A helicopter ground joint test rotor blade pitch angle measuring device and method

Abstract

The present application belongs to the field of aviation ground test technology, and discloses a kind of helicopter ground combined test rotor pitch angle measuring device and method, device includes a kind of helicopter ground combined test rotor pitch angle measuring device, including angular displacement sensor assembly and steering connecting piece, in the rotor system of helicopter, using the steering rocker arm of triangular structure is to the rocker arm output rod of connecting booster rocker arm with steering input rod is diverted, one triangular end fixed shaft of steering rocker arm is connected, and the other two triangular ends are respectively pivotally connected steering input rod and rocker arm output rod;Angular displacement sensor assembly is fixedly installed on the helicopter, one end of steering connecting piece is installed the measuring rod of angular displacement sensor assembly, and the other end of steering connecting piece is rotatably installed on the triangular end of steering rocker arm connecting steering input rod or rocker arm output rod.The rotor pitch angle measuring device of the present application does not occupy the position around rotor booster, and the pitch angle measurement can be carried out on the narrow installation position.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of aviation ground test technology, and relates to a rotor pitch angle measuring device, in particular to a rotor pitch angle measuring device and method for helicopter ground joint test. BACKGROUND

[0002] The helicopter rotor pitch angle measuring technology is an important test technology for safety monitoring of helicopter ground joint test, and the measurement result will directly affect the accuracy of helicopter operation in the test process and the effectiveness of post-data analysis.

[0003] At present, the commonly used measurement method in domestic helicopter ground test is to measure the position of the automatic tilting device fixed ring by installing a pull rod type displacement sensor in the extension direction of the rotor booster, so as to indirectly measure the variable pitch angle of the rotor, and the installation space and installation interface of the sensor have high requirements.

[0004] However, the rotor control system of a certain type of helicopter is a mechanical linkage system, and there are many pipelines near the rotor control booster, so the space is small, and therefore the conventional measurement method cannot meet the rotor pitch angle measurement requirements. SUMMARY

[0005] The present application provides a rotor pitch angle measuring device and method for helicopter ground joint test, which installs an angle displacement sensor on the rocker arm at the front end of the booster, collects the output signal of the angle displacement sensor in real time, and calculates the rotor variable pitch angle in real time according to the mechanical linkage transmission ratio conversion matrix, so as to solve the safety monitoring problem of the rotor variable pitch angle of a certain type of helicopter in ground joint test.

[0006] The technical scheme of the present application is as follows:

[0007] A rotor pitch angle measuring device for helicopter ground joint test, comprising an angle displacement sensor assembly and a turning connecting piece, in the rotor pitch system of the helicopter, a turning rocker arm of a triangular structure is used to turn the input rod of the control and the output rod of the rocker arm connected with the booster rocker arm, one triangular end of the turning rocker arm is fixedly connected with an axis, and the other two triangular ends are respectively connected with the turning axis of the input rod of the control and the output rod of the rocker arm; the angle displacement sensor assembly is fixedly installed on the helicopter, one end of the turning connecting piece is installed with a measuring rod connected with the angle displacement sensor assembly, and the other end of the turning connecting piece is rotatably installed on the triangular end of the turning rocker arm connected with the input rod of the control or the output rod of the rocker arm.

[0008] Further, the input rod of the control is connected with the upper triangular end of the turning rocker arm, and the output rod of the rocker arm is connected with the lower triangular end of the turning rocker arm.

[0009] Further, the turning connecting piece is connected with the upper triangular end of the turning rocker arm.

[0010] Further, the angular displacement sensor assembly includes a connecting rod, a coupling, an angular displacement sensor, a cable, a plug and a socket, one end of the connecting rod is connected with the steering connecting piece, the other end of the connecting rod is fixedly connected with the coupling which is fixed but rotatable, the angular displacement sensor is connected and measures the rotation angle of the coupling, and the rotation signal is transmitted out through the cable, the plug and the socket.

[0011] Further, the angular displacement sensor assembly and the steering connecting piece have three sets respectively, and are correspondingly installed on three sets of booster systems including the steering input rod and the booster rocker arm.

[0012] A helicopter ground joint test rotor pitch angle measurement method using the helicopter ground joint test rotor pitch angle measurement device, comprising the following steps:

[0013] Step one, according to the transmission ratio of the fixed ring plane to the rotor pitch angle, and the transmission ratio of the angular displacement sensor to the fixed ring plane, a conversion matrix equation is established to convert the angular displacement physical quantity into the rotor pitch angle;

[0014] Step two, collect the output voltage of the angular displacement sensor, and use a multi-channel real-time superposition calculation method to calculate the rotor pitch angle value in real time.

[0015] Further, in step one, according to the transmission ratio of the fixed ring plane to the rotor pitch angle at 0.7R, and the transmission ratio of the angular displacement sensor to the fixed ring plane, the conversion matrix equation is obtained as follows:

[0016]

[0017] Where, i c , i s and i 0.7 are the horizontal periodic pitch transmission ratio, the vertical periodic pitch transmission ratio and the total pitch transmission ratio from the fixed ring plane to the blade at 0.7R, respectively;

[0018] θ c , θ s and θ 0.7 are the horizontal periodic pitch angle, the vertical periodic pitch angle and the total pitch at the 0.7R section of the blade, respectively;

[0019] R is the radius of the booster;

[0020] α 1c , α 2c α 3c are the angles of the three sets of booster systems and the horizontal steering axis, respectively;

[0021] α 1s , α 2s α 3sThree sets of booster system and longitudinal steering axis angle respectively;

[0022] k1, k2, k3 are respectively the extension length of three sets of booster system and the angle displacement sensor angle transmission ratio conversion coefficient;

[0023] Delta theta 1, delta theta 2, delta theta 3 are the change angles of three sets of angle displacement sensors.

[0024] Further, in step two, the voltage signal of the angle displacement sensor is filtered and A / D converted to obtain a digital signal, and then the conversion matrix equation is calculated; before actual measurement, the rotor pitch and voltage calibration work is completed, the actual conversion matrix is obtained, and a multi-channel real-time superposition calculation mode is used to calculate the rotor pitch angle value in real time.

[0025] The beneficial effects of the present application are:

[0026] 1. The rotor pitch angle measuring device of the present application does not occupy the position around the rotor booster, and can measure the pitch angle in a narrow installation position.

[0027] 2. The present application can solve the problem of measuring the rotor pitch angle in the helicopter ground joint test, and after being applied to the helicopter ground joint test, it can effectively guarantee the steering accuracy and data effectiveness of the helicopter.

[0028] 3. The present application can be used in the mechanical lever system measurement of other helicopter rotors, and after the lever system movement is converted into angular movement, the space occupied by the measurement structure can be greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is the structure diagram of the angle displacement sensor of the present application;

[0030] Figure 2 It is the overall installation schematic diagram of the present application;

[0031] Figure 3 It is the booster control point layout diagram of the automatic tilting device of the present application;

[0032] Figure 4 It is the voltage signal acquisition schematic diagram of the present application;

[0033] Wherein, 1 is a connecting rod, 2 is a shaft coupling, 3 is an angle displacement sensor, 4 is a cable, 5 is a plug, 6 is a socket, 7 is a steering input rod, 8 is a steering rocker arm, 9 is an angle displacement sensor, 10 is a steering connecting piece, 11 is a rocker arm output rod, 12 is a booster rocker arm, and 13 is a booster top end joint bearing. DETAILED DESCRIPTION

[0034] With reference to the accompanying drawings: the specific embodiments of the present application will be described clearly and completely, obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor belong to the scope of protection of the present application.

[0035] A helicopter ground combined test rotor pitch angle measuring device, comprising an angle displacement sensor assembly 9 and a steering connecting piece 10, in the rotor system of a helicopter, a steering rocker 8 of a triangular structure is used to steer a control input rod 7 and a rocker output rod 11 connected with a booster rocker 12, one triangular end of the steering rocker 8 is fixedly connected with a shaft, and the other two triangular ends are respectively connected with a shaft of the control input rod 7 and the rocker output rod 11; the angle displacement sensor assembly 9 is fixedly installed on the helicopter, one end of the steering connecting piece 10 is installed with a measuring rod of the angle displacement sensor assembly 9, and the other end of the steering connecting piece 10 is rotatably installed on the triangular end of the steering rocker 8 connected with the control input rod 7 or the rocker output rod 11.

[0036] The control input rod 7 is connected with the upper triangular end of the steering rocker 8, and the rocker output rod 11 is connected with the lower triangular end of the steering rocker 8. The steering connecting piece 10 is connected with the upper triangular end of the steering rocker 8. The design reason of the structure is that the rocker output rod 11 is a rod structure for transmitting force upward, the control input rod 7 is a force transmission structure extending from the side, and there is a very close floor below the steering rocker 8, so the downward rotation is very limited. This design can ensure the transmission of force, and the installation position of the steering connecting piece 10 ensures that interference with the floor does not occur.

[0037] The angle displacement sensor assembly 9 comprises a connecting rod 1, a shaft coupling 2, an angle displacement sensor 3, a cable 4, a plug 5 and a socket 6. One end of the connecting rod 1 is connected with the steering connecting piece 10, the other end of the connecting rod 1 is fixedly connected with the shaft coupling 2 which is fixed but rotatable, the angle displacement sensor 3 is connected and measures the rotation angle of the shaft coupling 2, and the rotation signal is transmitted out through the cable 4, the plug 5 and the socket 6.

[0038] The angle displacement sensor assembly 9 and the steering connecting piece 10 have three sets respectively, and are installed on different three sets including the booster system of the control input rod 7 and the booster rocker 12.

[0039] A helicopter ground combined test rotor pitch angle measuring method, using the helicopter ground combined test rotor pitch angle measuring device described above, comprising the following steps:

[0040] Step one: according to the transmission ratio of the fixed ring plane and the rotor pitch angle, and the transmission ratio of the angle displacement sensor and the fixed ring plane, a conversion matrix equation is established to convert the angle displacement physical quantity into the rotor variable pitch angle;

[0041] Step two, collect the output voltage of the angular displacement sensor, and use the multi-channel real-time superposition calculation method to calculate the rotor pitch angle value in real time.

[0042] In this embodiment, the application mainly includes the following two parts:

[0043] In the first part, the angular displacement sensor 9 is installed at the helicopter mechanical connecting rod device 8, connected through the steering connecting piece 10, to complete the measurement of the rotation angle of the connecting rod system, as shown in Figure 1 and Figure 2 .

[0044] In the second part, a transmission ratio conversion model is established to convert the angular displacement physical quantity into the rotor pitch angle. As shown in Figure 3 , where A, B, and C are the connection points of the three booster tops with the stationary ring, x-x' is the lateral control axis, and y-y' is the longitudinal control axis.

[0045] According to the transmission ratio of the stationary ring plane to the pitch angle at 0.7R of the rotor, and the transmission ratio of the angular displacement sensor to the stationary ring plane, the conversion matrix equation is as follows.

[0046]

[0047] where i c , i s , and i 0.7 are the lateral periodic pitch transmission ratio, longitudinal periodic pitch transmission ratio, and total pitch transmission ratio from the stationary ring plane to the 0.7R of the blade;

[0048] θ c , θ s , and θ 0.7 are the lateral periodic pitch angle, longitudinal periodic pitch angle, and total pitch at the 0.7R section of the blade;

[0049] R is the radius of the booster;

[0050] α 1c , α 2c , and α 3c are the angles of the three sets of booster systems with the lateral control axis;

[0051] α 1s , α 2s , and α 3s are the angles of the three sets of booster systems with the longitudinal control axis;

[0052] k1, k2, and k3 are the angle transmission ratio conversion coefficients of the elongation lengths of the three sets of booster systems and the angular displacement sensor;

[0053] Δθ1, Δθ2, Δθ3 are the change angles of the three sets of angular displacement sensors.

[0054] Finally, according to the voltage output characteristics of the angular displacement sensors, voltage signal acquisition devices are selected to collect signals, as shown in Figure 4

[0055] Before actual measurement, the calibration of the rotor pitch and voltage is completed, the actual conversion matrix is obtained, and a multi-channel real-time superposition calculation mode is adopted to calculate the rotor pitch angle value in real time.

[0056] The above is only a specific embodiment of the present application, which is described in detail, and the part not described in detail is the conventional technology. However, the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.​

Claims

1. A helicopter ground joint test rotor pitch angle measuring device, characterized in that, Including an angular displacement sensor assembly (9) and a steering connector (10), in the rotor system of a helicopter, a triangular steering rocker arm (8) is used to steer the control input rod (7) and the rocker output rod (11) that connects to the booster rocker arm (12). One triangular end of the steering rocker arm (8) is fixedly connected to the control input rod (7) and the rocker output rod (11) respectively. The angular displacement sensor assembly (9) is fixedly installed on the helicopter. One end of the steering connector (10) is installed with the measuring rod that connects to the angular displacement sensor assembly (9), and the other end of the steering connector (10) is rotatably installed on the triangular end of the steering rocker arm (8) that connects to the control input rod (7) or the rocker output rod (11). The control input lever (7) is shaft-connected to the upper triangular end of the steering rocker arm (8), and the rocker arm output lever (11) is shaft-connected to the lower triangular end of the steering rocker arm (8). The steering connecting piece (10) is shaft-connected to the upper triangular end of the steering rocker arm (8).

2. The helicopter ground joint test rotor pitch angle measuring device according to claim 1, characterized in that, The angular displacement sensor assembly (9) includes a connecting rod (1), a coupling (2), an angular displacement sensor (3), a cable (4), a plug (5), and a socket (6). One end of the connecting rod (1) is connected to the steering connecting piece (10), and the other end of the connecting rod (1) is fixedly connected to the coupling (2), which is fixed in position but rotatable. The angular displacement sensor (3) is connected to and measures the rotation angle of the coupling (2), and transmits the rotation signal through the cable (4), the plug (5), and the socket (6).

3. A helicopter ground joint test rotor pitch angle measuring device according to any one of claims 1-2, characterized in that, There are three sets of angular displacement sensor assemblies (9) and steering connectors (10), which are installed on three different booster systems, including the control input lever (7) and the booster rocker arm (12).

4. A method for measuring the rotor pitch angle in a helicopter ground joint test, using the helicopter ground joint test rotor pitch angle measuring device as described in claim 3, characterized in that, Includes the following steps: Step 1: Based on the transmission ratio between the stationary ring plane and the rotor pitch angle, and the transmission ratio between the angular displacement sensor and the stationary ring plane, establish the transformation matrix equation to convert the angular displacement physical quantity into the rotor pitch angle. Step 2: Collect the output voltage of the angular displacement sensor and use a multi-channel real-time superposition calculation method to calculate the rotor pitch angle value in real time.

5. The method for measuring the rotor pitch angle in a helicopter ground joint test according to claim 4, characterized in that, In step one, based on the transmission ratio between the stationary ring plane and the rotor pitch angle at 0.7R, and the transmission ratio between the angular displacement sensor and the stationary ring plane, the transformation matrix equation is derived as follows: in, , and These are the transverse periodic pitch transmission ratio, longitudinal periodic pitch transmission ratio, and total pitch transmission ratio, respectively, from the stationary ring plane to 0.7R of the blade. , and These are the transverse periodic pitch angle, longitudinal periodic pitch angle, and collective pitch at the 0.7R section of the blade, respectively. The radius of the circle of the booster; , These are three sets of power booster systems and the lateral control axis angle; , These are three sets of booster systems and the longitudinal control axis angle; , , These are the conversion coefficients between the elongation length of the three booster systems and the angle transmission ratio of the angular displacement sensor; , , The angle changes are represented by three sets of angular displacement sensors.

6. The method for measuring the rotor pitch angle in a helicopter ground joint test according to claim 4, characterized in that, In step two, the voltage signal from the angular displacement sensor is filtered and converted by an A / D converter to obtain a digital signal, and then the conversion matrix equation is calculated. Before the actual measurement, the rotor pitch and voltage are calibrated to obtain the actual conversion matrix. The rotor pitch angle value is calculated in real time using a multi-channel real-time superposition calculation method.

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