A propeller position control system, control method and aircraft

Abstract

The present invention provides a propeller position control system, a control method, and an aircraft. The propeller position control system includes a control device, a motor, and a propeller lock device. The control device is signal-connected to the motor and the propeller lock device, and the motor is connected to the propeller to drive the propeller to rotate. The control device is configured to obtain flight requirements, determine propeller lock control requirements and motor control requirements based on the flight requirements, and send a propeller lock control signal to the propeller lock device based on at least one of the propeller lock control requirement and the motor speed. The motor is configured to control its speed based on the motor control requirement and feed its speed back to the control device. The propeller lock device is configured to lock the propeller in a desired propeller lock position or unlock it from the locked position based on the propeller lock control signal.

Description

Technical Field

[0001] The present invention relates to the field of aircraft, and in particular to a propeller position control system, a control method and an aircraft. Background Art

[0002] A compound wing aircraft is an aircraft that combines fixed wings and rotors. It is equipped with both rotors and fixed wings, and has the vertical take-off and landing function of a multi-rotor aircraft and the high-speed flight capability of a fixed-wing aircraft. Therefore, it has received widespread attention from industry insiders.

[0003] The flight process of a composite-wing aircraft typically includes phases such as takeoff hover, climb, cruise, descent, and landing hover. During the climb and cruise phases, the aircraft's rotors do not need to operate, and the aircraft mainly relies on the air thrust generated by the rotation of the fixed wings to overcome gravity. During this process, if the rotors are not locked in the correct position, unnecessary air resistance will be generated, affecting the composite-wing aircraft's endurance. During the dive phase, the rotors also do not need to operate, and the aircraft usually relies solely on the air resistance of the wings to slow down. If the rotors are not locked in the correct position, the air resistance generated will be too small, resulting in the aircraft's dive distance being too long.

[0004] However, according to existing technologies, the rotor lock position of an aircraft is relatively random, so it is easy for the rotor to generate too much air resistance during the climbing and cruising phases, while the air resistance generated by the rotor is smaller during the dive phase, affecting the aircraft's endurance or causing the aircraft's dive distance to be too long. Summary of the Invention

[0005] In view of this, the present invention provides a propeller position control system, a control method, and an aircraft that can stop a propeller at a desired position to reduce or increase flight resistance.

[0006] The present invention provides a propeller position control system, comprising a control device, a motor and a propeller locking device, wherein the control device is connected to the motor and the propeller locking device signals, and the motor is connected to the propeller and can drive the propeller to rotate; the control device is used to obtain flight requirements, determine propeller lock control requirements and motor control requirements according to the flight requirements, and send a propeller lock control signal to the propeller locking device according to at least one of the propeller lock control requirements and the motor speed; the motor is used to control its speed according to the motor control requirement and feed back its speed to the control device; the propeller locking device is used to lock the propeller at a required propeller lock position or unlock it from the propeller lock position according to the propeller lock control signal.

[0007] Furthermore, the flight demand includes a first flight demand that requires reducing propeller resistance and a second flight demand that requires increasing propeller resistance. If the flight demand is the first flight demand, the propeller lock control demand is a feathering propeller lock demand, and the propeller is parallel to the flight direction in the feathering position; if the flight demand is the second flight demand, the propeller lock control demand is a transverse propeller lock demand, and the propeller is in a cross-propeller position and is in a cross-propeller state.

[0008] Furthermore, the cross state includes a vertical state.

[0009] Furthermore, the flight demand includes a parking demand, a take-off hovering demand, a climb demand, a cruise demand, a dive demand and a landing hovering demand; when the flight demand is a climb demand or a cruise demand, the propeller lock control demand is a feathering lock demand, and the propeller is parallel to the flight direction in the feathering position; when the flight demand is a dive demand, the propeller lock control demand is a transverse lock demand, and the propeller is perpendicular to the flight direction in the transverse position; when the flight demand is a parking demand, the propeller lock control demand is a feathering lock demand or a transverse lock demand; when the flight demand is a take-off hovering demand or a landing hovering demand, the propeller lock control demand is a propeller release demand.

[0010] Furthermore, the propeller locking device includes a propeller locking mechanism and a propeller locking control circuit. The propeller locking mechanism is located on the side of the propeller. The propeller locking control circuit is connected to the control device signal, and the on and off of the propeller locking control circuit can cause a part of the propeller locking mechanism to move toward or away from the propeller. When the propeller locking control circuit receives the propeller lock control signal, the propeller is locked at the required propeller locking position or unlocked from the propeller locking position by turning on and off the propeller locking control circuit.

[0011] Furthermore, the propeller locking device also includes a rotating member, which is connected to the propeller and can rotate with the propeller. When the propeller locking control circuit receives the propeller lock control signal, a part of the propeller locking mechanism moves radially along the rotating member and locks or separates from the rotating member to lock the propeller at the required propeller locking position or unlock it from the propeller locking position.

[0012] Furthermore, the motor includes a motor stator and a motor rotor, the rotating part is a limiting ring located at the bottom of the motor rotor, the limiting ring has a plurality of limiting holes arranged along its circumference, the propeller locking device includes a plurality of propeller locking mechanisms corresponding to the limiting holes, and the propeller locking mechanisms are arranged around the limiting ring. When the propeller locking control circuit receives the propeller lock control signal, a part of the propeller locking mechanism corresponding to the required propeller locking position moves along the radial direction of the limiting ring, and is stuck in the corresponding limiting hole or disengaged from the corresponding limiting hole.

[0013] Furthermore, the propeller locking mechanism includes a limit pin, a permanent magnet and an electromagnet, and the permanent magnet and the electromagnet are both located on the limit pin. When the electromagnet is energized, it generates an attractive and / or repulsive force with the permanent magnet, so that a part of the limit pin can move radially along the limit ring.

[0014] Furthermore, the propeller locking mechanism also includes an elastic element located between the limit pin and the motor, and the elastic element presses the limit pin into the limit hole when the propeller locking control circuit is powered off.

[0015] Furthermore, the propeller lock control circuit includes a power supply and a switch element, and the switch element turns on or off the propeller lock control circuit according to the propeller lock control signal.

[0016] Furthermore, the propeller position control system also includes a position sensor installed on the motor, which is connected to the control device signal for sensing the current position of the propeller and feeding back the current position of the propeller to the control device. The control device determines the timing of sending the propeller lock control signal based on the propeller lock control requirements and, when necessary, in combination with the motor speed and the current position of the propeller.

[0017] Furthermore, the control device includes a flight management computer and a speed regulator. The flight management computer is used to obtain the flight requirements, determine the propeller lock control requirements and the motor control requirements based on the flight requirements, and determine the timing of sending the propeller lock control signal based on the propeller lock control requirements, the motor speed and the current position of the propeller; the speed regulator is connected to the flight management computer, the motor and the position sensor signal, and is used to process the motor control requirements and transmit them to the motor, and feed back the current position of the propeller and the motor speed to the flight management computer.

[0018] Furthermore, the motor includes a motor stator and a motor rotor, and the position sensor includes a sensor rotor and a sensor stator. The sensor rotor is fixedly connected to the motor rotor and rotates synchronously with the motor rotor. The positions of the sensor stator and the motor stator are relatively fixed, and are used to obtain the position of the sensor rotor relative to the sensor stator during rotation.

[0019] Furthermore, the motor has a motor base, the motor stator is fixed on the motor base, the sensor rotor includes a plurality of magnetic poles evenly arranged along the circumference of the sensor rotor, and the sensor stator includes a plurality of position sensing elements, which are evenly and equidistantly installed on the motor base along the circumference of the motor base for sensing the position of the magnetic poles during rotation.

[0020] The present invention also provides an aircraft, comprising the above-mentioned propeller position control system.

[0021] Furthermore, the aircraft is a composite wing aircraft, which includes a hovering propeller and a tail thrust propeller, and the propeller position control system is used to control the hovering propeller to stop at a required locked propeller position or to be unlocked from the locked propeller position according to the flight requirements.

[0022] The present invention also provides a propeller position control method, which includes: obtaining flight requirements; determining motor control requirements and propeller lock control requirements based on the flight requirements; controlling the motor and feeding back the motor speed based on the motor control requirements; sending a propeller lock control signal based on at least one of the propeller lock control requirements and the motor speed; and controlling the propeller to stop at a required propeller lock position or to unlock from the propeller lock position based on the propeller lock control signal.

[0023] Furthermore, the flight requirements include parking requirements, take-off hovering requirements, climb requirements, cruise requirements, dive requirements, and landing hovering requirements; the motor control requirements include acceleration requirements and deceleration requirements; the propeller lock control requirements include propeller release requirements, propeller locking requirements, and propeller lock position requirements; when the propeller lock control requirement is a propeller locking requirement, it also includes a propeller lock position requirement; and the propeller lock position requirement includes a feathering propeller lock requirement and a transverse propeller lock requirement.

[0024] Furthermore, in the step of determining the propeller lock control requirement according to the flight requirement, if the flight requirement is a cruise requirement or a climb requirement, the propeller lock control requirement is a feathering propeller lock requirement; when the flight requirement is a dive requirement, the propeller lock control requirement is a transverse propeller lock requirement.

[0025] Furthermore, the propeller position control method also includes: obtaining the current position of the propeller; the step of sending a propeller lock control signal according to at least one of the propeller lock control requirement and the motor speed also includes: sending a propeller lock control signal according to the current position of the propeller.

[0026] The propeller position control system, control method and aircraft of the present invention determine the propeller lock control requirements according to flight requirements, and control the propeller lock device to lock the propeller at the required propeller lock position or unlock it from the propeller lock position according to at least one of the propeller lock control requirements and the motor speed, thereby achieving the control of the position of the hovering propeller without adding additional aircraft components, and the position control of the aircraft propeller is accurate and effective, and the flight time of the aircraft is increased at a relatively low cost, thereby reducing the time required for landing.

[0027] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a system block diagram of the propeller position control system provided by the present invention.

[0029] Figure 2 Schematic diagram of a propeller in a feathering position according to an embodiment of the present invention.

[0030] Figure 3 Schematic diagram of a propeller in a transverse propeller position according to an embodiment of the present invention.

[0031] Figure 4 Exploded view of the motor in the present invention.

[0032] Figure 5 Schematic diagram of the propeller locking device in the present invention.

[0033] Figure 6 Schematic diagram of a partial structure of the propeller locking device in the present invention.

[0034] Figure 7 Schematic diagram of the limiting ring in the present invention.

[0035] Figure 8 This is a schematic diagram of the propeller position control method provided by the present invention. DETAILED DESCRIPTION

[0036] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0037] like Figure 1 As shown, the propeller position control system of the present invention includes a control device 10 , a position sensor 30 , a motor 20 , and a propeller locking device 60 .

[0038] The motor 20 is fixedly connected to the aircraft's propeller and is capable of driving the propeller to rotate. A position sensor 30 is provided on the motor 20 and is signal-connected to the control device 10 for sensing the current position of the propeller and feeding it back to the control device 10. The control device 10 is signal-connected to the motor 20 to obtain flight requirements and transmit motor control requirements based on the flight requirements. The motor control requirements include deceleration requirements and acceleration requirements. The motor 20 controls the motor speed based on the motor control requirements and provides real-time feedback of the motor speed to the control device 10. The control device 10 is also signal-connected to the propeller lock device 60 to determine propeller lock control requirements based on the flight requirements. The propeller lock control requirements include propeller release requirements, propeller lock requirements, and propeller lock position requirements. When the propeller lock control requirement is a propeller lock requirement, it also includes a propeller lock position requirement. Based on the propeller lock control requirements, the control device 10 transmits propeller lock control signals to the propeller lock device 60 at appropriate times, combining the motor speed and the current propeller position. The propeller lock control signals include a propeller lock signal and a propeller release signal. The propeller locking device 60 is used to lock the propeller at a desired propeller locking position or unlock it from the propeller locking position according to a propeller lock control signal.

[0039] It should be noted that the flight requirements in the present invention are flight requirements of propeller-using equipment, such as aircraft or flying cars, which include a first flight requirement for reducing propeller resistance and a second flight requirement for increasing propeller resistance, as well as a parking requirement and a hovering requirement. Specifically, the first flight requirement includes a cruising requirement and a climbing requirement, the second flight requirement includes a diving requirement, and the hovering requirement includes a take-off hovering requirement and a landing hovering requirement. When the flight requirement obtained by the control device 10 is the first flight requirement, the corresponding propeller lock control requirement is a propeller lock requirement, such as Figure 2 As shown, when the propeller is in the feathering position, the direction of the propeller (i.e., the length direction of the propeller) is parallel to the flight direction to reduce the resistance generated during flight and extend the flight time; when the flight demand obtained by the control device 10 is the second flight demand, the corresponding propeller lock control demand is the horizontal propeller lock demand, such as Figure 3 As shown, when the propeller is in the horizontal position, the direction of the propeller is intersecting with the flight direction (e.g., perpendicular), thereby increasing the drag generated during flight, enabling the aircraft to land quickly and shortening the aircraft's dive distance. When the flight demand obtained by the control device 10 is a hovering demand, the corresponding propeller lock control demand is a propeller release demand. When the flight demand obtained by the control device 10 is a parking demand, the corresponding propeller lock control demand is a horizontal propeller lock demand or a forward propeller lock demand. Since the parking state is the normal state of the aircraft, the specific propeller lock position corresponding to the parking demand can be set as needed.

[0040] In the present invention, the propeller direction being parallel to the flight direction includes not only the case where the propeller is exactly parallel to the flight direction, but also the case where the propeller is nearly parallel to the flight direction. The propeller direction intersecting the flight direction includes not only the case where the propeller is exactly perpendicular to the flight direction, i.e., forming a 90-degree angle therebetween, but also the case where the propeller forms a certain angle with the perpendicular direction to the flight direction, such as an angle of ±(3-5) degrees.

[0041] For further information, please refer to Figure 1 The control device 10 in the present invention includes a flight management computer (FCC) 11 and a speed governor 12.

[0042] The flight management computer 11 can obtain flight demand signals by interacting with a control device (e.g., a remote control, a flying car steering wheel, or a controller), and transmit motor control requirements based on the flight demand signals to control the motor 20 to decelerate or increase its speed. The flight management computer 11 can also determine propeller lock control requirements based on the flight demand signals, obtain current motor speed and propeller position signals through interaction with the motor 20 and the position sensor 30, and transmit propeller lock control signals based on the motor speed and propeller position when necessary. The speed regulator 12 is signal-connected to the flight management computer 11, the motor 20, the position sensor 30, and the propeller lock device 60, and is used to process the motor control demand and propeller lock control signals and transmit them to the motor 20 and the propeller lock device 60, and to feed back the current motor speed and propeller position signals to the flight management computer 11.

[0043] In this embodiment, the speed governor 12 is an electronic speed governor (ESC). It is connected to the flight management computer 11 via a CAN bus or PWM. The speed governor 12 receives a motor throttle signal from the flight management computer 11, parses the motor throttle signal, converts it into a motor speed signal, and transmits it to the motor 20. The motor 20 adjusts its speed based on the received motor speed signal and provides real-time feedback of the motor speed to the speed governor 12. Simultaneously, the position sensor 30 also provides real-time feedback of the current propeller position to the speed governor 12. The speed governor 12 then transmits the motor speed and current propeller position back to the flight management computer 11 via the CAN bus or PWM. The speed governor 12 also receives a propeller lock control signal from the flight management computer 11, parses and converts the propeller lock control signal, and transmits it to the propeller lock device 60. The propeller lock device 60 locks or unlocks the propeller based on the propeller lock control signal.

[0044] like Figure 4As shown, the motor 20 in this embodiment is a brushless DC motor, comprising a motor stator 22, a motor rotor 21, and a motor base 23. The motor stator 22 is fixed to the motor base 23 and includes a plurality of stator windings. The motor rotor 21 is inserted into an axial hole in the middle of the motor stator 22 and is rotatably connected to the motor stator 22, capable of driving the propeller to rotate synchronously.

[0045] The position sensor 30 includes a sensor rotor 31 and a sensor stator 32. The sensor rotor 31 is fixedly connected to the motor rotor 21 and can rotate synchronously with the motor rotor 21. The sensor stator 32 and the motor stator 22 are both fixed to the fixed part of the motor 20, and their positions are relatively fixed. The sensor stator 32 is used to obtain the position of the sensor rotor 31 relative to the sensor stator 32 during rotation.

[0046] Specifically, the sensor rotor 31 includes a plurality of magnetic poles, including a plurality of N-pole magnets and S-pole magnets uniformly arranged along the circumference of the sensor rotor 31. The N-pole magnets and S-pole magnets are alternately arranged circumferentially around the sensor rotor 31. In this embodiment, the N-pole magnets and S-pole magnets are both fan-shaped, and preferably have equal widths. It will be appreciated that in other embodiments of the present invention, the N-pole magnets and S-pole magnets may have different widths. These N-pole magnets and S-pole magnets may be secured to the inner ring of the motor rotor 21 by adhesive bonding or other means. Alternatively, the motor rotor 21 may be directly fabricated into a rotor having alternating circumferential N-pole magnets and S-pole magnets, thereby integrating the motor rotor 21 and the sensor rotor 31 into one.

[0047] The sensor stator 32 includes several corresponding sets of iron cores 321, coils 322, and position sensing elements 323. The coils 322 are wound around the iron cores 321, and the position sensing elements 323 correspond one to one with the iron cores 321. Each iron core 321 has a position sensing element 323 installed next to it. The iron cores 321 and position sensing elements 323 are evenly and equidistantly mounted on the motor base 23 along the circumference of the motor base 23, and arranged around the periphery of the motor stator 22. The position sensing elements 323 and coils 322 are connected by wiring. During the rotation of the sensor rotor 31, the position sensing elements 323 can sense changes in the magnetic field, which are reflected as changes in current or voltage within the coils 322. This allows the processing chip of the position sensor 30 to detect changes in the position of the sensor rotor 31 based on the changes in current or voltage within the coils 322.

[0048] It should be noted that the position sensor 30 in this embodiment is a magnetic position sensor, such as a Hall sensor, and the corresponding position sensing element 323 is a Hall element. It can be understood that in the present invention, other types of position sensors 30 can also be used, such as photoelectric position sensors, electromagnetic position sensors, etc.

[0049] It should also be noted that, in the present embodiment, the control device 10 sends a propeller lock control signal according to the propeller lock control requirements and, when necessary, in combination with the motor speed and the current position of the propeller sensed by the position sensor 30. It is understandable that, in other embodiments of the present invention, the position sensor 30 may not be provided, and the counter-induced electromotive force generated in the stator winding of the motor 20 may be directly used to sense the current position of the propeller, and the current position signal of the propeller may be fed back to the flight management computer 11 by utilizing the interaction between the motor 20, the speed regulator 12 and the flight management computer 11.

[0050] like Figure 5 and Figure 6 As shown, the propeller locking device 60 includes a follower 61, a propeller locking mechanism 62, and a propeller locking control circuit 63. The follower 61 is connected to the propeller and can rotate with the propeller. In this embodiment, the follower 61 is a limiting ring provided at the bottom of the motor rotor 21, and the limiting ring includes a plurality of limiting holes 61a arranged along its circumference. Figure 7 As shown, four limiting holes 61a are provided on the limiting ring, which correspond to the locking positions of the propeller in the feathering state F and the transverse propeller state H, respectively. The limiting holes 61a in this embodiment extend along the radial direction of the limiting ring, and their cross-sectional shape is circular. The aperture of the outer end of the limiting hole 61a is larger than the aperture of the inner end of the limiting hole 61a, so that the locking mechanism 62 can be easily inserted into the corresponding limiting hole 61a of the limiting ring.

[0051] Please continue reading Figure 5 and Figure 6 The propeller locking device 60 includes multiple propeller locking mechanisms 62 corresponding to the limiting holes 61a. In this embodiment, four propeller locking mechanisms 62 may be provided, or only two propeller locking mechanisms 62 may be provided. These two propeller locking mechanisms 62 are respectively for the feathering position and the transverse position. Of course, in embodiments requiring more propeller locking positions, the number of propeller locking mechanisms should be adjusted accordingly. These propeller locking mechanisms 62 are located lateral to the propeller and fixed to the fixed portion of the motor 20. In this embodiment, the propeller locking mechanism 62 may be located inside the motor stator 22 or on the motor base 23, below the motor stator 22. When the propeller locking device 60 receives a propeller lock control signal, the portion of the propeller locking mechanism 62 corresponding to the desired propeller lock position moves radially along the rotating member 61, locking or disengaging with the rotating member 61, thereby locking the propeller in the desired propeller lock position or unlocking it from the propeller lock position.

[0052] Specifically, the propeller locking mechanism 62 includes a limit pin 62a, a permanent magnet 62b, an electromagnet 62c, and an elastic element 62d. Among them, the diameter of the end of the limit pin 62a close to the limit ring gradually decreases to correspond to the corresponding limit hole 61a. In order to increase the wear resistance of the limit pin 62a, the surface of the limit pin 62a close to the limit ring is also coated with graphite or other wear-resistant materials. The permanent magnet 62b is annular and fixed to the outside of the limit pin 62a, and can move with the limit pin 62a. The electromagnet 62c is sleeved on the outside of the limit pin 62a and connected to the fixed part of the motor 20. The electromagnet 62c includes an iron core and a coil wound on the iron core. In this embodiment, when the electromagnet 62c is energized, the polarity of the magnetic field generated by the end of the electromagnet 62b close to the permanent magnet 62b is opposite to the polarity of the end of the permanent magnet 62b close to the electromagnet 62c, so that the two can attract each other, causing the limit pin 62a to move from Figure 6 The motor 20 moves from position A to position B and comes out of the limiting hole 61a. The elastic element 62d is located between the limiting pin 62a and the fixed part of the motor 20 and is used to provide elastic thrust for the limiting pin 62a to press the limiting pin 62a into the limiting hole 61a.

[0053] The propeller lock control circuit 63 is arranged on the circuit board of the motor 20 and is connected to the coil of the electromagnet 62c. It includes a power supply 63a and a switching element 63b. The switching element 63b in this embodiment can be a relay, a diode, etc., which can turn on or off the propeller lock control circuit 63 according to the propeller lock control signal, so that the electromagnet 62c can generate suction to pull the limit pin 62a out of the limit hole 61a, or make the suction force of the electromagnet 62c disappear, so that the limit pin 62a can be stuck in the limit hole 61a under the action of elastic force.

[0054] In this embodiment, the limit pin 62a is normally stuck in the limit hole 61a, locking the propeller in the propeller lock position. When the control device 10 receives a flight requirement signal, the flight mode is switched from a mode requiring propeller lock to a mode requiring propeller release, for example, from a parking mode to a take-off hovering mode, or from a dive mode to a landing hovering mode, the control device 10 sends a propeller release signal and a motor control requirement to the propeller lock device 60 and the motor 20. The switching element 63b turns on the propeller lock control circuit 63 according to the propeller release signal, causing the electromagnet 62c to generate suction on the limit pin 62a, pulling the limit pin 62a out of the limit hole 61a, and at the same time, the motor 20 starts the motor according to the motor control requirement.

[0055] When the control device 10 determines based on the flight demand signal that the aircraft switches from a mode requiring propeller release to a mode requiring propeller lock, such as switching from a takeoff hover mode to a climb / cruise mode, or from a landing hover mode to a climb / cruise mode or a shutdown mode, the control device 10 sends a propeller lock position demand and a deceleration demand to the propeller lock device 60 and the motor 20 based on the flight demand. The motor 20 begins to decelerate under the control of the deceleration demand and provides real-time feedback of the motor speed to the control device 10. When the motor speed drops to a set speed (the set speed is pre-set based on the test), the control device 10 sends a propeller lock signal at an appropriate time based on the propeller lock position demand, the motor speed, and the current position of the propeller fed back by the position sensor 30. The switch element 63b cuts off the propeller lock control circuit 63 based on the propeller lock signal, causing the limit pin 62a to pop outward under the action of the elastic force and engage in the corresponding limit hole 61a, thereby locking the propeller in the required propeller lock position.

[0056] When the control device 10 determines, based on the flight demand signal, that the aircraft needs to switch from one propeller lock mode to another, for example, from a feathering mode such as a climb mode or a cruise mode to a transverse propeller mode such as a dive mode, the control device 10 simultaneously sends a propeller release signal and an acceleration demand to the propeller lock device 60 and the motor 20. The switch element 63b turns on the propeller lock control circuit 63 based on the propeller release signal, causing the electromagnet 62c to generate suction on the limit pin 62a, pulling the limit pin 62a out of the limit hole 61a. At the same time, the motor 20 begins to rotate under the control of the acceleration demand. Then, the control device 10 sends a propeller lock signal at an appropriate time based on the propeller lock position demand, the current position signal of the propeller, and the motor speed. The control device 10 controls the switch element 63b to cut off the propeller lock control circuit 63 based on the propeller lock signal, causing the limit pin 62a to pop outward under the action of the elastic force, locking the propeller in the transverse propeller position, so that the switching of the propeller lock position can follow the switching of the flight mode.

[0057] It should be noted that, in this embodiment, the limit pin 62a is normally stuck in the limit hole 61a, locking the propeller in the transverse propeller position or the feathering propeller position, and is only disengaged from the limit hole 61a when needed. It can be understood that in other embodiments of the present invention, the limit pin 62a may also be in a state of being disengaged from the limit hole 61a under normal circumstances, and is only stuck in the corresponding limit hole 61a when needed to lock the propeller in the required locked propeller position.

[0058] In addition, in this embodiment, the elastic force of the elastic element 62d is used to push the limit pin 62a into the limit hole 61a. It can be understood that the present invention can also not use the elastic element 62d, but adopt a method of passing current in different directions into the electromagnet 62c to generate an attractive force or a repulsive force between the electromagnet 62c and the permanent magnet 62b under different demand conditions, so as to push the limit pin 62a into the limit hole 61a or pull it out of the limit hole 61a.

[0059] Furthermore, the present invention also provides an aircraft, which includes the aforementioned propeller position control system.

[0060] Specifically, if Figure 2 and Figure 3 As shown, the aircraft is a composite-wing aircraft, comprising four hovering propellers 40 and one tail-thrust propeller 50. The propeller position control system of the present invention is used to control the hovering propellers 40 to stop at or unlock from a desired locked position according to flight requirements. It will be appreciated that the propeller position control system of the present invention can also be used to control the tail-thrust propeller 50 to stop at or unlock from a locked position. Furthermore, the present invention does not limit the number of hovering propellers 40 and tail-thrust propellers 50.

[0061] Please also refer to Figure 8 Furthermore, the present invention also provides a propeller position control method, which includes:

[0062] Step S1: Obtain flight requirements;

[0063] Step S2: determining motor control requirements and propeller lock control requirements based on flight requirements;

[0064] Step S3: controlling the motor according to the motor control requirements and feeding back the motor speed;

[0065] Step S4: sending a propeller lock control signal according to at least one of a propeller lock control requirement and a motor speed;

[0066] Step S5: Control the propeller to stop at a desired propeller lock position or unlock from the propeller lock position according to the propeller lock control signal.

[0067] Among them, the flight requirements in step S1 include parking requirements, take-off hovering requirements, climb requirements, cruising requirements, dive requirements, and landing hovering requirements. The motor control requirements in step S2 include acceleration requirements and deceleration requirements. The propeller lock control requirements include propeller release requirements, propeller locking requirements, and propeller lock position requirements. When the propeller lock control requirement is a propeller locking requirement, it also includes a propeller lock position requirement. The propeller lock position requirements in the present invention include a propeller feathering lock requirement and a propeller transverse lock requirement.

[0068] When the flight demand switches from a shutdown demand to a takeoff and hovering demand, the motor starts working from a stopped state, the corresponding motor control demand is an acceleration demand, and the corresponding propeller lock control demand is a propeller release demand; when the flight demand switches from a takeoff and hovering demand to a climb / cruise demand, the motor needs to switch from a working state to a propeller lock state, the corresponding motor control demand is a deceleration demand, and the corresponding propeller lock control demand is a propeller lock demand; when the flight demand switches from a climb / cruise demand to a dive demand or from a dive demand to a climb / cruise demand, the motor needs to switch from one propeller lock state to another, and the corresponding motor control demands are acceleration and deceleration. The corresponding propeller lock control requirement is the propeller lock requirement or the propeller feather lock requirement; when the flight requirement switches from a dive requirement to a landing and hovering requirement, the motor needs to switch from the propeller lock state to the working state, and the corresponding motor control requirement is an acceleration requirement, and the corresponding propeller lock control requirement is the propeller release requirement; when the flight requirement switches from a take-off and hovering requirement to a landing and hovering requirement, or from a landing and hovering requirement to a take-off and hovering requirement, the motor maintains the working state unchanged, and the corresponding propeller lock control requirement remains unchanged, but since the motor speed may change, the corresponding motor control requirement may be an acceleration requirement or a deceleration requirement.

[0069] Furthermore, the propeller position control method of the present invention further includes:

[0070] Step S6: obtaining the current position of the propeller;

[0071] In this case, step S4 (sending a propeller lock control signal according to at least one of a propeller lock control requirement and a motor speed) includes:

[0072] The propeller lock control signal is sent based on the propeller lock control requirements, the current position of the propeller and the motor speed.

[0073] It should be noted that, in the propeller position control method of the present invention, the order of the steps is not limited to the order described above, and can be reasonably adjusted as needed.

[0074] In summary, the propeller position control system, control method and aircraft of the present invention determine the propeller lock control requirements according to the flight requirements, and control the propeller lock device to lock the propeller at the required propeller lock position or unlock it from the propeller lock position according to at least one of the propeller lock control requirements and the motor speed, thereby achieving the control of the position of the hovering propeller without adding additional aircraft components, and the position control of the aircraft propeller is accurate and effective, and the aircraft's flight time is increased at a relatively low cost, reducing the time required for landing.

[0075] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical content disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A propeller position control system, characterized in that: The invention comprises a control device (10), a motor (20) and a propeller locking device (60), wherein the control device (10) is signal-connected to the motor (20) and the propeller locking device (60), and the motor (20) is connected to a propeller and can drive the propeller to rotate; The control device (10) is used to obtain flight requirements, determine a propeller lock control requirement and a motor control requirement according to the flight requirements, and send a propeller lock control signal to the propeller lock device (60) according to at least one of the propeller lock control requirement and the motor speed; The motor (20) is used to control its rotation speed according to the motor control requirement, and feed back its rotation speed to the control device (10); The propeller locking device (60) is used to lock the propeller at a required propeller locking position or unlock it from the propeller locking position according to the propeller lock control signal; The flight demand includes a first flight demand requiring reduction of propeller resistance and a second flight demand requiring increase of propeller resistance. If the flight demand is the first flight demand, the propeller lock control demand is a feathering lock demand, and the propeller is parallel to the flight direction in the feathering position; if the flight demand is the second flight demand, the propeller lock control demand is a transverse lock demand, and the propeller is in a cross-propeller position and is in a cross-propeller position.

2. The propeller position control system according to claim 1, characterized in that: The cross state includes a perpendicular state.

3. The propeller position control system according to claim 1, characterized in that: The flight requirements include parking requirements, take-off and hovering requirements, climb requirements, cruise requirements, dive requirements and landing and hovering requirements; when the flight requirement is a climb requirement or a cruise requirement, the propeller lock control requirement is a feathering lock requirement, and the propeller is parallel to the flight direction in the feathering position; when the flight requirement is a dive requirement, the propeller lock control requirement is a transverse lock requirement, and the propeller is perpendicular to the flight direction in the transverse position; when the flight requirement is a parking requirement, the propeller lock control requirement is a feathering lock requirement or a transverse lock requirement; when the flight requirement is a take-off and hovering requirement or a landing and hovering requirement, the propeller lock control requirement is a propeller release requirement.

4. The propeller position control system according to claim 1, characterized in that: The propeller locking device (60) includes a propeller locking mechanism (62) and a propeller locking control circuit (63). The propeller locking mechanism (62) is located on the side of the propeller. The propeller locking control circuit (63) is connected to the control device (10) by signal, and the on / off of the propeller locking control circuit (63) can make a part of the propeller locking mechanism (62) move toward or away from the propeller. When the propeller locking control circuit (63) receives the propeller lock control signal, the propeller is locked at a required propeller locking position or unlocked from the propeller locking position by turning on / off the propeller locking control circuit (63).

5. The propeller position control system according to claim 4, characterized in that: The propeller locking device (60) further includes a rotating member (61), which is connected to the propeller and can rotate together with the propeller. When the propeller locking control circuit (63) receives the propeller lock control signal, a portion of the propeller locking mechanism (62) moves radially along the rotating member (61) and locks or separates from the rotating member (61) to lock the propeller at a desired propeller locking position or unlock it from the propeller locking position.

6. The propeller position control system according to claim 5, characterized in that: The motor (20) includes a motor stator (22) and a motor rotor (21), the rotating member (61) is a limiting ring located at the bottom of the motor rotor (21), the limiting ring has a plurality of limiting holes (61a) arranged along its circumference, the propeller locking device (60) includes a plurality of propeller locking mechanisms (62) corresponding to the limiting holes (61a), the propeller locking mechanisms (62) are arranged around the limiting ring, and when the propeller locking control circuit (63) receives the propeller locking control signal, a part of the propeller locking mechanism (62) corresponding to the required propeller locking position moves along the radial direction of the limiting ring, and is stuck in the corresponding limiting hole (61a) or is released from the corresponding limiting hole (61a).

7. The propeller position control system according to claim 6, characterized in that: The locking propeller mechanism (62) includes a limit pin (62a), a permanent magnet (62b) and an electromagnet (62c). The permanent magnet (62b) and the electromagnet (62c) are both located on the limit pin (62a). When the electromagnet (62c) is energized, it generates an attractive or repulsive force with the permanent magnet (62b), so that a portion of the limit pin (62a) can move radially along the limit ring.

8. The propeller position control system according to claim 7, characterized in that: The propeller locking mechanism (62) further includes an elastic element (62d) located between the limiting pin (62a) and the motor (20), and the elastic element (62d) presses the limiting pin (62a) into the limiting hole (61a) when the propeller locking control circuit (63) is powered off.

9. The propeller position control system according to claim 4, characterized in that: The propeller lock control circuit (63) includes a power supply (63a) and a switch element (63b), and the switch element (63b) turns on or off the propeller lock control circuit (63) according to the propeller lock control signal.

10. The propeller position control system according to claim 1, characterized in that: The propeller position control system further includes a position sensor (30) mounted on the motor (20), the position sensor (30) being connected to the control device (10) by signal, and being used for sensing the current position of the propeller and feeding back the current position of the propeller to the control device (10), the propeller lock control requirement including a propeller release requirement, a propeller lock requirement, and a propeller lock position requirement, and when the propeller lock control requirement is a propeller lock requirement, it also includes a propeller lock position requirement, and the control device (10) determines the timing of sending the propeller lock control signal according to the propeller lock control requirement and, when the propeller lock control requirement is a propeller lock requirement, in combination with the motor speed and the current position of the propeller.

11. The propeller position control system according to claim 10, characterized in that: The control device (10) includes a flight management computer (11) and a speed regulator (12), wherein the flight management computer (11) is used to obtain the flight requirements, determine the propeller lock control requirements and the motor control requirements according to the flight requirements, and determine the timing of sending the propeller lock control signal according to the propeller lock control requirements, the motor speed, and the current position of the propeller; The speed regulator (12) is connected to the flight management computer (11), the motor (20) and the position sensor (30) via signals, and is used to process the motor control demand and transmit it to the motor (20), and to feed back the current position of the propeller and the motor speed to the flight management computer (11).

12. The propeller position control system according to claim 10, characterized in that: The motor (20) comprises a motor stator (22) and a motor rotor (21); the position sensor (30) comprises a sensor rotor (31) and a sensor stator (32); the sensor rotor (31) is fixedly connected to the motor rotor (21) and rotates synchronously with the motor rotor (21); the positions of the sensor stator (32) and the motor stator (22) are relatively fixed, and are used to obtain the position of the sensor rotor (31) relative to the sensor stator (32) during rotation.

13. The propeller position control system according to claim 12, characterized in that: The motor (20) has a motor base (23), the motor stator (22) is fixed on the motor base (23), the sensor rotor (31) includes a plurality of magnetic poles evenly arranged along the circumference of the sensor rotor (31), and the sensor stator (32) includes a plurality of position sensing elements (323). The position sensing elements (323) are evenly and equidistantly installed on the motor base (23) along the circumference of the motor base (23) for sensing the position of the magnetic poles during rotation.

14. An aircraft, characterized in that: The aircraft comprises a propeller position control system according to any one of claims 1-13.

15. The aircraft according to claim 14, characterized in that: The aircraft is a composite wing aircraft, comprising a hovering propeller (40) and a tail thrust propeller (50), and the propeller position control system is used to control the hovering propeller (40) to stop at a required propeller lock position or to unlock from the propeller lock position according to the flight requirements.

16. A propeller position control method, characterized in that: It includes: Obtain flight requirements; determining a motor control requirement and a propeller lock control requirement according to the flight requirement, wherein the propeller lock control requirement includes a propeller release requirement, a propeller lock requirement, and a propeller lock position requirement. When the propeller lock control requirement is a propeller lock requirement, it also includes a propeller lock position requirement, and the propeller lock position requirement includes a propeller feather lock requirement and a propeller transverse lock requirement; Control the motor according to the motor control requirements and provide feedback on the motor speed; sending a propeller lock control signal according to at least one of the propeller lock control requirement and the motor speed; The propeller is controlled to stop at a required propeller lock position or to be unlocked from the propeller lock position according to the propeller lock control signal.

17. The propeller position control method according to claim 16, characterized in that: The flight requirements include parking requirements, take-off and hovering requirements, climbing requirements, cruising requirements, diving requirements, and landing and hovering requirements, and the motor control requirements include acceleration requirements and deceleration requirements.

18. The propeller position control method according to claim 17, characterized in that: In the step of determining the propeller lock control requirement according to the flight requirement, if the flight requirement is a cruise requirement or a climb requirement, the propeller lock control requirement is a feathering propeller lock requirement; when the flight requirement is a dive requirement, the propeller lock control requirement is a transverse propeller lock requirement.

19. The propeller position control method according to claim 16, characterized in that: The propeller position control method further includes: obtaining a current position of the propeller; The step of sending a propeller lock control signal according to at least one of the propeller lock control requirement and the motor speed further includes: sending a propeller lock control signal according to a current position of the propeller.

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