle are relatively large, so that a specific phase angle value is difficult to obtain, and the structure needs to be adjusted to be suitable in a plurality of times.
Disclosure of Invention
The invention aims to overcome the problems and provide a rotor vector turning device, a coaxial rotor, a single-propeller helicopter and a control method.
In order to achieve the above purpose, the method adopted by the invention is as follows: the rotor vector turning device comprises a power mechanism, a sliding tilting rotor assembly, a tilting swashplate assembly, a tilting driving assembly and a middle shaft fixing assembly;
The sliding tilting rotor wing assembly comprises an upper wane paddle clamp, a lower wane paddle clamp, a pulley bracket, a tilting pulley, a rotor hub and a propelling rotor wing;
The middle position of the upper seesaw paddle clamp is hinged with one end of the paddle hub, and two ends of the upper seesaw paddle clamp are respectively hinged with one ends of the two pulley brackets; the other ends of the two pulley brackets are respectively hinged with the two ends of the lower rocker paddle clamp; the middle position of the lower wane paddle clamp is hinged with the other end of the paddle hub; two tilting pulleys are hinged to the bottoms of the two pulley brackets; both ends of the upper rocker paddle clamp are fixedly provided with propelling rotors;
the center shaft fixing assembly comprises a center connecting shaft and a power driver base connected with the center connecting shaft, the paddle hub is sleeved on the center connecting shaft, the power mechanism is arranged on the power driver base and is connected with the paddle hub (25) and used for driving the paddle hub to rotate;
the tilting tray assembly comprises a tilting tray and a driving connecting rod assembly, the driving connecting rod assembly is connected with the tilting driving assembly, and the tilting driving assembly drives the tilting tray to tilt through the driving connecting rod assembly;
The end face of one side of the tilting disk is abutted against the tilting pulley, and when the tilting disk tilts, the tilting pulley rolls on the tilting disk when the rotor rotates.
Preferably, the tilting tray assembly further comprises a knuckle bearing, wherein the knuckle bearing is arranged at the center of the tilting tray, and the knuckle bearing is sleeved on the center connecting shaft.
As a preferable mode of the invention, the tilting driving assembly comprises a front driving steering engine, a left driving power arm and a front driving power arm; the driving connecting rod assembly comprises a left driving connecting rod and a front driving connecting rod; one end of the front driving connecting rod is hinged with one side of the tilting slide plate, and one end of the left driving connecting rod is hinged with the other side of the tilting slide plate; the other end of the left driving connecting rod is hinged with one end of the left driving force arm; the other end of the front driving connecting rod is hinged with the front driving force arm; the other end of the left driving power arm is fixedly connected with a torsion output shaft of the left driving steering engine; the other end of the front driving power arm is fixedly connected with a torsion output shaft of the front driving steering engine.
As the preferable mode of the invention, one end of the central connecting shaft far away from the power driver base is provided with the driver mounting base, the front driving steering engine and the left driving steering engine are respectively arranged at different positions of the driver mounting base, and the connecting line of the point positions of the front driving power arm and the left driving power arm is not intersected with the axis of the central connecting shaft.
Preferably, the swash plate assembly further includes an azimuth angle swash plate azimuth limiter for limiting the azimuth angle of the swash plate.
Preferably, the swash plate azimuth limiter comprises a double-link structure, one end of the double-link is hinged with one side of the tilting tray, and the other end of the double-link is hinged with the driver mounting base.
Preferably, the power mechanism is a direct-drive motor and comprises a stator and a rotor; the stator of the power mechanism is fixedly arranged with the power driver base; and a rotor of the power mechanism is fixedly connected with the hub.
The invention also discloses a vector coaxial rotor helicopter, which comprises a fuselage and rotor wing assemblies arranged on the fuselage, wherein the rotor wing assemblies comprise two layers of rotor wing vector direction changing devices, the rotor wing vector direction changing devices are the rotor wing vector direction changing devices, and the structures of the two layers of rotor wing vector direction changing devices are distributed symmetrically up and down.
As the optimization of the invention, the central connecting shafts of the two rotor vector direction changing devices are of an integrated structure or a split structure; the front driving steering engine and the left driving steering engine on the two rotor vector steering devices are of a shared structure or a single structure.
The invention also discloses a control method of the vector coaxial rotor helicopter, which comprises the following steps:
the propulsion rotors of the two rotor vector direction changing devices reversely rotate to balance the reverse torque of the rotors;
tilting the rotor blade to tilt the rotating rotor blade tilt control vector to pitch and roll the coaxial rotor helicopter;
the lift of the aircraft is controlled by increasing and decreasing rotor speed.
Tilting the rotating rotor disks by tilting the rotor disks controls the roll and pitch of the aircraft, and increasing and decreasing rotor speed controls the lift of the aircraft.
The invention also discloses a vector rotor single-propeller helicopter, which comprises a rotor vector turning device, a tail rotor power system and a helicopter body; the rotor vector direction changing device is arranged above the machine body, the tail rotor power system is arranged at the tail part of the machine body, and the rotor vector direction changing device is the rotor vector direction changing device.
The invention also discloses a control method of the vector rotor single-blade helicopter, which comprises the following steps:
the tail rotor power system of the vector rotor single-rotor helicopter balances the counter torque generated by the propelling rotor of the vector steering device;
Tilting the rotating rotor disks by tilting the rotor disks controls the roll and pitch of the aircraft, and increasing and decreasing rotor speed controls the lift of the aircraft.
The beneficial effects are that:
According to the invention, the tilting drive assembly drives the tilting slide disc to tilt, so that the rotor wing of the sliding tilting rotor wing assembly can tilt, and the motion control of the aircraft is realized. Because the structure is simplified on the whole scheme, the transmission structure is more reliable, the manufacturing cost is lower, and compared with a rotor wing mechanism of a common single-propeller helicopter, the rotor wing mechanism has stronger maneuverability, quicker response, higher efficiency and simpler control method.
Drawings
FIG. 1 is a schematic diagram of the device components of the present invention;
FIG. 2 is a schematic diagram of a device according to the present invention;
FIG. 3 is a schematic view of a slip tilt rotor assembly according to the present invention;
FIG. 4 is a schematic view of a bottom bracket fixing assembly according to the present invention;
FIG. 5 is a schematic view of a swash plate limiter according to the present invention;
FIG. 6 is a schematic diagram of a power mechanism of the present invention;
FIG. 7 is a schematic structural diagram of embodiment 2 of the present invention;
Fig. 8 is a schematic structural diagram of embodiment 4 of the present invention.
Detailed Description
The invention will be further illustrated by the following drawings and specific examples, which are carried out on the basis of the technical solutions of the invention, it being understood that these examples are only intended to illustrate the invention and are not intended to limit the scope of the invention.
Example 1:
As shown in fig. 1-6, the rotor vector turning device disclosed in this embodiment includes a power mechanism 1, a sliding tilt rotor assembly 2, a tilt plate assembly 3, a tilt driving assembly 5 and a center shaft fixing assembly 4.
Sliding tiltrotor assembly 2 includes upper paddle clip 21, lower paddle clip 22, pulley bracket 23, tilt pulley 24, hub 25, and propulsive rotor 26. The middle position of the upper rocker paddle clamp 21 is hinged with one end of the paddle hub 25, and two ends of the upper rocker paddle clamp 21 are respectively hinged with one ends of two pulley brackets 23. The other ends of the two pulley brackets 23 are respectively hinged with two ends of the lower rocker paddle clamp 22. The middle position of the lower wane paddle clamp 22 is hinged with the other end of the paddle hub 25; the bottoms of the two pulley brackets 23 are hinged with two tilting pulleys 24; both ends of the upper rocker paddle clamp 21 are fixedly provided with a propelling rotor 26.
The middle shaft fixing assembly 4 comprises a center connecting shaft 42, a power driver base 41 connected with one end of the center connecting shaft 42, and a driver mounting base 43 connected with the other end of the center connecting shaft 42. The hub 25 is sleeved on the central connecting shaft 42, the power mechanism 1 is arranged on the power driver base 41, and the power mechanism 1 is connected with the hub 25 and used for driving the hub 25 to rotate.
In this embodiment, the power mechanism 1 is a direct-drive motor, and includes a stator 11 and a rotor 12, where the stator 11 of the power mechanism 1 is fixedly installed with the power driver base 41 through a stator installation seat 13; the rotor 12 of the power mechanism 1 is fixedly connected with the hub 25. In this way, the rotor 12 of the power mechanism 1 rotates to drive the hub 25 to rotate together, and thus the whole sliding and tilting rotor assembly 2 can be driven to rotate.
The tilting drive assembly 5 is mounted on the driver mounting base 43, and the tilting drive assembly 5 includes a front drive steering engine 51, a left drive steering engine 52, a left drive power arm 53, and a front drive power arm 54. The front driving steering engine 51 is connected with a front driving force arm 54 to output a front driving torque, and the left driving steering engine 52 is connected with a left driving force arm 53 to output a left driving torque.
The swash plate assembly 3 includes a knuckle bearing 31, a swash plate 32, a front drive link 33, a left drive link 34, and a swash plate orientation limiter 35. The knuckle bearing 31 is installed at the center position of the tilting disk 32, and the knuckle bearing 31 is sleeved on the center connection shaft 42. One end of the front driving connecting rod 33 is hinged with one side of the tilting slide plate 32, and one end of the left driving connecting rod 34 is hinged with the other side of the tilting slide plate 32; the other end of the left driving link 34 is hinged with one end of a left driving force arm 53; the other end of the front drive link 33 is hinged to a front drive force arm 54. The other end of the left driving force arm 53 is fixedly connected with a torsion output shaft of the left driving steering engine 52; the other end of the front driving force arm 54 is fixedly connected with a torsion output shaft of the front driving steering engine 51. In this way, the front driving steering engine 51 can drive the tilting disk 32 to tilt through the front driving power arm 54 and the front driving connecting rod 33. The left driving steering engine 52 can drive the tilting disk 32 to tilt through the left driving arm 53 and the left driving connecting rod 34. In this embodiment, the line connecting the points of the front driving force arm 54 and the left driving force arm 53 does not intersect with the axis of the center connecting shaft 42. This ensures that the tilting slide 32 can be tilted in different orientations when tilted.
In this embodiment, the swash plate position limiter 35 has a double link structure, one end of which is hinged to one side of the swash plate 32, and the other end of which is hinged to the outer side of the actuator mounting base 43. The hinge positions of both ends of the swash plate position limiter 35 can be relatively rotated about the axis of the hinge positions thereof, allowing the tilting movement of the tilting plate 32, and to limit the circumferential azimuth angle of the tilting plate 32.
The working principle of the embodiment is as follows:
The rotor 12 of the power mechanism 1 rotates to drive the hub 25 to rotate, so that the upper wane paddle clamp 21 and the lower wane paddle clamp 22 hinged with the hub 25 can be driven to rotate, and the propulsion rotor 26 connected with the upper wane paddle clamp 21 can be driven to rotate. And the upper rocker paddle clamp 21 and the lower rocker paddle clamp 22 can rotate to drive the pulley bracket 23 and the pulley 24 to rotate. When the direction of the propelling rotor needs to be adjusted, the front driving steering engine 51 and the left driving steering engine 52 of the tilting driving assembly 5 act, the front driving steering engine 51 drives the tilting slide plate 32 to tilt through the front driving power arm 54 and the front driving connecting rod 33, and the left driving steering engine 52 drives the tilting slide plate 32 to tilt through the left driving power arm 53 and the left driving connecting rod 34, so that tilting of different angular orientations of the tilting slide plate 32 is realized.
When the tilting disk 32 tilts, the tilting pulley 24 rolls on the tilting disk 32 when the rotor rotates, so as to drive the sliding tilting rotor assembly 2 to change the lifting direction of the rotor along with the tilting of the tilting disk 32 in the rotating process.
Example 2:
The embodiment discloses coaxial rotor helicopter of vector, as shown in fig. 7, including fuselage 6 and the rotor subassembly of setting on fuselage 6, the rotor subassembly includes upper and lower two-layer rotor vector deviator, and rotor vector deviator is rotor vector deviator in embodiment 1, and the structure of two-layer rotor vector deviator is upper and lower symmetric distribution.
The control method of the vector coaxial rotor helicopter of the embodiment comprises the following steps:
The power mechanism 1 of the two rotor vector direction changing devices drives the upper layer of propulsion rotors 26 and the lower layer of propulsion rotors 26 to reversely rotate so as to balance the reverse torque of the rotors;
the tilting drive assembly 5 drives the tilting pad 32 to tilt, the tilting pad 32 tilting the rotating rotor pad tilt control vector coaxial with the roll and pitch of the rotor helicopter;
The power mechanism 1 increases or decreases the rotational speed of the propulsive rotor 26 to control the lift of the vectoring coaxial rotor helicopter.
Example 3:
the present embodiment discloses a coaxial rotor helicopter of vector, this embodiment is the same with embodiment 2 all the other all, except that, in order to lighten weight and volume of rotor subassembly, further save cost, in this embodiment, the front drive steering engine 51 and the left drive steering engine 52 are shared with upper and lower layers of rotor vector direction changing devices, that is, a front drive steering engine 51 and a left drive steering engine 52 both drive the tilting slide plate 32 in the upper layer of rotor vector direction changing devices to tilt, and also drive the tilting slide plate 32 in the lower layer of rotor vector direction changing devices to tilt.
The control method of the vector coaxial rotor helicopter in this embodiment is the same as that of the vector coaxial rotor helicopter of embodiment 2.
Example 4:
Referring to fig. 8, the present embodiment discloses a vector-rotor single-propeller helicopter, comprising a rotor vector deviator, a tail rotor power system 7 and a fuselage 6; the rotor vector direction changing device is arranged above the machine body 6, the tail rotor power system 7 is arranged at the tail of the machine body 6, and the rotor vector direction changing device in the rotor vector direction changing device embodiment 1 is arranged at the tail of the machine body.
The control method of the vector rotor single-blade helicopter of the embodiment is as follows:
The tail rotor power system of the vector rotor single-rotor helicopter balances the counter torque produced by the propulsive rotor 26 of the vector deviator;
The tilting drive assembly 5 drives the tilting slide plate 32 to tilt, and the tilting slide plate 32 enables the rotating rotor plate to tilt to control the roll and pitch of the vector rotor single-blade helicopter;
the power mechanism 1 increases or decreases the rotational speed of the propulsive rotor 26 to control the lift of the vector rotor single-propeller helicopter.
The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the technical means, and also comprises the technical scheme formed by any combination of the technical features. While the foregoing is directed to embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, and such changes and modifications are intended to be included within the scope of the invention.
Claims (9)
1. A rotor vector deviator, characterized in that: the device comprises a power mechanism (1), a sliding tilting rotor assembly (2), a tilting swashplate assembly (3), a tilting driving assembly (5) and a middle shaft fixing assembly (4); the sliding tilting rotor wing assembly (2) comprises an upper tilting plate paddle clamp (21), a lower tilting plate paddle clamp (22), a pulley bracket (23), a tilting pulley (24), a rotor hub (25) and a propelling rotor wing (26); the middle position of the upper rocker paddle clamp (21) is hinged with one end of the paddle hub (25), and two ends of the upper rocker paddle clamp (21) are respectively hinged with one ends of two pulley brackets (23); the other ends of the two pulley brackets (23) are respectively hinged with the two ends of the lower rocker paddle clamp (22); the middle position of the lower seesaw paddle clamp (22) is hinged with the other end of the paddle hub (25); two tilting pulleys (24) are hinged at the bottoms of the two pulley brackets (23); both ends of the upper rocker paddle clamp (21) are fixedly provided with a propelling rotor wing (26); the center shaft fixing assembly (4) comprises a center connecting shaft (42) and a power driver base (41) connected with the center connecting shaft, the paddle hub (25) is sleeved on the center connecting shaft (42), the power mechanism (1) is arranged on the power driver base (41), and the power mechanism (1) is connected with the paddle hub (25) and used for driving the paddle hub (25) to rotate; the tilting tray assembly (3) comprises a tilting tray (32) and a driving connecting rod assembly, the driving connecting rod assembly is connected with the tilting driving assembly (5), and the tilting driving assembly (5) drives the tilting tray (32) to tilt through the driving connecting rod assembly; one side end surface of the tilting disk (32) is in contact with the tilting pulley (24), and when the tilting disk (32) tilts, the tilting pulley (24) rolls on the tilting disk (32) when the rotor rotates;
The tilting tray assembly (3) further comprises a joint bearing (31), the joint bearing (31) is arranged at the center of the tilting tray (32), and the joint bearing (31) is sleeved on the center connecting shaft (42);
The tilting driving assembly (5) comprises a front driving steering engine (51), a left driving steering engine (52), a left driving power arm (53) and a front driving power arm (54); the drive link assembly comprises a left drive link (34) and a front drive link (33); one end of the front driving connecting rod (33) is hinged with one side of the tilting slide plate (32), and one end of the left driving connecting rod (34) is hinged with the other side of the tilting slide plate (32); the other end of the left driving connecting rod (34) is hinged with one end of a left driving force arm (53); the other end of the front driving connecting rod (33) is hinged with a front driving force arm (54); the other end of the left driving force arm (53) is fixedly connected with a torsion output shaft of the left driving steering engine (52); the other end of the front driving power arm (54) is fixedly connected with a torsion output shaft of the front driving steering engine (51);
One end of the central connecting shaft (42) far away from the power driver base (41) is provided with a driver mounting base (43), the front driving steering engine (51) and the left driving steering engine (52) are respectively mounted at different positions of the driver mounting base (43), and a connecting line of the point positions of the front driving power arm (54) and the left driving power arm (53) is not intersected with the axis of the central connecting shaft (42).
2. The rotor vector deviator of claim 1, wherein: the swash plate assembly (3) further includes an azimuth angle swash plate azimuth limiter (35) for limiting the azimuth angle swash plate (32).
3. A rotor vector deviator according to claim 2, wherein: the swash plate azimuth limiter (35) comprises a double-link structure, one end of the double-link is hinged with one side of the tilting slide plate (32), and the other end of the double-link is hinged with the driver mounting base (43).
4. The rotor vector deviator of claim 1, wherein: the power mechanism (1) is a direct-drive motor and comprises a stator (11) and a rotor (12); the stator (11) of the power mechanism (1) is fixedly arranged with the power driver base (41); the rotor (12) of the power mechanism (1) is fixedly connected with the hub (25).
5. A vector coaxial rotor helicopter, characterized by: the rotary wing assembly comprises a machine body (6) and a rotary wing assembly arranged on the machine body (6), wherein the rotary wing assembly comprises two layers of rotary wing vector direction changing devices, the rotary wing vector direction changing devices are the rotary wing vector direction changing devices according to any one of claims 1-4, and the structures of the two layers of rotary wing vector direction changing devices are distributed symmetrically up and down.
6. A vector coaxial rotor helicopter according to claim 5 wherein: an integral structure or a split structure is formed between the central connecting shafts (42) of the two rotor vector direction changing devices; the front driving steering engine (51) on the two rotor vector steering devices and the left driving steering engine (52) are of a shared structure or a single structure.
7. A control method of a vector coaxial rotor helicopter according to claim 5 or 6 characterized by the following steps:
the propulsion rotors (26) of the two rotor vector steering devices counter-rotate to balance the torque of the rotors;
Tilting the rotor blade (32) to tilt the rotating rotor blade tilt control vector to pitch and roll the coaxial rotor helicopter;
Increasing or decreasing the rotational speed of the propulsive rotor (26) controls the lift of the vectoring coaxial rotor helicopter.
8. A vector rotor single-rotor helicopter, characterized by: comprises a rotor vector direction changing device, a tail rotor power system (7) and a fuselage (6); the rotor vector direction changing device is arranged above a machine body (6), a tail rotor power system (7) is arranged at the tail of the machine body (6), and the rotor vector direction changing device is the rotor vector direction changing device according to any one of claims 1-4.
9. The method of controlling a vector-rotor single-rotor helicopter according to claim 8, comprising the steps of:
A tail rotor power system (7) of the vector rotor single-propeller helicopter balances the counter torque generated by a propelling rotor (26) of the vector steering device;
tilting the rotor disks (32) to tilt the rotating rotor disks to control roll and pitch of the aircraft;
Increasing or decreasing the rotational speed of the propulsive rotor (26) controls the lift of the vector rotor single-rotor helicopter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111266641.8A CN113815852B (en) | 2021-10-28 | 2021-10-28 | Rotor vector steering device, coaxial rotor, single-propeller helicopter and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111266641.8A CN113815852B (en) | 2021-10-28 | 2021-10-28 | Rotor vector steering device, coaxial rotor, single-propeller helicopter and control method |
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| CN113815852A CN113815852A (en) | 2021-12-21 |
| CN113815852B true CN113815852B (en) | 2024-06-11 |
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| CN115871968B (en) * | 2023-01-28 | 2023-05-30 | 江苏新扬新材料股份有限公司 | Rotor hub structure of tilting rotor unmanned aerial vehicle |
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