A rotor tilting system and a tilting method for an unmanned tilt-rotor aircraft

Abstract

The present invention provides a rotor tilting system and tilting method for an unmanned tilt-rotor aircraft, the tilting system comprising: an engine, an overrunning clutch, a root transmission shaft, at least three groups of tilting units and rotors connected in sequence, the engine transmits torque to the rotors through the overrunning clutch, the root transmission shaft and the tilting units connected in sequence; the medium-speed universal joints in adjacent tilting units are connected through a transmission shaft, a tilting slider is fixed on the transmission shaft in each tilting unit, the tilting slider is fixedly connected to a tilting actuator driving gear, the tilting actuator driving gear is meshed with a fixed gear, and the tilting actuator driving gear moves on the fixed gear under the drive of a stepping motor, driving the transmission shaft to rotate, and the transmission shaft drives the rotor connected at its end to tilt. The present invention adopts a universal joint solution to achieve large azimuth propeller tilting of the rotor, and its tilting solution is more flexible compared to the gear transmission solution.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft power transmission, and in particular relates to a rotor tilting system and a tilting method for an unmanned tilt-rotor aircraft. Background Art

[0002] With the advancement of science and technology, drones are booming around the world, and the new era has put forward new requirements for aircraft, namely vertical take-off and landing, high-speed flight and long range. Rotorcraft can achieve vertical take-off and landing, but the flight speed and range are limited; fixed-wing aircraft can achieve high-speed flight and long range but cannot complete vertical take-off and landing. In order to make the aircraft have the advantages of helicopter vertical take-off and landing and fixed-wing high speed and long range, designers proposed a tilt-rotor aircraft, that is, the rotor can move in the horizontal and vertical directions, so that it has the advantages of both fixed-wing and helicopter.

[0003] Tilt-rotor aircraft are divided into three modes: helicopter mode, fixed-wing mode and transition mode. The dynamic control of the transition mode is the most complex part of the tilt-rotor field, so the tilt-rotor system has also become the most complex mechanical transmission structure in the tilt-rotor. At present, the tilt-rotor mechanism for tilt-rotors mostly adopts gear transmission, which has low transmission efficiency and heavy transmission system. Therefore, it is necessary to provide a UAV rotor tilt-rotor system with high transmission efficiency and light weight. Summary of the invention

[0004] In order to overcome the rotor tilt problem of unmanned tiltrotor aircraft in the prior art, the inventors have conducted intensive research and provided a rotor tilt system and tilt method for an unmanned tiltrotor aircraft. The universal joint solution can realize large azimuth propeller tilt of the rotor. Compared with the gear transmission solution, the tilt solution is more flexible, thereby completing the present invention.

[0005] The technical solution provided by the present invention is as follows:

[0006] In a first aspect, a rotor tilt system for an unmanned tilt-rotor aircraft includes: the tilt system includes: an engine, an overrunning clutch, a first root transmission shaft, at least three sets of tilt units and rotors connected in sequence, wherein:

[0007] The engine transmits torque to the rotor through an overrunning clutch, a first root transmission shaft and a tilt unit connected in sequence;

[0008] The tilt units are sequentially the first tilt unit, the second tilt unit to the Nth tilt unit from the engine side to the rotor side, wherein N is the number of the tilt units, and each tilt unit includes a constant velocity universal joint, a transmission shaft, a tilt actuator driving gear, a fixed gear, a stepper motor and a tilt slider. The constant velocity universal joint of the first tilt unit is connected to the first root transmission shaft, and the constant velocity universal joints of adjacent tilt units are connected by a transmission shaft. A tilt slider is fixed on the transmission shaft, and the tilt slider is fixedly connected to the tilt actuator driving gear, which is meshed with the fixed gear. Driven by the stepper motor, the tilt actuator driving gear moves on the fixed gear, driving the transmission shaft to rotate, and the transmission shaft drives the rotor connected at its end to tilt.

[0009] In a second aspect, a tilting method of an unmanned tiltrotor aircraft is implemented by the rotor tilting system described in the first aspect, comprising the following steps:

[0010] Step 1, setting the zero position of the rotor, collecting the position and angle of the transmission shaft in each tilt unit at different rotor tilt angles, inputting them into the onboard computer, and fitting the corresponding relationship between the rotor tilt angle and the position and angle of the transmission shaft in each tilt unit;

[0011] Step 2, collecting the number of rotations of the stepper motor at different positions and angles of the transmission shaft in each tilt unit, and calibrating the corresponding relationship between the position and angle of the transmission shaft in each tilt unit and the number of rotations of the stepper motor;

[0012] Step 3, when adjusting the rotor tilt angle, after receiving the rotor tilt angle trim command, the onboard computer collects the current position and angle of the transmission shaft in each tilt unit, obtains the position and angle of the transmission shaft in each tilt unit at the target tilt angle through interpolation fitting, and then obtains the number of rotations of the stepper motor in each tilt unit at the current tilt angle and the target tilt angle through interpolation fitting, and obtains the number of rotations of the stepper motor in each tilt unit through difference;

[0013] Step 4: Determine the operation sequence of the transmission shafts in each tilt unit according to the relationship between the current tilt angle of the rotor and the target tilt angle, and implement the tilt.

[0014] A rotor tilting system and a tilting method for an unmanned tilt-rotor aircraft provided by the present invention have the following beneficial effects:

[0015] (1) In the tilting system of the present invention, the engine, the overrunning clutch, the root transmission shaft, the rotor synchronous gearbox, at least three sets of tilting units and the rotor are connected in sequence, which reduces the wear of the gear transmission scheme;

[0016] (2) The tilting system and tilting method of the present invention have a relatively small number of contact friction pairs, so the power transmission efficiency of the entire transmission system is relatively high;

[0017] (3) The tilting system and tilting method of the present invention adopt a universal joint solution, which can achieve tilting at any angle within a 360° range with low vibration and noise;

[0018] (4) The tilting system of the present invention can be extended to the tilting transition power transmission of any rotating load, and has strong expandability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic structural diagram of a rotor tilt system for an unmanned tilt-rotor aircraft in a preferred embodiment of the present invention is shown;

[0020] Figure 2 A diagram showing the logical relationship between the rotor tilt angle and the drive shaft position and angle;

[0021] Figure 3 A mechanical schematic diagram showing the tilting system and the synchronous shaft assembly;

[0022] Figure 4 The control logic for the propeller shaft position and angle and the rotor tilt angle trim is shown. DETAILED DESCRIPTION

[0023] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0024] According to a first aspect of the present invention, a rotor tilt system for an unmanned tilt-rotor aircraft is provided. Each rotor of the tilt-rotor aircraft corresponds to a set of rotor tilt systems, which realizes power transmission between the engine output shaft and the rotor shaft at different angles, so as to help the aircraft achieve vertical take-off and landing and high-speed flight. Figure 1 As shown, the rotor tilt system includes: an engine 1, an overrunning clutch 2, a first root transmission shaft 30, at least three sets of tilt units and rotors 17 connected in sequence, wherein:

[0025] The engine 1 transmits the torque to the rotor 17 through the overrunning clutch 2, the first root transmission shaft 30 and the tilting units connected in sequence;

[0026] The tilt units are sequentially the first tilt unit, the second tilt unit to the Nth tilt unit from the engine side to the rotor side, wherein N is the number of the tilt units, and each tilt unit includes a constant velocity universal joint, a transmission shaft, a tilt actuator driving gear, a fixed gear, a stepper motor and a tilt slider. The constant velocity universal joint of the first tilt unit is connected to the first root transmission shaft, and the constant velocity universal joints of adjacent tilt units are connected by a transmission shaft. A tilt slider is fixed on the transmission shaft, and the tilt slider is fixedly connected to the tilt actuator driving gear, which is meshed with the fixed gear. Driven by the stepper motor, the tilt actuator driving gear moves on the fixed gear, driving the transmission shaft to rotate, and the transmission shaft drives the rotor connected at its end to tilt.

[0027] In a preferred embodiment of the present invention, the fixed gears of each tilt unit may be coaxial or non-coaxial. When the fixed gears of each tilt unit are non-coaxial, the distance between the rim of the fixed gears of the first tilt unit, the second tilt unit to the Nth tilt unit and the rotor decreases successively; when the fixed gears of each tilt unit are coaxial, the radius of the fixed gears in the first tilt unit, the second tilt unit to the Nth tilt unit increases successively; preferably, the fixed gears of each tilt unit are coaxial, and the constant velocity universal joint of the first tilt unit is on the axis of the fixed gear.

[0028] In a preferred embodiment of the present invention, the rotor tilt system further includes a tilt position telescopic fixing rod 11, one end of which is fixed to the first root transmission shaft 30, and the other end is fixed to the tilt slider of the Nth tilt unit close to the rotor, for locking the rotor tilt angle. The tilt position telescopic fixing rod 11 has a two-way locking function by adopting a two-way locking ratchet group. The onboard computer controls the locking direction of the ratchet by controlling the relay and the solenoid valve, including unidirectional locking and bidirectional locking, that is, unidirectional locking when the angle tilt is performed, and bidirectional locking at the end of the angle tilt.

[0029] In a preferred embodiment of the present invention, the rotor tilt system also includes a rotor synchronous gearbox 3, which includes components such as a vertical gear set, a housing, a bearing and an elastic coupling, one end of which is connected to the overrunning clutch 2 through a second root transmission shaft 31, and the other end is connected to the first root transmission shaft 30; the rotor synchronous gearbox 3 is connected to the rotor tilt system on the opposite side through a fuselage synchronization shaft assembly, and when a single-side engine fails, the engine on the opposite side is used to simultaneously drive the two relative rotors to rotate.

[0030] like Figure 3 As shown, the synchronous shaft assembly is symmetrical along the fuselage axis, including: an elastic coupling 33, a bearing 34 and a synchronous transmission shaft 35, etc. The relative rotor tilt systems are located on both sides of the synchronous shaft assembly, and the rotor synchronous gearbox 3 is connected to the synchronous transmission shaft 35 to transmit the torque provided by the engine on this side when the engine on the opposite side fails.

[0031] The above-mentioned tilting system provided in the present invention can realize efficient torque transmission and constant speed rotation between the rotor 17 and the engine 1, and the rotor 17 can complete tilting at any angle between the horizontal plane and the vertical plane.

[0032] According to a second aspect of the present invention, there is provided a tilting method for an unmanned tilt-rotor aircraft, which is implemented by the rotor tilting system described in the first aspect, such as Figure 4 As shown, the following steps are included:

[0033] Step 1, setting the zero position of the rotor, collecting the position and angle of the transmission shaft in each tilt unit at different rotor tilt angles, inputting them into the onboard computer, and fitting the corresponding relationship between the rotor tilt angle and the position and angle of the transmission shaft in each tilt unit;

[0034] like Figure 2 As shown, 7 angle values ​​are set for the rotor between 0° and 90°, and each tilt angle value corresponds to an angle and position of the transmission shaft in each tilt unit, forming a two-dimensional discrete data array. These discrete data arrays are input into the onboard computer, and the corresponding relationship between any tilt angle of the rotor and the position and angle of the transmission shaft is obtained by interpolation fitting.

[0035] Step 2, collecting the number of rotations of the stepper motor at different positions and angles of the transmission shaft in each tilt unit, and calibrating the corresponding relationship between the position and angle of the transmission shaft in each tilt unit and the number of rotations of the stepper motor;

[0036] Step 3, when adjusting the rotor tilt angle, after receiving the rotor tilt angle trim command, the onboard computer collects the current position and angle of the transmission shaft in each tilt unit, obtains the position and angle of the transmission shaft in each tilt unit at the target tilt angle through interpolation fitting, and then obtains the number of rotations of the stepper motor in each tilt unit at the current tilt angle and the target tilt angle through interpolation fitting, and obtains the number of rotations of the stepper motor in each tilt unit through difference;

[0037] Step 4: Determine the operation sequence of the transmission shafts in each tilt unit according to the relationship between the current tilt angle of the rotor and the target tilt angle, and implement the tilt.

[0038] In a preferred embodiment of the present invention, in step 4, based on the zero position of the rotor, when the tilt angle moves from a small angle to a large angle, the movement sequence is from the transmission shaft in the first tilt unit close to the engine to the transmission shaft in the Nth tilt unit far away from the engine; when the tilt angle moves from a large angle to a small angle, the movement sequence is from the transmission shaft in the Nth tilt unit far away from the engine to the transmission shaft in the first tilt unit close to the engine.

[0039] In a preferred embodiment of the present invention, the tilting method also includes: performing discrete position calibration records on the relationship between the number of rotations of the stepper motor in each tilting unit and the position of the tilting actuating drive gear on the fixed gear, and inputting the records into an onboard computer, and performing interpolation fitting to obtain the corresponding relationship between the number of rotations of the stepper motor in each tilting unit and the position of the tilting actuating drive gear.

[0040] After the rotor tilting action is completed, the actual tilting action drive gear position is determined and compared with the fitted tilting action drive gear position. When the actual tilting action drive gear position is consistent with the fitted tilting action drive gear position, the action is successful. If the two are inconsistent, there is an error in the action.

[0041] In the present invention, the tilting method further includes assembling the tilting system, and the assembling includes the following steps:

[0042] (1) The engine 1, the overrunning clutch 2, (or also including the second root transmission shaft 31, the rotor synchronous gearbox 3), the first root transmission shaft 30, each tilt unit and the rotor 17 are assembled and connected in sequence;

[0043] (2) Fix and assemble the moving gears in each tilting unit to the machine body;

[0044] (3) Connecting the stepping motors in each tilting unit to the corresponding tilting actuating drive gears, assembling and connecting the formed components to the corresponding tilting sliders, and assembling and connecting the formed components to the corresponding fixed gears through fixing devices;

[0045] (4) Assemble and connect the retractable tilt position fixing rod 11 with the first root transmission shaft 30 and the outer wall connection interface of the tilt slider in the Nth tilt unit.

[0046] In the present invention, the tilting method further includes disassembling the tilting system, and the disassembling includes the following steps:

[0047] (1) disconnecting the retractable tilt position fixing rod 11 from the first root transmission shaft 30 and the outer wall connection interface of the tilt slider in the Nth tilt unit;

[0048] (2) disconnecting the assembly consisting of the tilt slider, the stepping motor and the tilt actuator drive gear, and disconnecting the stepping motor and the tilt actuator drive gear;

[0049] (3) Disconnect the connection between the fixed gear and the machine body;

[0050] (4) The engine 1, the overrunning clutch 2 (or also including the second root transmission shaft 31, the rotor synchronous gearbox 3), the first root transmission shaft 30, each tilt unit and the rotor 17 are disconnected in sequence.

[0051] Example

[0052] Example 1

[0053] The rotor tilt system is described by taking a rotor tilt system including three tilt units as an example.

[0054] like Figure 1 , 2 As shown in Figures 3 and 4, the rotor tilt system includes: an engine 1, an overrunning clutch 2, a second root transmission shaft 31, a rotor synchronous gearbox 3, a first root transmission shaft 30, three sets of tilt units connected in sequence and a rotor 17. The engine 1 transmits the torque to the rotor 17 through the overrunning clutch 2, the rotor synchronous gearbox 3, the constant velocity universal joint (numbered 4, 8, 13 in the figure) and the transmission shaft (numbered 21, 24, 25 in the figure).

[0055] The main assembly processes involved in the above-mentioned tilting system are:

[0056] 1) The engine 1, the overrunning clutch 2, the second root transmission shaft 31, the rotor synchronous gearbox 3, the first root transmission shaft 30, the constant velocity universal joint 4, and the transmission shaft 25 are assembled and connected in sequence; after the bearings (numbered 5 and 7 in the figure) and the tilt slider 6 are assembled, the transmission shaft 25 is inserted; after the transmission shaft 25 and the constant velocity universal joint 8 and the transmission shaft 24 are assembled and connected; after the bearings (numbered 9 and 12 in the figure) and the tilt slider 10 are assembled, the transmission shaft 24 is inserted; after the transmission shaft 24 and the constant velocity universal joint 13 and the transmission shaft 21 are assembled and connected; after the bearings (numbered 14 and 16 in the figure) and the tilt slider 15 are assembled, the transmission shaft 21 is inserted; and the transmission shaft 21 and the rotor 17 are assembled and connected;

[0057] 2) Assemble the tilting driving gears (numbered 20, 28, 29 in the figure) to the machine body;

[0058] 3) Connect the stepper motors (numbered 19, 22, and 27 in the figure) to the tilting actuating drive gears (numbered 18, 23, and 26 in the figure), respectively, and assemble and connect the formed components to the tilting sliders (numbered 15, 10, and 6 in the figure), and assemble and connect the formed assemblies to the fixed gears (numbered 20, 28, and 29 in the figure) through the fixing device;

[0059] 4) Assemble and connect the retractable tilt position fixing rod 11 with the tilt slider 15 and the outer wall connection interface of the transmission shaft 30 .

[0060] The disassembly process involved in the above-mentioned tilting system is:

[0061] 1) Disconnect the connection interface between the retractable tilt position fixing rod 11 and the tilt slider 15 and the outer wall of the transmission shaft 30;

[0062] 2) disconnecting the connection between the tilting slider (numbered 15, 10, 6 in the figure) and the assembly consisting of the stepping motor (numbered 19, 22, 27 in the figure) and the tilting actuating drive gear (numbered 18, 23, 26 in the figure), and disconnecting the connection between the stepping motor (numbered 19, 22, 27 in the figure) and the tilting actuating drive gear (numbered 18, 23, 26 in the figure);

[0063] 3) Disconnect the connection between the fixed gear (numbered 20, 28, 29 in the figure) and the machine body;

[0064] 4) Disassemble and disconnect the transmission shaft 21 from the rotor 17, pull out the assembly consisting of the bearing (numbered 14 and 16 in the figure) and the tilt slider 15 from the transmission shaft 21, disconnect the connection between the transmission shaft 24 and the constant velocity joint 13 and the transmission shaft 21, pull out the assembly consisting of the bearing (numbered 9 and 12 in the figure) and the tilt slider 10 from the transmission shaft 24, disconnect the connection between the transmission shaft 25 and the constant velocity joint 8 and the transmission shaft 24, pull out the assembly consisting of the bearing (numbered 5 and 7 in the figure) and the tilt slider 6 from the transmission shaft 25, and disconnect the engine 1, the overrunning clutch 2, the second root transmission shaft 31, the rotor synchronous gearbox 3, the first root transmission shaft 30, the constant velocity joint 4, and the transmission shaft 25 in turn.

[0065] The rotor tilting system is used to implement a rotor tilting method, which includes the following steps:

[0066] Step 1, set the zero position of the rotor, collect the position and angle of the transmission shaft in each tilt unit under 7 rotor tilt angles (0°, 15°, 30°, 45°, 60°, 75° and 90°), input them into the onboard computer, and fit the corresponding relationship between the rotor tilt angle and the position and angle of the transmission shaft in each tilt unit;

[0067] Step 2, collecting the number of rotations of the stepper motor at different positions and angles of the transmission shaft in each tilt unit, calibrating the corresponding relationship between the position and angle of the transmission shaft in each tilt unit and the number of rotations of the stepper motor, so as to drive the transmission shaft;

[0068] The method of driving the transmission shaft 21 is as follows: first, the zero position is set, and then the number of rotations of the stepper motor 19 and the position and angle of the transmission shaft 21 are calibrated. The onboard computer obtains the number of rotations of the stepper motor 19 according to the spatial position signal of the transmission shaft 21, and controls the stepper motor 19 to drive the driving gear 18 to rotate a given number of times.

[0069] The method of driving the transmission shaft 24 is as follows: first, the zero position is set, and then the number of rotations of the stepper motor 22 and the position and angle of the transmission shaft 24 are calibrated. The onboard computer will obtain the number of rotations of the stepper motor 22 according to the spatial position signal of the transmission shaft 24, and control the stepper motor 22 to drive the driving gear 23 to rotate a given number of times.

[0070] The method of driving the transmission shaft 25 is as follows: first, the zero position is set, and then the number of rotations of the stepper motor 27 and the position and angle of the transmission shaft 25 are calibrated. The onboard computer will obtain the number of rotations of the stepper motor 27 according to the spatial position signal of the transmission shaft 25, and control the stepper motor 27 to drive the driving gear 26 to rotate a given number of times.

[0071] Discrete position calibration records are performed on the relationship between the number of rotations of the stepper motor (numbered 19, 22, and 27 in the figure) and the position of the tilt actuator drive gear (numbered 18, 23, and 26 in the figure) on the fixed gear (numbered 20, 29, and 28 in the figure), and input into the onboard computer. Interpolation fitting can be used to obtain the corresponding relationship between the number of rotations of the stepper motor in each tilt unit and the arbitrary position of the tilt actuator drive gear (numbered 18, 23, and 26 in the figure) for monitoring the tilt process.

[0072] Step 3, when the onboard computer receives the balancing command, it obtains the angle and position relationship corresponding to the transmission shaft (numbered 21, 24, 25 in the figure) through interpolation fitting, and then obtains the number of rotations of the stepper motor (numbered 19, 22, 27 in the figure) through interpolation fitting.

[0073] Step 4, the onboard computer determines the operation sequence of the transmission shaft (numbered 21, 24, 25 in the figure) according to the relationship between the current angle of the rotor and the target angle, and controls the stepper motor (numbered 19, 22, 27 in the figure) to rotate a given number of circles to complete the operation. When the tilt angle is moved from a small angle to a large angle, the operation sequence of the transmission shaft is (numbered 25, 24, 21 in the figure); when the tilt angle is moved from a large angle to a small angle, the operation sequence of the transmission shaft is (numbered 21, 24, 25 in the figure).

[0074] The present invention has been described in detail above in conjunction with specific implementations and exemplary examples, but these descriptions cannot be understood as limiting the present invention. Those skilled in the art understand that, without departing from the spirit and scope of the present invention, a variety of equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its implementation methods, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be subject to the attached claims.

[0075] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A rotor tilt system for an unmanned tilt-rotor aircraft, characterized in that: The tilting system comprises: an engine, an overrunning clutch, a first root transmission shaft, at least three sets of tilting units connected in sequence, a rotor and a retractable fixing rod for the tilting position, wherein: The engine transmits torque to the rotor through an overrunning clutch, a first root transmission shaft and a tilt unit connected in sequence; The tilt units are sequentially the first tilt unit, the second tilt unit to the Nth tilt unit from the engine side to the rotor side, wherein N is the number of the tilt units, and each tilt unit includes a constant velocity universal joint, a transmission shaft, a tilt actuator driving gear, a fixed gear, a stepper motor and a tilt slider. The constant velocity universal joint of the first tilt unit is connected to the first root transmission shaft, and the constant velocity universal joints of adjacent tilt units are connected via a transmission shaft. A tilt slider is fixed on the transmission shaft, and the tilt slider is fixedly connected to the tilt actuator driving gear, and the tilt actuator driving gear is meshed with the fixed gear. Under the drive of the stepper motor, the tilt actuator driving gear moves on the fixed gear, driving the transmission shaft to rotate, and the transmission shaft drives the rotor connected at its end to tilt; The fixed gears of the tilt units are not coaxial, and the distances between the rims of the fixed gears of the first tilt unit, the second tilt unit to the Nth tilt unit and the rotor are reduced in sequence, or the fixed gears of the tilt units are coaxial, and the radii of the fixed gears of the first tilt unit, the second tilt unit to the Nth tilt unit are increased in sequence; The tilt position telescopic fixing rod has one end fixed on the first root transmission shaft and the other end fixed on the tilt slider of the Nth tilt unit close to the rotor, and is used to lock the rotor tilt angle.

2. The rotor tilt system according to claim 1, characterized in that: The rotor tilt system also includes a rotor synchronous gearbox, one end of which is connected to the overrunning clutch via the second root transmission shaft, and the other end is connected to the first root transmission shaft, and is used to use the engine on the opposite side to simultaneously drive the two relative rotors to rotate when a single-side engine fails.

3. The rotor tilt system according to claim 2, characterized in that: The rotor synchronous gearbox is connected to the rotor tilt system on the opposite side through a fuselage synchronous shaft assembly.

4. A method for tilting an unmanned tilt-rotor aircraft, implemented by the rotor tilting system according to any one of claims 1 to 3, comprising the following steps: Step 1, setting the zero position of the rotor, collecting the position and angle of the transmission shaft in each tilt unit at different rotor tilt angles, inputting them into the onboard computer, and fitting the corresponding relationship between the rotor tilt angle and the position and angle of the transmission shaft in each tilt unit; Step 2, collecting the number of rotations of the stepper motor at different positions and angles of the transmission shaft in each tilt unit, and calibrating the corresponding relationship between the position and angle of the transmission shaft in each tilt unit and the number of rotations of the stepper motor; Step 3, when adjusting the rotor tilt angle, after receiving the rotor tilt angle trim command, the onboard computer collects the current position and angle of the transmission shaft in each tilt unit, obtains the position and angle of the transmission shaft in each tilt unit at the target tilt angle through interpolation fitting, and then obtains the number of rotations of the stepper motor in each tilt unit at the current tilt angle and the target tilt angle through interpolation fitting, and obtains the number of rotations of the stepper motor in each tilt unit through difference; Step 4: Determine the operation sequence of the transmission shafts in each tilt unit according to the relationship between the current tilt angle of the rotor and the target tilt angle, and implement the tilt.

5. The tilting method according to claim 4, characterized in that: In step 4, based on the zero position of the rotor, when the tilt angle is moved from a small angle to a large angle, the moving order is from the transmission shaft in the first tilt unit close to the engine to the transmission shaft in the Nth tilt unit far from the engine. When the tilting angle is moved from a large angle to a small angle, the moving order is from the transmission shaft in the Nth tilting unit farthest from the engine to the transmission shaft in the first tilting unit close to the engine.

6. The tilting method according to claim 4, characterized in that: The tilting method further includes: performing discrete position calibration and recording for the relationship between the number of rotations of the stepper motor in each tilting unit and the position of the tilting actuating driving gear on the fixed gear, and inputting the data into an onboard computer, and interpolating and fitting to obtain the corresponding relationship between the number of rotations of the stepper motor in each tilting unit and the position of the tilting actuating driving gear; After the rotor tilting action is completed, the actual tilting action driving gear position is determined and compared with the fitted tilting action driving gear position to determine whether there is an error in the action.

7. The tilting method according to claim 4, characterized in that: The tilting method also includes assembling the tilting system, and the assembling includes the following steps: (1) The engine, the overrunning clutch, the first root transmission shaft, each tilt unit and the rotor are assembled and connected in sequence; when the tilt system includes a rotor synchronous gearbox, one end of the rotor synchronous gearbox is connected to the overrunning clutch through the second root transmission shaft, and the other end is connected to the first root transmission shaft; (2) Fix and assemble the tilting driving gears in each tilting unit to the machine body; (3) Connecting the stepping motors in each tilting unit to the corresponding tilting actuating drive gears, assembling and connecting the formed components to the corresponding tilting sliders, and assembling and connecting the formed components to the corresponding fixed gears through fixing devices; (4) Assemble and connect the retractable fixing rod at the tilting position with the first root transmission shaft and the outer wall connection interface of the tilting slider in the Nth tilting unit.

8. The tilting method according to claim 4, characterized in that: The tilting method also includes disassembling the tilting system, and the disassembling includes the following steps: (1) disconnecting the retractable fixing rod at the tilting position from the outer wall connection interface of the first root transmission shaft and the tilting slider in the Nth tilting unit; (2) disconnecting the assembly consisting of the tilt slider, the stepping motor and the tilt actuator drive gear, and disconnecting the stepping motor and the tilt actuator drive gear; (3) Disconnect the connection between the fixed gear and the machine body; (4) The engine, the overrunning clutch, the first root transmission shaft, each tilt unit and the rotor are disconnected in sequence. When the tilt system includes a rotor synchronous gearbox and a second root transmission shaft for connecting the rotor synchronous gearbox, the second root transmission shaft is disconnected from the rotor synchronous gearbox and its left and right connecting parts.

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