Driving method and system for spiral vector propeller

Abstract

The invention provides a driving method and system for a spiral vector thruster, relates to the technical field of aircraft control, and is applied to the spiral vector thruster comprising a driving source, a flexible resonant shaft and a rotor wing. In the method, based on a target thrust direction for the spiral vector thruster, a modulation angle for a lateral deviation working angle of the flexible resonant shaft is determined. And based on the modulation angle of the lateral deviation working angle of the flexible resonance shaft and a preset maximum rotation angle corresponding to the driving source, determining a modulation angle of a target lead lag angle of the flexible resonance shaft. And the angle of the target lead lag angle of the flexible resonance shaft is modulated into the modulation angle of the target lead lag angle of the flexible resonance shaft, so that the angle of the lateral deviation working angle of the flexible resonance shaft is modulated into the modulation angle of the lateral deviation working angle of the flexible resonance shaft, and therefore precise control over the thrust direction of the spiral vector thruster can be achieved.

Description

Technical Field

[0001] This invention relates to the field of aircraft control technology, and in particular to a driving method and system for helical vector thrusters. Background Technology

[0002] In the field of vertical flight, the rotor system, as the core providing lift and directional control for rotorcraft, relies on the swashplate mechanism as a key component to transmit control commands to the rotor blades for thrust vector adjustment. With the surge in demand for lightweight and scalable unmanned aerial vehicles (UAVs), the contradiction between the mechanical complexity of the swashplate mechanism in the rotor system and the requirements of modern UAVs for efficient vector control has become increasingly prominent. Therefore, how to reduce the mechanical complexity of the rotor system while ensuring control accuracy has become an urgent technical challenge.

[0003] In traditional rotor systems, the swashplate mechanism, as the mainstream solution for achieving thrust vector control, consists of a fixed lower disk connected to the servo mechanism and a rotating upper disk connected to the rotor hub. By adjusting the collective pitch and cyclic pitch of the blades through the synchronous movement of both, complete control of the rotor system's lift and directional thrust is achieved. Due to its intuitive control structure design within the rotor system and its effectiveness across multiple flight states, the swashplate mechanism has long been a core component of rotor systems for platforms such as helicopters.

[0004] However, the inherent mechanical complexity of swashplate mechanisms in rotor system applications exposes significant drawbacks in the design of rotor systems for compact or unmanned systems. The multiple bearings, pitch control rods, and other moving parts upon which this component relies not only become potential points of failure in the rotor system, but also, due to the stringent requirements for manufacturing tolerances and maintenance procedures, directly lead to decreased operating efficiency and increased failure risk in miniaturized rotor systems. Furthermore, the inertia and mechanical hysteresis generated by the system reduce the high-frequency control accuracy of the rotor system, making it difficult to meet the application requirements of lightweight unmanned aerial vehicles (UAVs) for rotor systems. Summary of the Invention

[0005] This invention provides a driving method and system for helical vector thrusters. By using the resonance effect of the elastic shaft and torque modulation, it achieves thrust vector control without mechanical hinges. This simplifies the mechanical structure, improves energy efficiency, suppresses vibration transmission, and enhances cross-platform adaptability, fundamentally solving the problems of mechanical complexity, low reliability, and difficult maintenance of traditional solutions.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: In a first aspect, the present invention provides a driving method for a helical vector thruster, which includes a drive source, a flexible resonant shaft, and a rotor. The flexible resonant shaft includes an input end, a deformation body, and an output end; the input end and the output end are arranged opposite to each other and connected through the deformation body; the input end is connected to the drive source and remains fixed. The drive source is used to input a periodic rotational torque to the input end by rotation; the input end is used to transmit the periodic rotational torque to the deformation body; the deformation body is used to generate bending-torsional coupling deformation under the drive of the periodic rotational torque and drive the output end to move; the output end is connected to the rotor and is used to drive the rotor to move when driven by the deformation body.

[0007] In this method, based on the target thrust direction for a helical vector thruster, the modulation angle of the side-slip working angle for the flexible resonant shaft is determined. The side-slip working angle characterizes the offset angle of the output shaft direction relative to the input shaft direction. The input shaft direction is the axial direction of the input end, and the output shaft direction is the axial direction of the output end. Based on the modulation angle of the side-slip working angle of the flexible resonant shaft and the preset maximum rotation angle corresponding to the drive source, the modulation angle of the target lead-lag angle for the flexible resonant shaft is determined. The target lead-lag angle characterizes the offset angle of the target point after a preset periodic rotational torque is input to the flexible resonant shaft relative to the position of the target point before the preset periodic rotational torque is input. The target point is any point on the output end. The angle of the target lead-lag angle of the flexible resonant shaft is modulated to the modulation angle of the target lead-lag angle of the flexible resonant shaft, thereby modulating the angle of the side-slip working angle of the flexible resonant shaft to the modulation angle of the side-slip working angle of the flexible resonant shaft.

[0008] The beneficial effects of this invention are: by determining the side deflection working angle of the flexible resonant shaft and the modulation angle of the target lead-lag angle according to the target thrust direction, and by modulating the target lead-lag angle to modulate the side deflection working angle, it is possible to achieve precise control of the thrust direction of the helical vector thruster, improve the vector control performance of the thruster, and meet the needs of thruster direction control under different working conditions.

[0009] Based on the above technical solution, the present invention can be further improved as follows.

[0010] Furthermore, based on a preset algorithm, the modulation angle of the lateral deflection working angle of the flexible resonant shaft, and the preset maximum rotation angle corresponding to the drive source, the modulation angle of the target lead-lag angle for the flexible resonant shaft is determined. The preset algorithm includes: Where Δγ is the modulation angle of the target lead-lag angle of the flexible resonant axis; θ is the modulation angle of the side-off working angle of the flexible resonant axis; γ IThe preset maximum rotation angle corresponds to the driving source; k is the first inherent parameter corresponding to the flexible resonant shaft, which is determined based on the hardness and stiffness of the deformed body; P is the second inherent parameter corresponding to the flexible resonant shaft, which is determined based on the shape of the deformed body.

[0011] The beneficial effects of adopting the above-mentioned further scheme are: by using a preset algorithm to determine the modulation angle of the target lead-lag angle, and combining it with the inherent characteristic parameters of the flexible resonant shaft, the required modulation angle can be calculated more accurately, improving the accuracy of angle modulation, and thus enhancing the accuracy and stability of thrust direction control of the helical vector thruster.

[0012] Furthermore, the waveform parameters corresponding to the waveform of the periodic rotating torque are modulated to modulate the angle of the target lead-lag angle of the flexible resonant shaft into the modulation angle of the target lead-lag angle of the flexible resonant shaft.

[0013] The beneficial effects of adopting the above-mentioned further scheme are: by modulating the waveform parameters of the periodic rotating torque to achieve the modulation of the target lead-lag angle, precise control can be achieved from the torque input source, which is more direct and effective than other methods, improving the efficiency and accuracy of the motion control of the flexible resonant shaft, and helping to optimize the driving performance of the helical vector thruster.

[0014] Furthermore, the waveform parameters include frequency parameters, amplitude parameters, and phase parameters. The phase parameter corresponds to the waveform of the modulated periodic rotating torque based on the preset maximum rotation angle corresponding to the driving source. The amplitude parameter corresponds to the waveform of the modulated periodic rotating torque based on the modulation angle of the target lead-lag angle of the flexible resonant shaft. The frequency parameter corresponds to the waveform of the modulated periodic rotating torque based on the natural frequency of the deformable shape.

[0015] The beneficial effects of adopting the above-mentioned further scheme are: by modulating the phase parameter, amplitude parameter, and frequency parameter separately according to different conditions, fine-tuning of the periodic rotating torque waveform is achieved. This multi-parameter collaborative modulation method can more comprehensively and accurately control the motion of the flexible resonant shaft, making the drive of the helical vector thruster more flexible and efficient, and better adaptable to complex and changing working environments.

[0016] Furthermore, the frequency parameter modulation corresponding to the waveform of the periodic rotating torque is not equal to the natural frequency of the deformed shape.

[0017] The beneficial effect of adopting the above-mentioned further scheme is that when the waveform frequency of the periodic rotating torque is equal to the natural frequency of the deformed body, the gain of resonance of the deformed body can be maximized. Under this state, the deformed body is prone to breakage. Therefore, it is necessary to modulate the frequency parameter corresponding to the waveform of the periodic rotating torque to be different from the natural frequency of the deformed body.

[0018] Secondly, the present invention provides a drive system for a helical vector thruster, applied to a helical vector thruster including a drive source, a flexible resonant shaft, and a rotor. The flexible resonant shaft includes an input end, a deformation shape, and an output end, with the input end and output end arranged opposite to each other and connected via the deformation shape; the input end is connected to the drive source and remains fixed; the drive source is used to input a periodic rotational torque to the input end through rotation; the input end is used to transmit the periodic rotational torque to the deformation shape; the deformation shape is used to generate bending-torsional coupling deformation under the drive of the periodic rotational torque and drive the output end to move; the output end is connected to the rotor and is used to drive the rotor to move when driven by the deformation shape. The system includes: The lateral deflection working angle calculation module is used to determine the modulation angle of the lateral deflection working angle for the flexible resonant shaft based on the target thrust direction for the helical vector thruster; the lateral deflection working angle is used to characterize the offset angle of the output shaft direction relative to the input shaft direction; the input shaft direction is the axial direction of the input end, and the output shaft direction is the axial direction of the output end. The lead-lag angle calculation module is used to determine the modulation angle of the target lead-lag angle for the flexible resonant shaft based on the modulation angle of the side deflection working angle of the flexible resonant shaft and the preset maximum rotation angle corresponding to the drive source. The target lead-lag angle is used to characterize the offset angle of the target point after the preset periodic rotation torque is input to the flexible resonant shaft relative to the position of the target point before the preset periodic rotation torque is input to the flexible resonant shaft. The target point is any point on the output end. The modulation module is used to modulate the angle of the target lead-lag angle of the flexible resonant axis into the modulation angle of the target lead-lag angle of the flexible resonant axis, so as to modulate the angle of the side-off working angle of the flexible resonant axis into the modulation angle of the side-off working angle of the flexible resonant axis.

[0019] Based on the above technical solution, the present invention can be further improved as follows.

[0020] Furthermore, the lead-lag angle calculation module is specifically used to determine the modulation angle of the target lead-lag angle for the flexible resonant shaft based on a preset algorithm, the modulation angle of the lateral deflection working angle of the flexible resonant shaft, and the preset maximum rotation angle corresponding to the drive source. The preset algorithm includes: Where Δγ is the modulation angle of the target lead-lag angle of the flexible resonant axis; θ is the modulation angle of the side-off working angle of the flexible resonant axis; γ I The preset maximum rotation angle corresponds to the driving source; k is the first inherent parameter corresponding to the flexible resonant shaft, which is determined based on the hardness and stiffness of the deformed body; P is the second inherent parameter corresponding to the flexible resonant shaft, which is determined based on the shape of the deformed body.

[0021] Furthermore, the modulation module is specifically used to modulate the waveform parameters corresponding to the waveform of the periodic rotating torque, so as to modulate the angle of the target lead-lag angle of the flexible resonant shaft into the modulation angle of the target lead-lag angle of the flexible resonant shaft.

[0022] Furthermore, the waveform parameters include frequency parameters, amplitude parameters, and phase parameters. Specifically, the modulation module modulates the phase parameter corresponding to the waveform of the periodic rotating torque based on the preset maximum rotation angle corresponding to the drive source. It also modulates the amplitude parameter based on the modulation angle of the target lead-lag angle of the flexible resonant shaft. Finally, it modulates the frequency parameter corresponding to the waveform of the periodic rotating torque based on the natural frequency of the deformable body, so that the frequency parameter corresponding to the waveform of the periodic rotating torque is not equal to the natural frequency of the deformable body.

[0023] Thirdly, the present invention provides an electronic device, comprising: a memory, one or more processors; the memory and the processors being coupled; wherein the memory stores computer program code, the computer program code including computer instructions, which, when executed by the processor, cause the electronic device to perform the method described in any of the first aspects above.

[0024] Fourthly, a computer-readable storage medium is provided, including computer instructions that, when executed on an electronic device, cause the electronic device to perform the method described in any of the first aspects above.

[0025] Fifthly, a computer program product is provided that, when run on a computer, causes the computer to perform the method described in any of the first aspects above.

[0026] It is understood that the beneficial effects achieved by the system of the second aspect, the electronic device of the third aspect, the computer-readable storage medium of the fourth aspect, and the computer program product of the fifth aspect can be referred to the beneficial effects of the first aspect and any of its possible design embodiments, which will not be repeated here. Attached Figure Description

[0027] Figure 1 This invention provides a schematic diagram of the structure of a spiral-type vector thruster; Figure 2A A schematic diagram of the modes of a flexible resonant shaft provided by the present invention; Figure 2B A schematic diagram of the form of a flexible resonant shaft without bending-torsional coupling deformation provided by the present invention; Figure 2C A schematic diagram illustrating the morphology of a flexible resonant shaft undergoing bending-torsional coupling deformation, as provided by this invention. Figure 3A flowchart illustrating a driving method for a helical vector thruster provided by the present invention; Figure 4 A schematic diagram of the target lead-lag angle provided by the present invention; Figure 5 This invention provides a structural schematic diagram of a drive system for a helical vector thruster. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" are not necessarily different. Meanwhile, in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate that something is being used as an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes.

[0029] In the field of vertical flight, the rotor system achieves thrust vector adjustment through the swashplate mechanism, which consists of a fixed lower plate and a rotating upper plate. Although it is widely used in platforms such as helicopters, it has exposed significant defects in compact or unmanned systems: it relies on multiple components, resulting in many failure points, has high requirements for manufacturing and maintenance, and its inertia and mechanical backlash affect the accuracy of high-frequency control, and its large weight makes it difficult to miniaturize.

[0030] While existing mechanical swashplate-free structures (such as seesaw-type rotor hubs, spherical hinge mechanisms, and other passive transmission structures, as well as active control schemes utilizing brushless motor torque modulation) reduce mechanical complexity, they face a dual challenge: passive mechanisms rely on the rotor hub's gradually changing dynamic response or the asymmetric effect of periodic loads to achieve indirect pitch adjustment, resulting in control delays and insufficient accuracy, especially prominent in delicate operations such as hovering in wind disturbances; while torque modulation systems generate thrust vectors through sinusoidal acceleration and deceleration of the rotor shaft, timing deviations or structural damping defects can easily induce high-frequency oscillations. These vibrations are transmitted through the shaft to sensors and avionics equipment, not only reducing measurement accuracy but also accelerating component wear. Furthermore, software filtering and traditional vibration reduction measures cannot simultaneously achieve control responsiveness and vibration suppression effects.

[0031] To address the above problems, this invention provides a driving method for helical vector thrusters, applicable to helical vector thrusters. See also... Figure 1 The helical vector thruster includes a drive source 101, a flexible resonant shaft 102, and a rotor 103.

[0032] Figure 2A This is a schematic diagram of the modes of a flexible resonant shaft provided by the present invention. See also... Figure 2A The flexible resonant shaft includes an input terminal 201, a deformation terminal 202, and an output terminal 203.

[0033] The input and output terminals are positioned relative to each other and connected by a deformable shape.

[0034] The input terminal is connected to the drive source and kept fixed to limit the axial displacement of the flexible resonant shaft and constrain the root of the flexible resonant shaft.

[0035] The drive source is used to input periodic rotational torque to the input terminal through rotation. For example, the drive source can use a periodically torque-modulated actuator to apply modulated torque to the input terminal via a brushless or direct-drive motor.

[0036] The input end is used to transmit the periodic rotational torque to the deformable body, which is used to generate bending-torsional coupling deformation under the drive of the periodic rotational torque and drive the output end to move.

[0037] For example, Figure 2B This is a schematic diagram showing that the deformation 211 of the flexible resonant shaft 210 has not undergone bending-torsional coupling deformation. (The last sentence appears to be incomplete and possibly refers to a different topic.) Figure 2B When a periodic rotational torque is input to the flexible resonant shaft 210, the deformation form 211 included in the flexible resonant shaft 210 will undergo bending-torsional coupling deformation under the drive of the periodic rotational torque. A schematic diagram of the flexible resonant shaft undergoing bending-torsional coupling deformation can be seen as follows: Figure 2C As shown.

[0038] The output end is connected to the rotor and is used to transmit axial lift to the rotor when it is driven by deformation, so as to drive the rotor to move.

[0039] Specifically, the side of the deformable body corresponding to the input end is the first connecting surface, and the side of the deformable body corresponding to the output end is the second connecting surface. The first connecting surface and the input end are integrally connected by a first connecting shaft, and the second connecting surface and the output end are integrally connected by a second connecting shaft. The first connecting shaft and the second connecting shaft are arranged coaxially.

[0040] In one example, the centerline of the first connecting surface in the direction of inclination passes through the central axis of the first connecting shaft, and the centerline of the second connecting surface in the direction of inclination passes through the central axis of the second connecting shaft. This improves the overall structural stability.

[0041] Specifically, the tilt angle of the deformable body relative to the first connecting shaft can be 45°; the thickness of the deformable body can be 1.125 to 1.375 mm, for example, 1.25 mm; the diameters of the first connecting shaft and the second connecting shaft can be the same and both are 1.8 to 2.2 mm, for example, 2 mm; the width of the deformable body along the direction perpendicular to the first connecting shaft can be 9 to 11 mm, for example, 10 mm.

[0042] It should be noted that the deformation, input and output dimensions of this embodiment can be reasonably set according to the different connected components or the different torques transmitted.

[0043] To make the overall structure more stable and reliable, the diameters of the first connecting shaft and the second connecting shaft can be set to be the same, and the connections between the first connecting shaft and the second connecting shaft and each component can be set to arc transitions.

[0044] To facilitate connection, different adapter structures can be provided on the input and output ends to allow for locking and clamping with the connected components. For example, the free end face of the input end can be provided with grooves or protrusions to facilitate connection with the actuator, and the side wall of the output end can also be provided with locking grooves to lock and clamp with the protruding ribs in the center groove of the rotor.

[0045] In some embodiments, the deformable material can be made of an elastic material (such as polycarbonate, carbon fiber composites or spring steel, etc.) (specifically, it can be made by flexible 3D printing or flexible injection molding, etc.), and the non-uniform distribution of stiffness can be achieved through variable cross-section design.

[0046] The flexible resonant shaft in this embodiment features an input and an output end, with an inclined deformation form positioned between them. The two sides of the deformation form are connected and fixed to the input and output ends, respectively. Unlike traditional designs that rely on discrete components such as bearings, connecting rods, or damping joints, this integrated flexible resonant shaft utilizes structural elasticity to achieve vector control. It can generate predictable deformation under applied periodic torque. This integrated flexible mechanism replaces the traditional multi-component transmission system, greatly simplifying the mechanical layout and manufacturing process, and is more suitable for fully automated production.

[0047] The flexible resonant shaft in this embodiment fundamentally eliminates mechanical moving parts, improving reliability and supporting additive manufacturing or precision injection molding. It also supports rapid disassembly and replacement of the entire integrated structure, fundamentally solving the inherent mechanical wear, alignment misalignment, and maintenance problems of traditional architectures. Furthermore, compared to existing underactuated rotor structures, it further eliminates mechanical complexity, making rapid maintenance and component replacement essentially mechanized, thus avoiding problems such as incomplete maintenance.

[0048] This embodiment of the flexible resonant shaft addresses key limitations of underactuated UAV vector systems by replacing mechanical hinges with "structural intelligence," enhancing vector control through resonance, integrating passive vibration isolation, adapting to full-size platforms, and simplifying modeling and control. These advantages make it not only a replacement for traditional swashplate-less / swashplate-driven propulsion mechanisms but also a potentially more compatible technological approach for future vertical takeoff and landing (VTOL) aviation systems.

[0049] See Figure 3 The present invention provides a driving method for a helical vector thruster, comprising the following steps: S301: Based on the target thrust direction for the helical vector thruster, determine the modulation angle of the side deflection working angle for the flexible resonant shaft.

[0050] Among them, see Figure 2C The sideslip angle A characterizes the offset angle of the output shaft L2 direction relative to the input shaft L1 direction. The output shaft L2 direction is the axial direction of output terminal 221, and the input shaft L1 direction is the axial direction of input terminal 222. In actual flight control, the target thrust direction can be automatically generated by the flight control system according to the flight mode. For example, in hovering mode, the target thrust direction needs to be opposite to the gravity direction; in turning mode, the target thrust direction needs to be decomposed into a vertical lift component and a horizontal turning component, and the ratio of the horizontal component to the flight speed determines the turning angular velocity.

[0051] In some embodiments, machine learning methods can be used to collect a large amount of data on the corresponding target thrust direction and the side deflection working angle modulation angle under different operating conditions, and train a neural network model. In practical applications, the target thrust direction data acquired in real time can be input into the trained model to quickly output the corresponding side deflection working angle modulation angle, so as to achieve fast and accurate angle determination, thereby effectively improving the response speed and control accuracy of the helical vector thruster to the target thrust direction.

[0052] S302: Based on the modulation angle of the side deflection working angle of the flexible resonant shaft and the preset maximum rotation angle corresponding to the driving source, determine the modulation angle of the target lead-lag angle for the flexible resonant shaft.

[0053] Among them, see Figure 4 The target lead-lag angle B is used to characterize the offset angle of the target point position X after a preset periodic rotational torque is input to the flexible resonant shaft 400 relative to the target point position X' before the preset periodic rotational torque is input to the flexible resonant shaft 400 (i.e., the angle between the line connecting X and X' and the horizontal direction). The target point is any point on the output terminal.

[0054] In some embodiments, the modulation angle of the target lead-lag angle for the flexible resonant shaft is determined based on a preset algorithm, the modulation angle of the lateral deflection working angle of the flexible resonant shaft, and the preset maximum rotation angle corresponding to the drive source. The preset algorithm includes: Where Δγ is the modulation angle of the target lead-lag angle of the flexible resonant axis; θ is the modulation angle of the side-off working angle of the flexible resonant axis; γ I The preset maximum rotation angle corresponds to the driving source; k is the first inherent parameter corresponding to the flexible resonant shaft, which is determined based on the hardness and stiffness of the deformed body; P is the second inherent parameter corresponding to the flexible resonant shaft, which is determined based on the shape of the deformed body.

[0055] As can be seen, this embodiment uses a preset algorithm to determine the modulation angle of the target lead-lag angle. Combined with the inherent characteristic parameters of the flexible resonant shaft, the required modulation angle can be calculated more accurately, improving the precision of angle modulation and thus enhancing the accuracy and stability of thrust direction control of the helical vector thruster.

[0056] S303: Modulate the target lead-lag angle of the flexible resonant axis to the modulation angle of the target lead-lag angle of the flexible resonant axis, so as to modulate the side-off working angle of the flexible resonant axis to the modulation angle of the side-off working angle of the flexible resonant axis.

[0057] In other words, the side deflection angle characterizes the offset angle of the output shaft relative to the input shaft and is a direct parameter for achieving thrust vector control. The lead-lag angle characterizes the offset angle of the target point at the output end before and after the torque input. The two are correlated through a preset algorithm. Due to the bending-torsional coupling deformation of the flexible resonant shaft under periodic rotating torque, the change in the side deflection angle at the output end needs to be realized through the dynamic response of the deformation body. The lead-lag angle reflects the time difference and spatial offset between the torque input and the deformation body response. Therefore, by modulating the torque waveform parameters (frequency, amplitude, phase) to adjust the lead-lag angle, the magnitude and direction of the side deflection angle can be indirectly controlled by utilizing the elastic mechanical properties of the deformation body, thereby precisely adjusting the thrust direction of the helical vector thruster.

[0058] In some embodiments, the waveform parameters corresponding to the waveform of the periodic rotating torque are modulated to modulate the target lead-lag angle of the flexible resonant shaft into a modulation angle of the target lead-lag angle of the flexible resonant shaft. Modulating the target lead-lag angle by modulating the waveform parameters of the periodic rotating torque enables precise control from the torque input source, which is more direct and effective than other methods. This improves the efficiency and accuracy of motion control of the flexible resonant shaft and helps optimize the driving performance of helical vector thrusters.

[0059] In some embodiments, the waveform parameters include frequency parameters, amplitude parameters, and phase parameters. The phase parameter corresponding to the waveform of the periodic rotating torque is modulated based on the preset maximum rotation angle corresponding to the drive source. The amplitude parameter corresponding to the waveform of the periodic rotating torque is modulated based on the modulation angle of the target lead-lag angle of the flexible resonant shaft. The frequency parameter corresponding to the waveform of the periodic rotating torque is modulated based on the natural frequency of the deformable shape. This multi-parameter coordinated modulation method enables more comprehensive and precise control of the motion of the flexible resonant shaft, making the drive of the helical vector thruster more flexible and efficient, and better adaptable to complex and changing working environments.

[0060] In some embodiments, the frequency parameter corresponding to the waveform of the periodic rotating torque is modulated to be different from the natural frequency of the deformed body. Specifically, when the waveform frequency of the periodic rotating torque is equal to the natural frequency of the deformed body, the gain that allows the deformed body to resonate is maximized. In this state, the deformed body is prone to breakage. Therefore, it is necessary to modulate the frequency parameter corresponding to the waveform of the periodic rotating torque to be different from the natural frequency of the deformed body.

[0061] In some embodiments, the frequency parameters corresponding to the waveform of the periodic rotating torque can be modulated based on the damping coefficient and natural frequency of the deformable material. By matching the natural frequency of the deformable material to modulate the frequency of the torque waveform, the resonant elastic shaft can more accurately trigger the resonance effect of the first or second natural bending modes when a periodic torque is applied, significantly amplifying the elastic deformation amplitude of the shaft. This results in more efficient thrust vector deflection with low energy input, improving the system's energy conversion efficiency. Combining the material damping coefficient with frequency parameter modulation can balance the energy loss caused by resonance amplification and structural damping, avoiding additional high-frequency vibrations caused by frequency mismatch. Through the coordinated adjustment of damping characteristics and frequency parameters, the shaft can achieve effective deformation in the resonant state while naturally attenuating unnecessary vibration components through material damping, further enhancing the system's passive vibration isolation capability. Furthermore, by dynamically modulating the torque frequency parameters to address the differences in damping coefficients and natural frequencies of different elastic materials (such as polycarbonate, carbon fiber composites, or spring steel), the resonant elastic shaft can maintain its optimal resonant response state when using different materials or in cross-platform applications, thereby improving the system's adaptability and scalability to different load requirements, size specifications, and flight scenarios.

[0062] The present invention also provides a drive system for a helical vector thruster, applied to the helical vector thruster described in the foregoing embodiments. See also Figure 5 The present invention provides a drive system for a helical vector thruster. Figure 5 The drive system (referred to as the drive system in Chinese) includes: The lateral deflection working angle calculation module is used to determine the modulation angle of the lateral deflection working angle for the flexible resonant shaft based on the target thrust direction for the helical vector thruster. The lateral deflection working angle is used to characterize the offset angle of the output shaft direction relative to the input shaft direction. The input shaft direction is the axial direction of the input end, and the output shaft direction is the axial direction of the output end.

[0063] The lead-lag angle calculation module is used to determine the modulation angle of the target lead-lag angle for the flexible resonant shaft based on the modulation angle of the side deflection working angle of the flexible resonant shaft and the preset maximum rotation angle corresponding to the drive source. The target lead-lag angle is used to characterize the offset angle of the target point after the preset periodic rotation torque is input to the flexible resonant shaft relative to the position of the target point before the preset periodic rotation torque is input to the flexible resonant shaft. The target point is any point on the output end.

[0064] The modulation module is used to modulate the angle of the target lead-lag angle of the flexible resonant axis into the modulation angle of the target lead-lag angle of the flexible resonant axis, so as to modulate the angle of the side-off working angle of the flexible resonant axis into the modulation angle of the side-off working angle of the flexible resonant axis.

[0065] In some embodiments, the lead-lag angle calculation module is specifically used to determine the modulation angle of the target lead-lag angle for the flexible resonant shaft based on a preset algorithm, the modulation angle of the lateral deflection working angle of the flexible resonant shaft, and the preset maximum rotation angle corresponding to the drive source. The preset algorithm includes: Where Δγ is the modulation angle of the target lead-lag angle of the flexible resonant axis; θ is the modulation angle of the side-off working angle of the flexible resonant axis; γ I The preset maximum rotation angle corresponds to the driving source; k is the first inherent parameter corresponding to the flexible resonant shaft, which is determined based on the hardness and stiffness of the deformed body; P is the second inherent parameter corresponding to the flexible resonant shaft, which is determined based on the shape of the deformed body.

[0066] In some embodiments, the modulation module is specifically used to modulate the waveform parameters corresponding to the waveform of the periodic rotating torque, so as to modulate the angle of the target lead-lag angle of the flexible resonant shaft into the modulation angle of the target lead-lag angle of the flexible resonant shaft.

[0067] In some embodiments, the waveform parameters include frequency parameters, amplitude parameters, and phase parameters. Specifically, the modulation module modulates the phase parameter corresponding to the waveform of the periodic rotating torque based on a preset maximum rotation angle corresponding to the driving source. It also modulates the amplitude parameter corresponding to the waveform of the periodic rotating torque based on a modulation angle of the target lead-lag angle of the flexible resonant shaft. Finally, it modulates the frequency parameter corresponding to the waveform of the periodic rotating torque based on the natural frequency of the deformable body, so that the frequency parameter corresponding to the waveform of the periodic rotating torque is not equal to the natural frequency of the deformable body.

[0068] In some solutions, multiple embodiments of this application can be combined, and the combined solution can be implemented. Optionally, some operations in the processes of each method embodiment may be combined, and / or the order of some operations may be changed. Furthermore, the execution order between the steps of each process is merely exemplary and does not constitute a limitation on the execution order between steps; other execution orders are also possible. It is not intended to indicate that the execution order is the only possible order in which these operations can be performed. Those skilled in the art will conceive of various ways to reorder the operations described herein. In addition, it should be noted that the process details involved in one embodiment of this document are similarly applicable to other embodiments, or different embodiments may be combined.

[0069] Furthermore, some steps in the method embodiments can be equivalently replaced with other possible steps. Alternatively, some steps in the method embodiments may be optional and can be deleted in certain use cases. Or, other possible steps may be added to the method embodiments. Moreover, the various method embodiments can be implemented individually or in combination.

[0070] Through the above description of the implementation methods, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above.

[0071] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0072] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0073] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, in essence, or the part that contributes, or all or part of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0074] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A driving method for a helical vector thruster, characterized in that, This invention relates to a helical vector thruster, which includes a drive source, a flexible resonant shaft, and a rotor; the flexible resonant shaft includes an input end, a deformable part, and an output end; the input end and the output end are arranged opposite to each other and connected through the deformable part. The input terminal is connected to the drive source and remains fixed; the drive source is used to input periodic rotational torque to the input terminal by rotation. The input terminal is used to transmit the periodic rotational torque to the deformable shape; The deformation type is used to generate bending-torsional coupling deformation under the drive of the periodic rotational torque, and to drive the output end to move; The output terminal is connected to the rotor and is used to drive the rotor to move under the influence of the deformation; the method includes: Based on the target thrust direction for the helical vector thruster, the modulation angle of the side deflection working angle for the flexible resonant shaft is determined; the side deflection working angle is used to characterize the offset angle of the output shaft direction relative to the input shaft direction; the input shaft direction is the axial direction of the input end, and the output shaft direction is the axial direction of the output end; Based on the modulation angle of the side deflection working angle of the flexible resonant shaft and the preset maximum rotation angle corresponding to the drive source, the modulation angle of the target lead-lag angle for the flexible resonant shaft is determined; the target lead-lag angle is used to characterize the offset angle of the position of the target point after the preset periodic rotation torque is input to the flexible resonant shaft relative to the position of the target point before the preset periodic rotation torque is input to the flexible resonant shaft; the target point is any point on the output end; the angle of the target lead-lag angle of the flexible resonant shaft is modulated to the modulation angle of the target lead-lag angle of the flexible resonant shaft, so as to modulate the angle of the side deflection working angle of the flexible resonant shaft to the modulation angle of the side deflection working angle of the flexible resonant shaft.

2. The method according to claim 1, characterized in that, The modulation angle for determining the target lead-lag angle of the flexible resonant shaft based on the modulation angle of the side deflection working angle of the flexible resonant shaft and the preset maximum rotation angle corresponding to the drive source includes: Based on a preset algorithm, the modulation angle of the lateral deflection working angle of the flexible resonant shaft, and the preset maximum rotation angle corresponding to the drive source, the modulation angle of the target lead-lag angle for the flexible resonant shaft is determined; the preset algorithm includes: Wherein, Δγ is the modulation angle of the target lead-lag angle of the flexible resonant axis; θ is the modulation angle of the side-off working angle of the flexible resonant axis; γ I The preset maximum rotation angle corresponding to the driving source; k is the first inherent parameter corresponding to the flexible resonant shaft, which is determined based on the hardness and stiffness of the deformable body; P is the second inherent parameter corresponding to the flexible resonant shaft, which is determined based on the shape of the deformable body.

3. The method according to claim 1, characterized in that, The step of modulating the target lead-lag angle of the flexible resonant axis to the modulation angle of the target lead-lag angle of the flexible resonant axis includes: The waveform parameters corresponding to the waveform of the periodic rotating torque are modulated to modulate the angle of the target lead-lag angle of the flexible resonant shaft into the modulation angle of the target lead-lag angle of the flexible resonant shaft.

4. The method according to claim 3, characterized in that, The waveform parameters include frequency parameters, amplitude parameters, and phase parameters; the waveform parameters corresponding to the waveform that modulates the periodic rotating torque include: Based on the preset maximum rotation angle corresponding to the drive source, the phase parameter corresponding to the waveform of the periodic rotational torque is modulated; based on the modulation angle of the target lead-lag angle of the flexible resonant shaft, the amplitude parameter corresponding to the waveform of the periodic rotational torque is modulated. The frequency parameters corresponding to the waveform of the periodic rotating torque are modulated based on the inherent frequency of the deformable shape.

5. The method according to claim 4, characterized in that, The frequency parameters corresponding to the waveform of the periodic rotating torque modulated based on the inherent frequency of the deformable shape include: The frequency parameter corresponding to the waveform of the periodic rotating torque is modulated to be different from the natural frequency of the deformable shape.

6. A drive system for a helical vector thruster, characterized in that, This invention relates to a helical vector thruster, which includes a drive source, a flexible resonant shaft, and a rotor; the flexible resonant shaft includes an input end, a deformable part, and an output end; the input end and the output end are arranged opposite to each other and connected through the deformable part. The input terminal is connected to the drive source and remains fixed; the drive source is used to input periodic rotational torque to the input terminal by rotation. The input terminal is used to transmit the periodic rotational torque to the deformable shape; The deformation type is used to generate bending-torsional coupling deformation under the drive of the periodic rotational torque, and to drive the output end to move; The output terminal is connected to the rotor and is used to drive the rotor to move when it is driven by the deformation shape. The system includes: The lateral deflection working angle calculation module is used to determine the modulation angle of the lateral deflection working angle for the flexible resonant shaft based on the target thrust direction for the helical vector thruster; the lateral deflection working angle is used to characterize the offset angle of the output shaft direction relative to the input shaft direction; the input shaft direction is the axial direction of the input end, and the output shaft direction is the axial direction of the output end. The lead-lag angle calculation module is used to determine the modulation angle of the target lead-lag angle for the flexible resonant shaft based on the modulation angle of the side deflection working angle of the flexible resonant shaft and the preset maximum rotation angle corresponding to the drive source; the target lead-lag angle is used to characterize the offset angle of the position of the target point after the preset periodic rotation torque is input to the flexible resonant shaft relative to the position of the target point before the preset periodic rotation torque is input to the flexible resonant shaft; the target point is any point on the output terminal; The modulation module is used to modulate the angle of the target lead-lag angle of the flexible resonant shaft to the modulation angle of the target lead-lag angle of the flexible resonant shaft, so as to modulate the angle of the side deflection working angle of the flexible resonant shaft to the modulation angle of the side deflection working angle of the flexible resonant shaft.

7. The system according to claim 6, characterized in that, In the process of determining the modulation angle of the target lead-lag angle for the flexible resonant shaft based on the modulation angle of the side-off working angle of the flexible resonant shaft and the preset maximum rotation angle corresponding to the drive source, the lead-lag angle calculation module is specifically used for: Based on a preset algorithm, the modulation angle of the lateral deflection working angle of the flexible resonant shaft, and the preset maximum rotation angle corresponding to the drive source, the modulation angle of the target lead-lag angle for the flexible resonant shaft is determined; the preset algorithm includes: Wherein, Δγ is the modulation angle of the target lead-lag angle of the flexible resonant axis; θ is the modulation angle of the side-off working angle of the flexible resonant axis; γ I The preset maximum rotation angle corresponding to the driving source; k is the first inherent parameter corresponding to the flexible resonant shaft, which is determined based on the hardness and stiffness of the deformable body; P is the second inherent parameter corresponding to the flexible resonant shaft, which is determined based on the shape of the deformable body.

8. The system according to claim 6, characterized in that, In the modulation module's function of modulating the target lead-lag angle of the flexible resonant axis to a modulation angle of the target lead-lag angle of the flexible resonant axis, the modulation module is specifically used for: The waveform parameters corresponding to the waveform of the periodic rotating torque are modulated to modulate the angle of the target lead-lag angle of the flexible resonant shaft into the modulation angle of the target lead-lag angle of the flexible resonant shaft.

9. The system according to claim 8, characterized in that, The waveform parameters include frequency parameters, amplitude parameters, and phase parameters; in the waveform parameters corresponding to the waveform used by the modulation module to modulate the periodic rotating torque, the modulation module is specifically used for: Based on the preset maximum rotation angle corresponding to the drive source, the phase parameter corresponding to the waveform of the periodic rotational torque is modulated; based on the modulation angle of the target lead-lag angle of the flexible resonant shaft, the amplitude parameter corresponding to the waveform of the periodic rotational torque is modulated. The frequency parameters corresponding to the waveform of the periodic rotating torque are modulated based on the inherent frequency of the deformable shape.

10. The system according to claim 9, characterized in that, In the frequency parameters corresponding to the waveform of the periodic rotating torque modulated by the modulation module based on the inherent frequency of the deformed shape, the modulation module is specifically used for: The frequency parameter corresponding to the waveform of the periodic rotating torque is modulated to be different from the natural frequency of the deformable shape.

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