CN113968339A - Environment-friendly control system and control method capable of emergency balancing helicopter rotor wing reaction torque - Google Patents

Environment-friendly control system and control method capable of emergency balancing helicopter rotor wing reaction torque Download PDF

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Publication number
CN113968339A
CN113968339A CN202111381845.6A CN202111381845A CN113968339A CN 113968339 A CN113968339 A CN 113968339A CN 202111381845 A CN202111381845 A CN 202111381845A CN 113968339 A CN113968339 A CN 113968339A
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Prior art keywords
bleed air
balancing
valve
pressure regulator
pressure
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CN202111381845.6A
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CN113968339B (en
Inventor
罗平根
陈政
夏文庆
谢志平
赵凯祥
李星萍
王化吉
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China Helicopter Research and Development Institute
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China Helicopter Research and Development Institute
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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02C—GAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
    • F02C6/00—Plural gas-turbine plants; Combinations of gas-turbine plants with other apparatus; Adaptations of gas-turbine plants for special use
    • F02C6/04—Gas-turbine plants providing heated or pressurised working fluid for other apparatus, e.g. without mechanical power output
    • F02C6/06—Gas-turbine plants providing heated or pressurised working fluid for other apparatus, e.g. without mechanical power output providing compressed gas
    • F02C6/08—Gas-turbine plants providing heated or pressurised working fluid for other apparatus, e.g. without mechanical power output providing compressed gas the gas being bled from the gas-turbine compressor
    • 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
    • B64C2027/8245—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 using air jets

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Turbines (AREA)

Abstract

The invention belongs to the field of airborne environment control systems, and particularly relates to an environment control system capable of emergency balancing of helicopter rotor wing reactive torque. The environmental control system comprises: the device comprises a bleed air pipeline (1), a one-way valve group (2), a pressure regulator, a balancing valve, a pressure sensor, a bleed air balancing device (9), a cabin warming valve (10) and a control device (11). The invention can realize emergency balancing of rotor wing reaction torque after helicopter tail rotor failure, so that the helicopter can land stably in emergency.

Description

Environment-friendly control system and control method capable of emergency balancing helicopter rotor wing reaction torque
Technical Field
The invention belongs to the field of airborne environment control systems, and particularly relates to an environment control system capable of emergency balancing of helicopter rotor wing reactive torque.
Background
The conventional helicopter adopts the layout of a main rotor and a tail rotor, when the main rotor rotates clockwise, the fuselage can generate counter-clockwise counter-torque force, the tail rotor must push or pull to generate clockwise thrust force so as to offset the counter-torque force of the main rotor and balance the direction of the helicopter.
The failure of the tail rotor of the helicopter is one of the main special conditions causing serious flight accidents at home and abroad in recent years, and the failure of the tail rotor can cause the helicopter to enter an unexpected state with an uncontrolled direction and even loss of operation. Helicopter tail rotor faults can be roughly divided into tail rotor jamming and tail rotor failure, different emergency treatment measures are adopted aiming at different fault forms, and common measures such as shutting down an engine and keeping the attitude to be grounded as soon as possible are adopted; reducing engine power reduces reaction torque, etc. These measures are passive measures, and the helicopter direction cannot be balanced, and once the operation is improper, a major accident must be caused.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides an environment-friendly control system capable of emergency balancing rotor wing reaction torque of a helicopter, which can realize emergency balancing rotor wing reaction torque after a tail rotor of the helicopter breaks down, so that the helicopter can land stably in an emergency.
The technical scheme of the invention is as follows: in one aspect, an environmental control system for emergency trim helicopter rotor reactive torque is provided, the environmental control system comprising: the device comprises a bleed air pipeline 1, a one-way valve group 2, a pressure regulator, a balancing valve, a pressure sensor, a bleed air balancing device 9, a cabin warming valve 10 and a control device 11;
the bleed air pipeline 1 is connected with the engine and used for conveying high-pressure gas of a compressor in the engine; the one-way valve group 2, the pressure regulator, the balancing valve and the bleed air balancing device 9 are sequentially communicated through the bleed air pipeline 1 so as to introduce high-pressure air into the bleed air balancing device 9 when the tail rotor fails, and the bleed air balancing device 9 generates thrust outwards to balance the reactive torque of the main rotor of the helicopter;
a pressure sensor is arranged on a pipeline between the balancing valve and the bleed air balancing device 9; a cabin warming valve 10 is arranged on a pipeline between the pressure regulator and the balancing valve; when the helicopter works normally and the cabin needs to be heated, the balancing valve is closed, and the cabin heating valve 10 is opened to introduce high-pressure gas in the pipeline into the cabin;
the control device 11 is respectively in signal connection with the pressure regulator, the balancing valve, the pressure sensor, the bleed air balancing device 9 and the cabin warming valve 10; the control device 11 is used for controlling the pressure regulator to open or close, controlling the opening of the balancing valve according to a flow signal fed back by the bleed air balancing device 9, and judging whether a component in the pipeline has a fault according to a pressure signal fed back by the pressure sensor.
Further, the pressure regulators include a first pressure regulator 3 and a second pressure regulator 4; the first pressure regulator 3 and the second pressure regulator 4 are installed in parallel. A redundancy design is used to ensure that the bleed balancing device 9 can operate in the event of a single regulator failure.
Further, the trim shutter comprises a first trim shutter 5 and a second trim shutter 6; the first trim shutter 5 and the second trim shutter 6 are installed in parallel. A redundancy design is used to ensure that the bleed balancing device 9 can operate in the event of a single balancing valve failure.
Further, the pressure sensors include a first pressure sensor 7 and a second pressure sensor 8; the first pressure sensor 7 and the second pressure sensor 8 are installed in parallel. A redundancy design is used to ensure that the bleed balancing device 9 can operate in the event of a single sensor failure.
Furthermore, the bleed air trim device 9 is mounted at the rear end of the tail beam of the helicopter through an electric mechanism, the electric mechanism is in signal connection with the pedal displacement sensor, and the work of the electric mechanism is controlled through pedal displacement signals so as to adjust the bleed air injection direction of the air outlet assembly of the bleed air trim device 9.
Further, the one-way valve group 2 is respectively connected with two engines; and a one-way valve is arranged in the one-way valve group 2 and is used for preventing series flow of gas when the bleed air of the two engines is unbalanced.
Further, a third pressure sensor 13 and a fourth pressure sensor 14 are respectively mounted on the pipelines between the first pressure regulator 3 and the second pressure regulator 4 and the cabin warming shutter 10.
In another aspect, there is provided a method for controlling an environmental control system capable of emergency trimming a rotor reactive torque of a helicopter, the method comprising:
when the tail rotor of the helicopter has a fault, the control device 11 controls the first pressure regulator 3 and the first balancing valve 5 to be opened, and the second pressure regulator 4, the second balancing valve 6 and the cabin warming valve 10 to be closed; high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 through the first balancing valve 5, the bleed air injection direction of the bleed air balancing device 9 is controlled, and the bleed air quantity is adjusted through the first balancing valve 5, so that the torque generated by the bleed air injection counteracts the rotor wing reactive torque;
when the first balancing valve 5 fails and cannot be opened, the control device 11 controls the first pressure regulator 3 and the second balancing valve 6 to be opened, and the second pressure regulator 4 and the cabin warming valve 10 to be closed; the high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 after passing through the second balancing valve 6, the bleed air injection direction of the bleed air balancing device 9 is controlled, and the bleed air quantity is adjusted through the first balancing valve 5, so that the torque generated by the bleed air injection counteracts the rotor wing reactive torque;
when the first pressure regulator 3 fails and cannot be opened, the control device 11 controls the second pressure regulator 4 and the first trim valve 5 to be opened, and the second trim valve 6 and the cabin warming valve 10 to be closed; the high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 after passing through the first balancing valve 5, the bleed air balancing device 9 is controlled to adjust the bleed air injection direction, and the bleed air quantity is adjusted through the first balancing valve 5, so that the torque generated by the bleed air injection counteracts the rotor wing reactive torque;
when the first pressure regulator 3 and the first trim valve 5 fail to open, the control device 11 controls the second pressure regulator 4 and the second trim valve 6 to open, and the cabin warming valve 10 is closed; the high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 after passing through the second balancing valve 6, the bleed air balancing device 9 is controlled to adjust the bleed air injection direction, and the bleed air quantity is adjusted through the first balancing valve 5, so that the torque generated by the bleed air injection counteracts the rotor wing reactive torque;
the bleed air injection direction of the bleed air trim device 9 is adjusted by the signal linkage of the pedal displacement sensor and the bleed air trim device 9
The invention has the technical effects that: through the emergency trim design, after the tail rotor fails, the rotor is changed from passive to active, and the rotor counter torque is trimmed in an emergency mode, so that the helicopter can land stably; the high-pressure gas can be continuously provided by directly introducing the gas from the engine; and the reliability of the environment control system is improved by adopting redundancy design. The system meets the requirement of the environmental control system on normal heating of the cabin, and can play a role in emergency lifesaving when the tail rotor fails.
Drawings
FIG. 1 is a schematic diagram of cabin warming and air entraining during normal operation of a tail rotor;
FIG. 2 is an emergency trim bleed air schematic diagram during a tail rotor fault operation;
fig. 3 is a schematic diagram of an on-board installation of an emergency trim device.
Detailed Description
The invention is explained below with reference to the drawings.
Referring to fig. 1 and 2, in the present embodiment, an environmental control system capable of emergency trimming of a rotor reactive torque of a helicopter is provided, which includes a bleed air pipeline 1, a one-way valve group 2, a first pressure regulator 3, a second pressure regulator 4, a first trimming valve 5, a second trimming valve 6, a first pressure sensor 7, a second pressure sensor 8, a bleed air trimming device 9, a cabin warming valve 10, and a control device 11.
The bleed air pipeline 1 is connected with the engine and used for conveying high-pressure gas of a compressor in the engine; the one-way valve group 2, the pressure regulator, the balancing valve and the bleed air balancing device 9 are sequentially communicated through the bleed air pipeline 1 so as to introduce high-pressure air into the bleed air balancing device 9 when the tail rotor fails, and the bleed air balancing device 9 generates thrust outwards to balance the reactive torque of the main rotor of the helicopter;
a pressure sensor is arranged on a pipeline between the balancing valve and the bleed air balancing device 9; a cabin warming valve 10 is arranged on a pipeline between the pressure regulator and the balancing valve; when the helicopter works normally and the cabin needs to be heated, the trim valve is closed, and the cabin heating valve 10 is opened to introduce high-pressure gas in the pipeline into the cabin.
The control device 11 is respectively in signal connection with the pressure regulator, the balancing valve, the pressure sensor, the bleed air balancing device 9 and the cabin warming valve 10; the control device 11 is used for controlling the pressure regulator to open or close, controlling the opening of the balancing valve according to a flow signal fed back by the bleed air balancing device 9, and judging whether a component in the pipeline has a fault according to a pressure signal fed back by the pressure sensor.
In the present embodiment, the third pressure sensor 13 and the fourth pressure sensor 14 are respectively mounted on the pipelines between the first pressure regulator 3 and the second pressure regulator 4 and the cabin warming shutter 10. The bleed air trim device 9 is mounted at the rear end of a tail beam of the helicopter through an electric mechanism, the electric mechanism is in signal connection with the pedal displacement sensor, and the work of the electric mechanism is controlled through pedal displacement signals so as to adjust the bleed air injection direction of an air outlet assembly of the bleed air trim device 9.
As shown in fig. 1, when the environmental control system is normally warmed, the first pressure regulator 3 and the cabin warming valve 10 are opened, the second pressure regulator 4, the first trim valve 5 and the second trim valve 6 are closed, and the high-temperature and high-pressure bleed air of the engine enters the cabin warming subsystem after passing through the first pressure regulator 3 and the cabin warming valve 10.
As shown in fig. 2, when a tail rotor fault occurs in the helicopter, the first pressure regulator 3 and the first balancing valve 5 are opened, the second pressure regulator 4 and the second balancing valve 6 are closed, the cabin warming valve 10 is closed, high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 after passing through the first balancing valve 5 and the pressure sensor 7, the bleed air balancing device 9 adjusts the bleed air injection direction, and the first balancing valve 5 adjusts the bleed air amount, so that the torque generated by the bleed air injection counteracts the rotor counter torque.
When the first balancing valve 5 fails and cannot be opened, the first pressure regulator 3 and the second balancing valve 6 are opened, the second pressure regulator 4 and the cabin heating valve 10 are closed, high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 after passing through the second balancing valve 6 and the pressure sensor 8, the bleed air balancing device 9 adjusts the bleed air injection direction, and the first balancing valve 5 adjusts the bleed air amount, so that the torque generated by the bleed air injection counteracts the rotor wing reactive torque.
When the first pressure regulator 3 fails and cannot be opened, the second pressure regulator 4 and the first balancing valve 5 are opened, the second balancing valve 6 and the cabin heating valve 10 are closed, high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 after passing through the first balancing valve 5 and the pressure sensor 7, the bleed air balancing device 9 adjusts the bleed air injection direction, and the first balancing valve 5 adjusts the bleed air amount, so that the torque generated by the bleed air injection counteracts the rotor wing reactive torque.
When the first pressure regulator 3 and the first balancing valve 5 are failed and cannot be opened, the second pressure regulator 4 and the second balancing valve 6 are opened, the cabin heating valve 10 is closed, high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device 9 after passing through the second balancing valve 6 and the pressure sensor 8, the bleed air balancing device 9 adjusts the bleed air injection direction, and the first balancing valve 5 adjusts the bleed air amount, so that the torque generated by the bleed air injection counteracts the rotor wing reactive torque.

Claims (8)

1. An environmental control system capable of emergency trim helicopter rotor reactive torque, characterized in that, the environmental control system includes: the device comprises a bleed air pipeline (1), a one-way valve group (2), a pressure regulator, a balancing valve, a pressure sensor, a bleed air balancing device (9), a cabin warming valve (10) and a control device (11);
the bleed gas pipeline (1) is connected with the engine and is used for conveying high-pressure gas of a compressor in the engine; the one-way valve group (2), the pressure regulator, the balancing valve and the bleed air balancing device (9) are sequentially communicated through the bleed air pipeline (1) so as to introduce high-pressure air into the bleed air balancing device (9) when the tail rotor fails, and the bleed air balancing device (9) generates thrust outwards to balance the counter torque of the main rotor of the helicopter;
a pressure sensor is arranged on a pipeline between the balancing valve and the bleed air balancing device (9); a cabin warming valve (10) is arranged on a pipeline between the pressure regulator and the balancing valve; when the helicopter works normally and the cabin needs to be heated, the balancing valve is closed, and the cabin heating valve (10) is opened to introduce high-pressure gas in the pipeline into the cabin;
the control device (11) is respectively in signal connection with the pressure regulator, the balancing valve, the pressure sensor, the bleed air balancing device (9) and the cabin heating valve (10); the control device (11) is used for controlling the pressure regulator to be opened or closed, controlling the opening of the balancing valve according to a flow signal fed back by the bleed air balancing device (9), and judging whether a component in the pipeline has a fault according to a pressure signal fed back by the pressure sensor.
2. The environmental control system according to claim 1, wherein the pressure regulator comprises a first pressure regulator (3) and a second pressure regulator (4); the first pressure regulator (3) and the second pressure regulator (4) are mounted in parallel.
3. The environmental control system according to claim 1, characterized in that the trim flaps comprise a first trim flap (5) and a second trim flap (6); the first balancing valve (5) and the second balancing valve (6) are arranged in parallel.
4. The environmental control system according to claim 1, characterized in that the pressure sensors comprise a first pressure sensor (7) and a second pressure sensor (8); the first pressure sensor (7) and the second pressure sensor (8) are mounted in parallel.
5. The environmental control system according to claim 1, characterized in that the bleed air trim arrangement (9) is mounted at the rear end of the tail boom of the helicopter by an electric mechanism, the electric mechanism is in signal connection with a pedal displacement sensor, and the operation of the electric mechanism is controlled by the pedal displacement signal to adjust the bleed air injection direction of the air outlet assembly of the bleed air trim arrangement (9).
6. The environmental control system according to claim 1, characterized in that the one-way valve group (2) is respectively connected with two engines; and a one-way valve is arranged in the one-way valve group (2) and is used for preventing series flow of gas when the bleed air of the two engines is unbalanced.
7. The environmental control system according to claim 2, characterized in that a third pressure sensor (13) and a fourth pressure sensor (14) are respectively mounted on the pipeline between the first pressure regulator (3) and the second pressure regulator (4) and the cabin warming valve (10).
8. A method for controlling an environmental control system capable of emergency trimming of a rotor reactive torque of a helicopter, using the environmental control system according to any one of claims 1 to 7, the method comprising:
when the tail rotor of the helicopter has a fault, the control device (11) controls the first pressure regulator (3) and the first balancing valve (5) to be opened, and the second pressure regulator (4), the second balancing valve (6) and the cabin warming valve (10) to be closed; high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device (9) through the first balancing valve (5), the bleed air injection direction of the bleed air balancing device (9) is controlled, and the bleed air volume is adjusted through the first balancing valve (5), so that the torque generated by the bleed air injection counteracts the rotor wing counter torque;
when the first balancing valve (5) fails and cannot be opened, the control device (11) controls the first pressure regulator (3) and the second balancing valve (6) to be opened, and the second pressure regulator (4) and the cabin heating valve (10) to be closed; the high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device (9) after passing through the second balancing valve (6), the bleed air injection direction of the bleed air balancing device (9) is controlled, and the bleed air volume is adjusted through the first balancing valve (5), so that the torque generated by the bleed air injection counteracts the rotor wing counter torque;
when the first pressure regulator (3) fails and cannot be opened, the control device (11) controls the second pressure regulator (4) and the first balancing valve (5) to be opened, and the second balancing valve (6) and the cabin warming valve (10) to be closed; high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device (9) after passing through the first balancing valve (5), the bleed air balancing device (9) is controlled to adjust the bleed air injection direction, and the bleed air volume is adjusted through the first balancing valve (5), so that the torque generated by the bleed air injection counteracts the rotor wing reactive torque;
when the first pressure regulator (3) and the first balancing valve (5) fail to open, the control device (11) controls the second pressure regulator (4) and the second balancing valve (6) to open, and the cabin warming valve (10) is closed; high-temperature and high-pressure bleed air of the engine enters the bleed air balancing device (9) after passing through the second balancing valve (6), the bleed air balancing device (9) is controlled to adjust the bleed air injection direction, and the bleed air volume is adjusted through the first balancing valve (5), so that the torque generated by the bleed air injection counteracts the rotor wing reactive torque;
the bleed air injection direction of the bleed air trim device (9) is adjusted through the signal linkage of the pedal displacement sensor and the bleed air trim device (9).
CN202111381845.6A 2021-11-19 2021-11-19 Environment-friendly control system capable of emergently balancing helicopter rotor wing reactive torque and control method Active CN113968339B (en)

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Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54100098A (en) * 1977-12-21 1979-08-07 Summa Corp Device for balancing torque of helicopter by circulation control
GB8619653D0 (en) * 1986-08-12 1987-01-14 Rolls Royce Plc Gas turbine engine
FR2679199A1 (en) * 1991-07-16 1993-01-22 Aerospatiale ANTICOUPLE SYSTEM FOR HELICOPTER.
US7032860B1 (en) * 2004-11-05 2006-04-25 Eatts, Llc Emergency anti-torque thruster system
US20090140182A1 (en) * 2007-11-29 2009-06-04 United Technologies Corporation Actuation mechanism for a convertible gas turbine propulsion system
CN103241375A (en) * 2012-02-10 2013-08-14 贝尔直升机德事隆公司 Pilot control system with adjustable pedals
CN104477377A (en) * 2014-12-31 2015-04-01 北京航空航天大学 Composite type multi-mode multi-purpose aircraft
CN107505957A (en) * 2017-08-03 2017-12-22 中国航空工业集团公司西安飞机设计研究所 A kind of refrigeration system ground experiment temperature control equipment
CN108622403A (en) * 2017-03-20 2018-10-09 贝尔直升机德事隆公司 System and method for rotor craft Heading control
CN109292097A (en) * 2018-09-21 2019-02-01 中国商用飞机有限责任公司 Flow control system of airplane air conditioner
CN111874222A (en) * 2020-07-28 2020-11-03 东南大学 Pure electric tandem double-rotor unmanned aerial vehicle system
CN112173143A (en) * 2020-09-25 2021-01-05 中国直升机设计研究所 Emergency substitution device for helicopter tail rotor in failure state and control method

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54100098A (en) * 1977-12-21 1979-08-07 Summa Corp Device for balancing torque of helicopter by circulation control
GB8619653D0 (en) * 1986-08-12 1987-01-14 Rolls Royce Plc Gas turbine engine
FR2679199A1 (en) * 1991-07-16 1993-01-22 Aerospatiale ANTICOUPLE SYSTEM FOR HELICOPTER.
US7032860B1 (en) * 2004-11-05 2006-04-25 Eatts, Llc Emergency anti-torque thruster system
US20090140182A1 (en) * 2007-11-29 2009-06-04 United Technologies Corporation Actuation mechanism for a convertible gas turbine propulsion system
CN103241375A (en) * 2012-02-10 2013-08-14 贝尔直升机德事隆公司 Pilot control system with adjustable pedals
CN104477377A (en) * 2014-12-31 2015-04-01 北京航空航天大学 Composite type multi-mode multi-purpose aircraft
CN108622403A (en) * 2017-03-20 2018-10-09 贝尔直升机德事隆公司 System and method for rotor craft Heading control
CN107505957A (en) * 2017-08-03 2017-12-22 中国航空工业集团公司西安飞机设计研究所 A kind of refrigeration system ground experiment temperature control equipment
CN109292097A (en) * 2018-09-21 2019-02-01 中国商用飞机有限责任公司 Flow control system of airplane air conditioner
CN111874222A (en) * 2020-07-28 2020-11-03 东南大学 Pure electric tandem double-rotor unmanned aerial vehicle system
CN112173143A (en) * 2020-09-25 2021-01-05 中国直升机设计研究所 Emergency substitution device for helicopter tail rotor in failure state and control method

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