CN114476025A - Device and method for monitoring and intelligently controlling propeller pitch angle in real time - Google Patents
Device and method for monitoring and intelligently controlling propeller pitch angle in real time Download PDFInfo
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- CN114476025A CN114476025A CN202111564571.4A CN202111564571A CN114476025A CN 114476025 A CN114476025 A CN 114476025A CN 202111564571 A CN202111564571 A CN 202111564571A CN 114476025 A CN114476025 A CN 114476025A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/44—Blade pitch-changing mechanisms electric
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Abstract
The application relates to the field of aviation equipment, and particularly discloses a device and a method for monitoring and intelligently controlling propeller pitch angle in real time, wherein the device comprises a propeller hub, blades arranged on the propeller hub, a limiting fixed seat fixedly connected with the propeller hub and a pitch-changing mechanism; the pitch-changing mechanism comprises: the nut is positioned in the propeller hub and is in sliding connection with the propeller hub along the direction of the rotation axis of the propeller hub, the sliding block is connected to the root part of the blade, and the nut drives the blade to rotate through the sliding block so as to change the pitch angle of the blade; the limiting fixing seat is provided with at least two control mechanisms for measuring the linear displacement of the nut. The effect of real-time monitoring and intelligent control of the propeller pitch angle is achieved.
Description
Technical Field
The invention relates to the technical field of aviation equipment, in particular to a device and a method for monitoring and intelligently controlling propeller pitch angle in real time.
Background
The propellers used by the propeller-driven aircraft mainly comprise a non-variable-pitch function and a variable-pitch function, and the propellers with the variable-pitch function comprise electric-driven variable pitch, hydraulic variable pitch and the like. At present, almost all propellers with a pitch changing function are subjected to pitch changing in a coarse adjustment mode, namely, the set flight rotating speed of the propellers is preset, and when an engine is used for filling an oil door or reducing the oil door, after the actual flight rotating speed of the propellers exceeds or is lower than a certain proportional value of the set flight rotating speed, a pitch changing device drives blades to increase or reduce the pitch angle until the actual flight rotating speed is within the allowable fluctuation range of the set flight rotating speed. This adjustment is simple, but it does not allow quantification of the blade pitch in order to better assess the flight performance of the aircraft, in particular in the event of a propeller pitch failure, and it does not allow accurate assessment and localization of the failure location.
With the development of aerospace technology, in order to improve the aerodynamic efficiency of a propeller and the flight efficiency of an airplane, especially the gradual maturity of a large number analysis technology and an artificial intelligence technology, the real-time monitoring and intelligent control of the propeller pitch angle in the field of unmanned aerial vehicles are important breakthrough technologies, the quantitative corresponding analysis of the engine output rotating speed, the actual rotating speed of the propeller, the blade pitch angle, the propeller propulsion power, flight parameters and the like is needed, and the flight of the airplane can be controlled more efficiently by acquiring accurate flight performance data.
Disclosure of Invention
In order to realize the real-time monitoring and intelligent control of the propeller pitch angle, the invention provides a device for monitoring and intelligently controlling the propeller pitch angle in real time.
The following technical scheme is adopted specifically:
a device for monitoring and intelligently controlling the pitch angle of a propeller in real time comprises a propeller hub, blades arranged on the propeller hub, a limiting fixed seat fixedly connected with the propeller hub and a pitch-changing mechanism;
the pitch-changing mechanism comprises: the nut is positioned in the propeller hub and is in sliding connection with the propeller hub along the direction of the rotation axis of the propeller hub, the sliding block is connected to the root part of the blade, and the nut drives the blade to rotate through the sliding block so as to change the pitch angle of the blade;
the limiting fixing seat is provided with at least two control mechanisms for measuring the linear displacement of the nut.
In the above arrangement, the control mechanism is arranged annularly about the axis of rotation of the hub.
In the above apparatus, the control mechanism includes: the limiting rod is fixedly connected to the nut, the linear displacement sensor is connected to the limiting fixing seat, and the telescopic rod of the linear displacement sensor is connected with the limiting rod.
In the above device, a second coupling is connected between the telescopic rod of the linear displacement sensor and the first limiting rod.
In the device, the propeller hub is arranged on an engine flange, a tension-torsion sensor is arranged between the engine flange and the propeller hub, the tension-torsion sensor is of an annular structure, the cross section of the tension-torsion sensor passing through the axis of the tension-torsion sensor is I-shaped, the upper end surface and the lower end surface of the tension-torsion sensor are respectively fixed with the engine flange and the propeller hub, the middle annular main body is a tension-torsion force measuring unit, and the gravity center of the tension-torsion sensor is positioned on the transmission axis of the tension-torsion sensor.
In the device, the variable pitch mechanism further comprises a variable pitch motor and a lead screw, a connecting flange is connected between the propeller hub and the limiting fixing seat, the variable pitch motor is fixed with the connecting flange, the lead screw is rotatably connected with the propeller hub, and a nut is sleeved outside the lead screw and is in threaded connection with the lead screw.
In the device, the two ends of the nut along the moving direction of the nut are provided with limiting blocks, the limiting blocks are sleeved outside the screw rod and are in sliding connection with the screw rod along the axial direction of the screw rod, and the upper limit position and the lower limit position of the motion range of the pitch angle of the blade limited by the limiting blocks are larger than the upper limit motion range and the lower limit motion range of the linear displacement sensor.
The up-down movement distance of the pitch-variable nut is limited by the thickness of the limit block along the axial direction, namely, the up-down movement range of the pitch angle of the blade is mechanically limited.
The upper limit position and the lower limit position of the motion range of the blade pitch angle limited by the limiting block can cover the upper limit motion range and the lower limit motion range of the linear sensor, and the mechanical limitation can be triggered only when the distance changing mechanism continues to move after the limit of the linear sensor fails.
In the above device, a first coupling is connected between the pitch-variable motor and the screw rod.
In the device, the sliding block is connected to the position of the root part of the blade deviating from the axis of the blade, and the nut is provided with a groove for the sliding block to slide.
In the device, when the blade pitch angle is 0 degrees, the distance of the center line of the sliding block (5) deviating from the axis of the blade is r, the included angle between the plane formed by the center line of the sliding block and the axis of the blade (4) and the horizontal plane is theta 0, and the output voltage calibration reference value U0 corresponding to the linear displacement sensor is obtained at the moment. If the blade pitch angle rotates by i degrees, the sliding block pushes the nut to move and displace Li (rsin (theta 0) -rsin (theta 0-i)), the output voltage of the linear displacement sensor is Ui, and | Ui-U0| (| Li |), so that the pitch angle of the blade under the corresponding voltage can be obtained in real time and accurately.
The central line of the sliding block refers to the rotation axis of the sliding block, namely the axis at the center of a small circle in the middle of the sliding block in the attached figure 3 of the specification; the rotation axis of the blade refers to the axis of the end part of the blade, namely the axis at the position of the center of a great circle in the attached figure 3 of the specification. The slide is in a horizontal position, i.e. the slide is in a horizontal radius of the circle in fig. 3. A method for monitoring and intelligently controlling the pitch angle of a propeller in real time comprises the following steps,
(1) under the driving of an aircraft engine, an engine flange drives a tension-torsion sensor and a propeller to rotate at a certain rotation speed, aerodynamic force generated by the rotation of the propeller is collected and monitored by the tension-torsion sensor in real time, and the blade pitch angle of the propeller is collected and monitored by a linear displacement sensor in real time;
(2) when the flight working condition changes, the preset rotating speed of the propeller is given, the engine receives an instruction to add an accelerator or reduce the accelerator, the rotating speed of the propeller is driven to increase or reduce to be close to the preset rotating speed, and if the speed is increased to exceed or not reach the preset rotating speed, the pitch motor drives the pitch assembly to increase or reduce the pitch angle after receiving a feedback signal of the pitch control system;
(3) the linear displacement sensor collects and monitors the angle change of the pitch angle in real time, and when the pitch angle reaches the maximum limit pitch angle or the minimum limit pitch angle, the pitch control system acquires information and then sends an instruction to drive the pitch motor 6 to rotate reversely;
(4) when the sensor fails, the variable-pitch control system can not acquire information and then switches to a backup linear displacement sensor to work, so that the control redundancy design is realized;
(5) when all the linear displacement sensors are in an extreme failure condition, when the nut moves and the limiting block extrudes, and the current of the variable-pitch motor is increased to a certain fixed value, the variable-pitch control system acquires information and then sends an instruction to drive the variable-pitch motor to rotate reversely, so that the mechanical limiting design is realized;
(6) in the flying process of the aircraft, the flying conditions such as flying height, temperature and humidity are combined with real-time acquisition information such as blade pitch angle, engine rotating speed and propeller propelling power to be fused into a flying control program to form a flying state information database, and the flying state information database is used for deep learning and intelligent control of the aircraft.
In summary, the present application includes at least one of the following beneficial technical effects:
(1) the real-time acquisition and monitoring of the pitch angle of the blade are realized by acquiring the pitch angle to linear displacement by adopting a linear displacement sensor; the redundancy design of real-time monitoring of the sensors is ensured through the control combination of the plurality of linear displacement sensors; the device for monitoring and intelligently controlling the propeller pitch angle in real time is designed, so that the structure is compact and simple, the modularized design is realized, the disassembly and the assembly are convenient, and the reliability is high;
(2) the safe redundant design of the control of the variable pitch range of the propeller is realized through mechanical limit and real-time control of a sensor, and the safety and the reliability of the variable pitch of the propeller are ensured;
(3) the circuit combination of the variable-pitch motor and the linear displacement sensor is shared, so that the number of slip ring power supply electrodes is reduced, and the circuit is simple and reliable to set;
(4) a tension-torsion sensor suitable for the high-speed rotation of the propeller is designed, and the requirements on rigidity strength and dynamic balance and the requirements on accurate measurement of tension and torque are met; thrust and torque information of the propeller under the real-time pitch angle is obtained, and the acquired information of the linear displacement sensor is combined for the aircraft to learn deeply and control intelligently;
(5) a real-time accurate control method for propeller pitch angle is provided, and a calibration method for accurately measuring pitch angle is also provided.
Drawings
Fig. 1 is a perspective sectional view of a device for monitoring and intelligently controlling propeller pitch angle in real time according to an embodiment of the present application.
Fig. 2 is a two-dimensional cross-sectional view of an apparatus for monitoring and intelligently controlling the pitch angle of a propeller in real time according to an embodiment of the present application.
Fig. 3 is a view of the blade root in the direction of the blade root axis, wherein the circle is a view of the blade root in the direction of the blade root axis.
Description of reference numerals: 1. a limiting fixed seat; 2. a connecting flange; 3. a hub; 4. a paddle; 5. a slider; 6. a variable pitch motor; 7. a first coupling; 8. a lead screw; 9. a nut; 10. a bearing; (11-12), a limiting block; 13. a linear displacement sensor; 14. a locknut; 15. a second coupling; 16. a limiting rod; 17. a tension-torsion sensor; 18. an engine flange.
Detailed Description
The present application is described in further detail below with reference to figures 1-2 and specific examples:
the embodiment of the application discloses a device for monitoring and intelligently controlling the pitch angle of a propeller in real time.
Referring to fig. 1 and 2, a device for monitoring and intelligently controlling propeller pitch angle in real time comprises a propeller hub 3, blades 4 mounted on the propeller hub 3, a limiting fixing seat 1 fixedly connected with the propeller hub 3, and a pitch change mechanism, wherein the pitch change mechanism comprises nuts 9 located in the propeller hub 3, the pitch change mechanism can convert movement of the pitch angle of the blades 4 into linear movement of the nuts 9, a control mechanism for measuring linear displacement of the nuts 9 is arranged on the limiting fixing seat 1, and the number of the control mechanisms is at least two.
Referring to fig. 1 and 2, the pitch-variable mechanism is still including connecting in the slider 5 of 4 roots of paddle, pitch-variable motor 6 and lead screw 8, be connected with flange 2 between propeller hub 3 and the spacing fixing base 1, pitch-variable motor 6 is fixed at flange 2, pitch-variable motor 6's output shaft can just reverse, preferred direct current brushless motor, long service life, stable performance, control output circuit is simple, lead screw 8 rotates with propeller hub 3 to be connected, be provided with bearing 10 between lead screw 8 and the propeller hub 3, pitch-variable motor 6's output shaft links firmly with lead screw 8 through first shaft coupling 7, nut 9 cover locate outside the lead screw 8 and with lead screw 8 threaded connection, nut 9 and propeller hub 3 along 8 axial direction sliding connection of lead screw, slider 5 is connected in the skew position of 4 axial lines of paddle 4 roots, nut 9 sets up the gliding slot of confession slider 5. The variable pitch motor 6 can drive the screw rod 8 to rotate, the screw rod 8 drives the nut 9 to do reciprocating linear motion, and the nut 9 moves to drive the blade 4 to rotate through the sliding block 5 so that the pitch angle of the blade 4 is changed.
In this embodiment, two control mechanisms are provided, arranged in a ring around the axis of rotation of the hub 3. The control mechanism includes: the limiting rod 16 is fixedly connected to the nut 9, the linear displacement sensor 13 is connected to the limiting fixing seat 1, and the telescopic rod of the linear displacement sensor 13 is connected with the limiting rod 16. A second coupler 15 is connected between the telescopic rod of the linear displacement sensor 13 and the first limiting rod 16, and the positive and negative poles of the control combined circuit of the linear displacement sensor 13 are shared with the positive and negative poles of the circuit of the variable-pitch motor 6, so that the number of slip ring power supply electrodes is reduced. Real-time monitoring of the pitch angle of the blade 4 is achieved by measuring the linear displacement converted from the pitch angle of the blade 4 to the nut 9, and a pitch angle control dual redundancy design is achieved by controlling the assembly through a plurality of identical linear displacement sensors 13 and combining mechanical limit.
The propeller hub 3 is mounted on an engine flange 18, a tension-torsion sensor 17 is arranged between the engine flange 18 and the engine flange 18, the tension-torsion sensor 17 is of an annular structure, the cross section of the tension-torsion sensor 17 passing through the axis of the tension-torsion sensor is I-shaped, the upper end face and the lower end face of the tension-torsion sensor 17 are respectively fixed with the engine flange 18 and the propeller hub 3, the middle annular main body is a tension-torsion force measuring unit, the gravity center of the tension-torsion sensor 17 is located on the transmission axis of the tension-torsion sensor 17, the tension-torsion sensor 17 rotates along with the propeller under the driving of an engine, and data collection and monitoring of the tension and the torque of the propeller are realized.
The two ends of the nut 9 in the moving direction of the nut are provided with limiting blocks, each limiting block comprises an upper limiting block 11 and a lower limiting block 12, the upper limiting block 11 and the lower limiting block 12 are respectively arranged at the two ends of the nut 9, and the limiting blocks are sleeved with the lead screws 8 to mechanically limit the use range of the pitch angle of the blade 4. The thickness of the limiting blocks (11-12) along the moving direction of the nut 9 is designed according to the variation range of the upper limit and the lower limit of the pitch angle respectively.
The device for monitoring and intelligently controlling the pitch angle of the propeller in real time realizes the redundant design of propeller pitch range control through mechanical limit and multi-sensor combined control, ensures the safety and reliability of the propeller pitch, and has the advantages of compact and simple structure, modular design, convenient assembly and disassembly and high reliability.
The embodiment also discloses a method for monitoring and intelligently controlling the pitch angle of the propeller in real time, which comprises the following steps:
(1) under the driving of an aircraft engine, an engine flange 18 drives a tension-torsion sensor 17 and a propeller to rotate at a certain rotation speed, aerodynamic force generated by the rotation of the propeller is collected and monitored in real time by the tension-torsion sensor 17, and the blade pitch angle of the propeller is collected and monitored in real time by a linear displacement sensor 13;
(2) when the flight working condition changes, the preset rotating speed of the propeller is given, the engine receives an instruction to add an accelerator or reduce the accelerator, the rotating speed of the propeller is driven to increase or reduce to be close to the preset rotating speed, and if the speed is increased to exceed or not reach the preset rotating speed, the pitch-changing motor 6 drives the pitch-changing component to increase or reduce the pitch angle after receiving a feedback signal of a pitch-changing control system;
(3) the linear displacement sensor 13 collects and monitors the angle change of the pitch angle in real time, and when the pitch angle rotates to reach the maximum limit pitch angle or the minimum limit pitch angle, the pitch control system acquires information and then sends an instruction to drive the pitch motor 6 to rotate reversely;
(4) when the sensor fails, the variable-pitch control system cannot acquire information and then switches to the backup linear displacement sensor 13 to work, so that the control redundancy design is realized;
(5) when all the linear displacement sensors 13 are in an extreme failure condition, when the nut 9 moves and is extruded by the limiting blocks (11-12), and the current of the variable-pitch motor 6 is increased to a certain fixed value, the variable-pitch control system acquires information and then sends an instruction to drive the variable-pitch motor 6 to rotate reversely, so that the mechanical limiting design is realized;
(6) in the flying process of the aircraft, the flying conditions such as flying height, temperature and humidity are combined with real-time acquisition information such as blade pitch angle, engine rotating speed and propeller propelling power to be fused into a flying control program to form a flying state information database, and the flying state information database is used for deep learning and intelligent control of the aircraft.
Those skilled in the art will appreciate that the details of the invention not described in detail in this specification are well within the skill of those skilled in the art.
Claims (11)
1. The utility model provides a device of real-time supervision and intelligent control screw pitch angle which characterized in that: comprises a hub (3), a blade (4) arranged on the hub (3), a limiting fixed seat (1) fixedly connected with the hub (3) and a variable pitch mechanism;
the pitch-changing mechanism comprises: the propeller comprises a nut (9) and a sliding block (5), wherein the nut (9) is positioned in a propeller hub (3) and is in sliding connection with the propeller hub (3) along the direction of the rotating axis of the propeller hub (3), the sliding block (5) is connected to the root part of a blade (4), and the nut (9) drives the blade (4) to rotate through the sliding block (5) so as to change the pitch angle of the blade (4);
the limiting fixing seat (1) is provided with at least two control mechanisms for measuring the linear displacement of the nut (9).
2. The device for monitoring and intelligently controlling the propeller pitch angle in real time according to claim 1, wherein: the control mechanism is arranged annularly around the axis of rotation of the hub (3).
3. The device for monitoring and intelligently controlling the propeller pitch angle in real time according to claim 1, wherein: the control mechanism includes: the limiting rod (16) is fixedly connected to the nut (9), the linear displacement sensor (13) is connected to the limiting fixing seat (1), and the telescopic rod of the linear displacement sensor (13) is connected with the limiting rod (16).
4. The device for monitoring and intelligently controlling the propeller pitch angle in real time according to claim 3, wherein: and a second coupler (15) is connected between the telescopic rod of the linear displacement sensor (13) and the first limiting rod (16).
5. The device for monitoring and intelligently controlling the propeller pitch angle in real time according to claim 1, wherein: the propeller hub (3) is mounted on an engine flange (18), a tension-torsion sensor (17) is arranged between the engine flange (18) and the propeller hub (3), the tension-torsion sensor (17) is of an annular structure, the cross section of the tension-torsion sensor (17) passing through the axis of the tension-torsion sensor is I-shaped, the upper end face and the lower end face of the tension-torsion sensor (17) are respectively fixed with the engine flange (18) and the propeller hub (3), the middle annular main body is a tension-torsion force measuring unit, and the gravity center of the tension-torsion sensor (17) is located on the transmission axis of the tension-torsion sensor (17).
6. The device for monitoring and intelligently controlling the propeller pitch angle in real time according to claim 1, wherein: the variable-pitch mechanism further comprises a variable-pitch motor (6) and a lead screw (8), a connecting flange (2) is connected between the propeller hub (3) and the limiting fixing seat (1), the variable-pitch motor (6) is fixed to the connecting flange (2), the lead screw (8) is rotatably connected with the propeller hub (3), and a nut (9) is sleeved outside the lead screw (8) and is in threaded connection with the lead screw (8).
7. The device for monitoring and intelligently controlling the propeller pitch angle in real time according to claim 6, wherein: the limiting blocks are arranged at two ends of the nut (9) along the moving direction of the nut, the limiting blocks are sleeved outside the lead screw (8), the limiting blocks are connected with the lead screw (8) in a sliding mode along the axial direction of the lead screw (8), and the upper limit position and the lower limit position of the motion range of the blade pitch angle limited by the limiting blocks are larger than the upper limit motion range and the lower limit motion range of the linear displacement sensor (13).
8. The device for monitoring and intelligently controlling the propeller pitch angle in real time according to claim 6, wherein: a first coupling (7) is connected between the variable pitch motor (6) and the lead screw (8).
9. The device for monitoring and intelligently controlling the propeller pitch angle in real time according to claim 1, wherein: the slider (5) is connected to the position of the root of the blade (4) deviating from the axis of the blade (4), and the nut (9) is provided with a groove for the slider (5) to slide.
10. The device for monitoring and intelligently controlling the pitch angle of the propeller in real time according to claim 9, wherein: when the pitch angle of the blade (4) is 0 degree, the distance of the central line of the sliding block (5) deviating from the axis of the blade is r, the included angle between the plane formed by the central line of the sliding block (5) and the axis of the blade (4) and the horizontal plane is theta 0, and the corresponding linear displacement sensor (13) outputs a voltage calibration reference value U0 at the moment. If the blade (4) rotates by the pitch angle of i degrees, the sliding block (5) pushes the nut (9) to move and displace Li to rsin (theta 0) -rsin (theta 0-i), the output voltage of the linear displacement sensor (13) is Ui, | Ui-U0| Li |.
11. A method for monitoring and intelligently controlling the pitch angle of a propeller in real time is characterized in that: comprises the following steps of (a) carrying out,
(1) under the driving of an aircraft engine, an engine flange (18) drives a tension-torsion sensor (17) and a propeller to rotate at a certain rotating speed, aerodynamic force generated by the rotation of the propeller is acquired and monitored in real time by the tension-torsion sensor (17), and the pitch angle of a blade (4) of the propeller is acquired and monitored in real time by a linear displacement sensor (13);
(2) when the flight working condition changes, the preset rotating speed of the propeller is given, the engine receives an instruction to add an accelerator or reduce the accelerator, the rotating speed of the propeller is driven to increase or reduce to be close to the preset rotating speed, and if the speed is increased to exceed or not reach the preset rotating speed, the variable pitch motor (6) drives the variable pitch component to increase or reduce the pitch angle after receiving a feedback signal of a variable pitch control system;
(3) the linear displacement sensor (13) collects and monitors the angle change of the pitch angle in real time, and when the pitch angle rotation reaches the maximum limit pitch angle or the minimum limit pitch angle, the pitch control system acquires information and then sends an instruction to drive the pitch motor (6) to rotate reversely;
(4) when the sensor fails, the variable-pitch control system can not acquire information and then switches to the backup linear displacement sensor (13) to work, so that the control redundancy design is realized;
(5) when all the linear displacement sensors (13) are in an extreme failure condition, when the nut (9) moves and the limiting block extrudes, and the current of the variable-pitch motor (6) is increased to a certain fixed value, the variable-pitch control system acquires information and then sends an instruction to drive the variable-pitch motor (6) to rotate reversely, so that the mechanical limiting design is realized;
(6) in the flying process of the aircraft, the flying conditions such as flying height, temperature and humidity are combined with real-time acquisition information such as the pitch angle of the blades (4), the rotating speed of an engine, propeller propelling power and the like to be fused into a flying control program to form a flying state information database, and the flying state information database is used for deep learning and intelligent control of the aircraft.
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| CN115042982A (en) * | 2022-07-26 | 2022-09-13 | 珠海市双捷科技有限公司 | Oil-electricity hybrid unmanned aerial vehicle power system and control method thereof |
| CN115285373A (en) * | 2022-07-22 | 2022-11-04 | 哈尔滨工业大学 | Electromagnetic variable-pitch rotor blade variable-pitch characteristic measuring device |
| CN115571331A (en) * | 2022-12-08 | 2023-01-06 | 中国空气动力研究与发展中心低速空气动力研究所 | Combined type high-speed helicopter propeller pitch-changing device and control system |
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| CN107806996A (en) * | 2017-10-24 | 2018-03-16 | 西北工业大学 | A kind of unmanned plane propeller dynamic tension monitoring device |
| CN109383787A (en) * | 2018-08-31 | 2019-02-26 | 辽宁同心圆科技有限公司 | Aero-engine force aid system |
| CN112298532A (en) * | 2019-07-26 | 2021-02-02 | 哈米尔顿森德斯特兰德公司 | Pitch variation and control of electric blades of an aircraft propeller |
| CN214420693U (en) * | 2021-02-05 | 2021-10-19 | 安徽羲禾航空科技有限公司 | Propeller blade variable pitch limiting device |
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| CN115285373A (en) * | 2022-07-22 | 2022-11-04 | 哈尔滨工业大学 | Electromagnetic variable-pitch rotor blade variable-pitch characteristic measuring device |
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| CN115571331A (en) * | 2022-12-08 | 2023-01-06 | 中国空气动力研究与发展中心低速空气动力研究所 | Combined type high-speed helicopter propeller pitch-changing device and control system |
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