A variable cycle aircraft blade adjustment device and control method thereof

Abstract

The present invention relates to a variable cycle aircraft blade adjustment device and a control method thereof, wherein the blade adjustment device comprises: a connecting shaft lifting and belt rotation device consisting of a housing and a connecting shaft housed inside the housing, a connecting shaft lifting module, and a connecting shaft belt rotation module; tilt motors respectively mounted on the left and right sides of the housing via drive shafts; a power motor respectively connected to the main shafts of the first tilt motor and the second tilt motor via a snap end on the left or right side of a connecting block; and a push-pull motor whose main shaft is connected to the connecting block on the side opposite to the snap end; wherein the push rod motor in the connecting shaft lifting module drives the connecting shaft to rise and fall, realizing meshing transmission and separation between the connecting shaft lifting module and the connecting shaft belt rotation module, as well as nesting and separation between the connecting shaft and the drive shaft. The blade adjustment device of the present invention has the characteristics of high flexibility, high efficiency, and convenient design, use, and maintenance.

Description

Technical Field

[0001] The present invention belongs to the field of aircraft rotor tilting structure and control, and in particular relates to a variable cycle aircraft blade adjustment device and a control method thereof. Background Art

[0002] Multirotor aircraft are one of the representatives of traditional aircraft structures. They have a simple structure and are easy to control. They play an important role in military and civilian fields.

[0003] Traditional multi-rotor aircraft generate forward thrust primarily by tilting the rotor disc plane or fuselage, requiring high power and inefficiently. Since the 1950s, vertical takeoff and landing (VTOL) technology has gradually emerged, with European and American countries proposing various VTOL solutions, including the tiltrotor. A tiltrotor aligns the rotor axis perpendicular to the fuselage axis during takeoff and parallel to it during level flight. This enables the aircraft to perform well in short-range / vertical takeoff and landing, hovering, and high-speed cruising, while also increasing payload and range.

[0004] However, the current typical tilt-rotor solution is constrained by its own structure. Not only is it insufficiently flexible and has a single operating mode, unable to take into account the operation of different operating modes, but it also has a complex structure, increases the weight and cost of the aircraft, and increases the difficulty of design, manufacturing and maintenance, resulting in low power utilization of the aircraft and prone to failure. Summary of the Invention

[0005] In response to the shortcomings in the relevant technologies, the present invention provides a variable cycle aircraft blade adjustment device and a control method thereof, so as to simplify the structure of the device, reduce the weight of the device, and make the structure more compact; it can realize the independent tilting or electronic synchronous tilting of the blades on both sides by rotating the tilt motor, and can realize the mechanical synchronous tilting of the blades on both sides by the middle transmission component, which greatly improves the flexibility of the device and the maneuverability of the aircraft; at the same time, a corresponding control method is proposed, so that the entire device has better reliability, anti-interference and control performance.

[0006] The present invention provides a variable cycle aircraft blade adjustment device, comprising:

[0007] The connecting shaft lifting and belt rotating device comprises a housing, a connecting shaft accommodated in the housing, a connecting shaft lifting module and a connecting shaft belt rotating module.

[0008] The tilt motor includes a first tilt motor and a second tilt motor arranged in the horizontal direction, which are respectively installed on the left and right sides of the housing via a transmission shaft.

[0009] The power motor includes a first power motor and a second power motor arranged in a vertical direction, one end of the top main shaft of which is connected to the blade, a connecting block is fixed at the bottom, and the first tilt motor and the second tilt motor main shaft are connected respectively through the buckle end on the left or right side of the connecting block, and

[0010] The push-pull motor includes a first push-pull motor and a second push-pull motor arranged in a horizontal direction, and the main shaft of the push-pull motor is connected to the connecting block on the side opposite to the buckle end;

[0011] Among them, the connecting shaft is driven to rise and fall by the push rod motor in the connecting shaft lifting module, realizing the meshing transmission and separation between the connecting shaft lifting module and the connecting shaft belt rotation module, as well as the nesting and separation between the connecting shaft and the transmission shaft.

[0012] In some embodiments, the contact shaft lifting module further comprises:

[0013] The push rod motor is fixed to the bottom of the inner side of the shell.

[0014] The lifting frame is a concave-shaped bracket arranged in the horizontal direction, which is arranged above the push rod motor and its bottom is connected to the push rod motor main shaft, which is used to support and drive the connecting shaft to the specified position, and

[0015] The worm gear is sleeved on the outer sleeve of the connecting shaft and is arranged at the middle position of the outer side of the connecting shaft.

[0016] In some embodiments, the connecting shaft is placed on the lifting frame in a horizontal direction, and a slide is provided on the inner side of the housing along the lifting path of the connecting shaft.

[0017] In some embodiments, the connecting shaft belt rotation module is disposed above the connecting shaft lifting module, and further comprises:

[0018] The connecting shaft drives the motor and is fixed on the rear side wall inside the housing.

[0019] The connecting shaft belt rotating worm is set in the vertical direction of the connecting shaft and connected to the connecting shaft belt rotating motor main shaft, which is used to mesh with the connecting shaft outer sleeve worm gear for transmission, and

[0020] Rotary encoder, connected to the communication shaft and the motor spindle.

[0021] In some embodiments, dog clutches are provided at the left and right ends of the connecting shaft for nesting the transmission shaft.

[0022] In some embodiments, a tooth clutch is provided on one end of the transmission shaft connected to the left and right sides of the housing, and the tooth clutches on the transmission shaft and the connecting shaft cooperate and nest with each other to achieve connection between the transmission shaft and the connecting shaft.

[0023] In some embodiments, a control unit connected to the tilt motor and the power motor by wire is further provided inside the housing, and the control unit further includes a main control module and a motor control module;

[0024] Among them, the main control module calculates the speed of the power motor and the tilt angle of the tilt motor by reading the air pressure altitude data of the pressure sensor, the three-axis acceleration and angular velocity data of the acceleration sensor and gyroscope, the route data of the magnetic compass, the GPS position data and the speed data, and sends a signal to the motor control module to control the rotation state of each motor.

[0025] The present invention also provides a control method for a variable cycle aircraft blade adjustment device. When the variable cycle aircraft blade adjustment device is switched from other modes to a mechanical synchronous operation mode, the control method includes the following steps:

[0026] The push-pull motor drives the transmission shaft to move outward for a certain distance, and the lifting frame drives the connecting shaft to lift vertically upwards under the drive of the push rod motor until it is concentric with the two transmission shafts;

[0027] The worm wheel on the outer sleeve of the connecting shaft meshes with the worm on the connecting shaft, and the drive shaft is pushed inward by the push-pull motor. The tooth clutch is used to nest and clamp the left and right ends of the connecting shaft with the drive shaft on the opposite end of the connecting shaft.

[0028] A spring clip is set on the inner wall of the shell. When the drive shaft is pushed inward to the specified position, the clip will clamp and fix the tilting motor, the connecting shaft lifting module will drop to the initial position, and the mechanical synchronous tilting mode is ready.

[0029] The present invention also provides a control method for a variable cycle aircraft blade adjustment device. When the variable cycle aircraft blade adjustment device is switched from other modes to a mechanical single-axis operation mode, the control method includes the following steps:

[0030] The connecting shaft lifting module rises to the designated position and fixes the connecting shaft. Then the push-pull motor pulls the two drive shafts outwards for a certain distance, disengaging the dog clutch.

[0031] The connecting shaft lifting module begins to descend, and when it descends to the initial position, the push rod motor pushes the connecting shaft back to its original position, and the single-axis operation mode is ready.

[0032] The present invention also provides a control method for a variable cycle aircraft blade adjustment device, which comprises the following steps when the variable cycle aircraft blade adjustment device is switched from other modes to an electronic synchronous operation mode:

[0033] The main control module reads the barometric altitude data from the barometric pressure sensor, the three-axis acceleration and angular velocity data from the accelerometer and gyroscope, the route data from the magnetic compass, the GPS position data, and the speed data;

[0034] The rotation speed of the power motor and the tilt angle of the tilt motor are calculated, and a signal is sent to the motor control module to control the rotation state of each motor, thereby keeping the rotation speed and angle of the two tilt motors basically the same.

[0035] Compared with the prior art, the advantages and beneficial effects of the present invention are:

[0036] 1. The variable-cycle aircraft blade adjustment device proposed in this invention utilizes a connecting shaft lifting and rotating device, and various motors (including the tilt motor, power motor, and push-pull motor) to coordinate with each other. This device can achieve independent or electronically synchronized tilting of the blades on both sides through the rotation of the tilt motors, and can also achieve mechanically synchronized tilting of the blades on both sides through the central transmission component, greatly improving the device's flexibility and the aircraft's maneuverability.

[0037] 2. The present invention proposes a variable cycle aircraft blade adjustment device and control method thereof, wherein the control method includes three operating modes: mechanical synchronous tilting, independent tilting, and electronic synchronous tilting, which makes the entire device have good reliability, anti-interference and control performance;

[0038] 3. The variable cycle aircraft blade adjustment device proposed in the present invention has the characteristics of strong flexibility, high efficiency, and convenient design, use and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0040] Figure 1 This is a front view of an embodiment of a variable cycle aircraft blade adjustment device of the present invention;

[0041] Figure 2 A top view of an embodiment of a variable cycle aircraft blade adjustment device according to the present invention;

[0042] Figure 3 A side view of an embodiment of a variable cycle aircraft blade adjustment device according to the present invention;

[0043] Figure 4 A perspective view of the connecting shaft lifting and belt rotating device in the variable cycle aircraft blade adjustment device of the present invention;

[0044] Figure 5 A side view of the connecting shaft lifting and belt rotating device in the variable cycle aircraft blade adjustment device of the present invention;

[0045] Figure 6The figure is a schematic structural diagram of the tooth clutch in the variable cycle aircraft blade adjustment device of the present invention.

[0046] In the above figures:

[0047] 1. First tilt motor; 2. Second tilt motor; 3. Connecting shaft lifting and belt rotation device; 4. Drive shaft; 5. First power motor; 6. Second power motor; 7. Propeller blades; 8. Connecting block; 9. Buckle; 10. First push-pull motor; 11. Second push-pull motor; 12. Control unit; 14. Dog clutch

[0048] 31. Housing; 32. Contact shaft; 33. Contact shaft lifting module; 34. Contact shaft belt rotation module;

[0049] 331, push rod motor; 332, lifting frame; 333, connecting shaft outer shell worm gear;

[0050] 341. The connecting shaft drives the motor; 342. The connecting shaft drives the worm; 343. The rotary encoder. DETAILED DESCRIPTION

[0051] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0052] In the description of the present invention, it should be understood that the terms "center", "transverse", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0053] The terms "first," "second," and "third" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly specify the quantity of the technical features indicated. Therefore, a feature specified as "first," "second," or "third" may explicitly or implicitly include one or more of such features.

[0054] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0055] As attached Figure 1 As shown, in an exemplary embodiment of the variable cycle aircraft blade adjustment device of the present invention, the variable cycle aircraft blade adjustment device includes:

[0056] The connecting shaft lifting and belt rotation device 3 is arranged at the center of the entire blade adjustment device, and specifically includes a shell 31 and a connecting shaft 32, a connecting shaft lifting module 33 and a connecting shaft belt rotation module 34 accommodated inside the shell 31. The appearance structure of the shell 31 can be set to a cube, a rectangular parallelepiped or other rigid shell that can be used to accommodate the connecting shaft 32, the connecting shaft lifting module 33 and the connecting shaft belt rotation module 34.

[0057] The tilt motor includes a first tilt motor 1 and a second tilt motor 2 arranged in the horizontal direction, which are respectively installed on the left and right sides of the housing 31 via a transmission shaft 4. The transmission shaft 4 is rigidly connected to the housing of the tilt motor and can rotate synchronously therewith.

[0058] The power motor includes a first power motor 5 and a second power motor 6 arranged in a vertical direction, one end of the top main shaft of which is connected to the blade 7, and a connecting block 8 is fixed at the bottom, and is connected to the main shaft of the first tilt motor 1 and the second tilt motor 2 respectively through the buckle 9 on the left or right side of the connecting block 8, and

[0059] The push-pull motor is used to push and pull the transmission shaft 4, and includes a first push-pull motor 10 and a second push-pull motor 11 arranged in the horizontal direction, and its main shaft is connected to the connecting block 8 on the side opposite to the buckle 9 end;

[0060] Among them, the push rod motor 331 in the connecting shaft lifting module 33 drives the lifting and lowering of the connecting shaft 32, which not only realizes the meshing transmission and separation between the connecting shaft lifting module 33 and the connecting shaft belt rotation module 34, but also realizes the nesting and separation between the connecting shaft 32 and the transmission shaft 4.

[0061] In the above-described exemplary embodiment, the present invention provides a variable-cycle aircraft blade adjustment device capable of accommodating multiple operating modes and offering enhanced flexibility. Specifically, when switching to mechanical synchronous operation mode, the device elevates the connecting shaft 32 to a specified position via the connecting shaft lifting module 33. The connecting shaft lifting module 33 then retracts to its initial position, nesting and locking the left and right drive shafts 4 with the connecting shaft 32, achieving a rigid connection between the two drive shafts and thus initiating the subsequent mechanical synchronous operation mode. When the device is in single-axis operation mode, the rigid connection between the connecting shaft 32 and the left and right drive shafts 4 is released, allowing the connecting shaft 32 to withdraw, allowing the left and right drive shafts to be independently controlled, thereby enabling the subsequent single-axis operation mode. Thus, the blade adjustment device proposed by the present invention, through the interaction between the connecting shaft lifting and belt rotation device and various motors (including the tilt motor, power motor, push-pull motor, etc.), can achieve independent or electronically synchronized tilting of the blades on both sides through rotation of the tilt motor, as well as mechanically synchronized tilting of the blades on both sides through the central transmission component, significantly improving the device's flexibility and the aircraft's maneuverability.

[0062] In some embodiments, the connecting shaft belt rotation module 34 is disposed above the connecting shaft lifting module 33 in the housing 31, wherein the connecting shaft lifting module 33 further includes:

[0063] The push rod motor 331 is fixed to the bottom of the inner side of the housing 31.

[0064] The lifting frame 332 is a concave-shaped bracket arranged in the horizontal direction, which is arranged above the push rod motor 331, and its bottom is connected to the main shaft of the push rod motor 331. The connecting shaft 32 is placed on the lifting frame 332 in the horizontal direction. The lifting frame 332 is used to support the connecting shaft 32 and drive the connecting shaft 32 to the specified position under the drive of the push rod motor 331, and

[0065] The worm gear 333 on the outer sleeve of the connecting shaft is sleeved on the middle position of the outer portion of the connecting shaft 32 .

[0066] Furthermore, in order to ensure that the connecting shaft 32 maintains a stable posture during the rising and falling processes, the present invention further provides a slideway (not shown in the figure) along the lifting path of the connecting shaft 32 on the inner side of the housing 31 .

[0067] The connecting shaft belt rotation module 34 further includes:

[0068] The connecting shaft drives the motor 341, which is fixed on the rear side wall inside the housing 31.

[0069] The connecting shaft belt rotating worm 342 is arranged perpendicular to the connecting shaft 32 and connected to the main shaft of the connecting shaft belt rotating motor 341, and is used to engage with the connecting shaft outer sleeve worm gear 333 for transmission, and

[0070] The rotary encoder 343 is connected to the communication shaft and the main shaft of the motor 341.

[0071] In the above embodiment, after the lifting frame 332 drives the connecting shaft 32 to the specified position under the drive of the push rod motor 331, the connecting shaft belt rotating worm 342 and the connecting shaft outer worm gear 333 engage with each other for transmission, and the connecting shaft 32 is nested and clamped with the transmission shafts 4 on the left and right sides, so that the transmission shafts on both sides are rigidly connected. At this time, the rotation of the connecting shaft belt rotating motor 341 will be converted into the common rotation of the connecting shaft and the transmission shaft, and then the mechanical synchronous operation mode will be started.

[0072] In some embodiments, the Figure 6 In order to improve the stability and firmness of the connection between the connecting shaft 32 and the transmission shaft 4, the present invention provides a tooth clutch 14 at the left and right ends of the connecting shaft 32, and a tooth clutch 14 is provided on the transmission shaft 4 at one end connected to the left and right sides of the housing 31. The tooth clutches 14 on the transmission shaft 4 and the connecting shaft 32 cooperate and nest with each other to achieve the connection between the transmission shaft 4 and the connecting shaft 32.

[0073] In some embodiments, the blade adjustment device of the present invention can provide a mechanical synchronous tilting operation mode and a single-axis (or asynchronous rotation) operation mode, and also provides an electronic operation mode. This mode requires the assistance of the control unit 12, which is arranged inside the housing 31 (see FIG. Figure 5 ), which is wired to the tilt motor and power motor. The control unit 12 further comprises two modules: a main control module and a motor control module. The main control module incorporates a built-in PD control algorithm based on feedforward compensation, employing a dual closed-loop control strategy: an outer loop controls the aircraft's position (track), and an inner loop controls its attitude (roll angle). This ensures responsiveness while enhancing control system stability and effectiveness. The functions of these two modules are detailed below:

[0074] The main control module reads barometric altitude data from the pressure sensor, triaxial acceleration and angular velocity data from the accelerometer and gyroscope, course data from the magnetic compass, GPS location data, and speed data. Using an adaptive environmental perception and attitude control algorithm, it calculates the power motor speed and tilt motor angle. It then sends signals to the motor control module, controlling the rotational state of each motor. The main control module also receives power motor speed and tilt angle data; when the device is in mechanical synchronous operation mode, it can indirectly obtain the tilt angle via the rotary encoder 343.

[0075] In addition, the above-mentioned pressure sensor, acceleration sensor, gyroscope, magnetic compass and other components are all installed inside the control unit 12. The specific installation position can be set by technical personnel in this field according to actual conditions or actual needs. The connection relationship between these components and the main control module is a wired electrical connection.

[0076] Based on the above-mentioned variable cycle aircraft blade adjustment device, the embodiment of the present invention further provides three control methods, namely, a mechanical synchronous operation mode, a mechanical single-axis operation mode, and an electronic synchronous operation mode. The specific control methods of these three operation modes are described in detail below:

[0077] 1. Mechanical synchronous operation mode, the control method includes the following steps:

[0078] (1) The push-pull motor drives the transmission shaft 4 to be pulled outward for a distance, and the lifting frame 332 drives the connecting shaft 32 to be lifted vertically upwards by the push rod motor 331 until it is concentric with the two transmission shafts 4;

[0079] (2) The outer worm gear 333 of the connecting shaft meshes with the connecting shaft worm 342, and the push-pull motor 10 pushes the transmission shaft 4 inward, and the tooth clutch 14 is used to make the two ends of the connecting shaft 32 and the transmission shaft 4 (i.e., the end opposite to the connecting shaft 32) nest and clamp each other;

[0080] (3) A spring clip is provided on the inner wall of the housing. When the transmission shaft is pushed inward to a specified position, the clip clamps and fixes the tilting motor, and the connecting shaft lifting module descends to the initial position, and the mechanical synchronous tilting mode is ready.

[0081] 2. Mechanical single-axis operation mode, the control method includes the following steps:

[0082] (1) The connecting shaft lifting module 33 rises to the designated position and fixes the connecting shaft 32. Then the push-pull motor pulls the two transmission shafts 4 outward for a distance, disengaging the dog clutch 14.

[0083] (2) The connecting shaft lifting module 33 begins to descend. When it descends to the initial position, the push rod motor 331 pushes the connecting shaft 32 back to its original position, and the single-axis operation mode is ready.

[0084] 3. In the electronic synchronous operation mode, the control method includes the following steps:

[0085] (1) The main control module reads the barometric altitude data from the pressure sensor, the three-axis acceleration and angular velocity data from the accelerometer and gyroscope, the route data from the magnetic compass, the GPS position data, and the speed data;

[0086] (2) Calculate the rotation speed of the power motor and the tilt angle of the tilt motor, and send a signal to the motor control module to control the rotation state of each motor, so as to keep the rotation speed and angle of the two tilt motors basically the same.

[0087] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0088] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to preferred embodiments, persons skilled in the art should understand that the specific implementation methods of the present invention may still be modified or some technical features may be replaced by equivalents without departing from the spirit of the technical solutions of the present invention, and all of these should fall within the scope of the technical solutions claimed for protection by the present invention.

Claims

1. A variable cycle aircraft blade adjustment device, characterized in that: include: The connecting shaft lifting and belt rotating device comprises a housing, a connecting shaft housed inside the housing, a connecting shaft lifting module and a connecting shaft belt rotating module. The tilt motor includes a first tilt motor and a second tilt motor arranged in a horizontal direction, which are respectively installed on the left and right sides of the housing via a transmission shaft. The power motor includes a first power motor and a second power motor arranged in a vertical direction, one end of the top main shaft of which is connected to the blade, a connecting block is fixed at the bottom, and the first tilt motor and the second tilt motor main shaft are connected respectively through the buckle end on the left or right side of the connecting block, and A push-pull motor, comprising a first push-pull motor and a second push-pull motor arranged in a horizontal direction, wherein the main shaft thereof is connected to a connecting block on a side opposite to the buckle end, and is used for pushing and pulling the transmission shaft; The connecting shaft lifting module includes a push rod motor fixed to the bottom of the inner side of the shell; a lifting frame, a concave-shaped bracket arranged in the horizontal direction, arranged above the push rod motor, and its bottom is connected to the main shaft of the push rod motor, used to support and drive the connecting shaft to the specified position; a connecting shaft outer worm gear, which is sleeved on the middle position of the outer side of the connecting shaft; The connecting shaft belt rotation module is arranged above the connecting shaft lifting module, and the connecting shaft belt rotation module includes a connecting shaft belt rotation motor, which is fixed to the rear side wall inside the shell; the connecting shaft belt rotation worm is arranged in a perpendicular direction to the connecting shaft and connected to the main shaft of the connecting shaft belt rotation motor, and is used to engage with the worm gear on the outer sleeve of the connecting shaft for transmission; The push rod motor in the connecting shaft lifting module drives the connecting shaft to rise and fall, thereby realizing the mutual engagement and separation of the connecting shaft belt worm and the connecting shaft outer sleeve worm wheel, as well as the nesting and separation between the connecting shaft and the transmission shaft.

2. The variable cycle aircraft blade adjustment device according to claim 1, characterized in that: The connecting shaft is placed on the lifting frame in a horizontal direction, and a slideway is provided along the lifting path of the connecting shaft on the inner side of the shell.

3. The variable cycle aircraft blade adjustment device according to claim 1, characterized in that: The connecting shaft belt rotation module is arranged above the connecting shaft lifting module, and further comprises: A rotary encoder is connected to the contact shaft and the main shaft of the rotating motor.

4. The variable cycle aircraft blade adjustment device according to claim 1, characterized in that: The left and right ends of the connecting shaft are provided with tooth clutches for embedding the transmission shaft.

5. The variable cycle aircraft blade adjustment device according to claim 4, characterized in that: A tooth clutch is provided on one end of the transmission shaft connected to the left and right sides of the housing. The tooth clutches on the transmission shaft and the connecting shaft cooperate and nest with each other to achieve connection between the transmission shaft and the connecting shaft.

6. The variable cycle aircraft blade adjustment device according to claim 1, characterized in that: A control unit connected to the tilt motor and the power motor by wire is also provided inside the housing, and the control unit further includes a main control module and a motor control module; Among them, the main control module calculates the speed of the power motor and the tilt angle of the tilt motor by reading the air pressure altitude data of the air pressure sensor, the three-axis acceleration and angular velocity data of the acceleration sensor and gyroscope, the route data of the magnetic compass, the GPS position data and the speed data, and sends a signal to the motor control module to control the rotation state of each motor.

7. The control method of a variable cycle aircraft blade adjustment device according to any one of claims 1 to 6, characterized in that: When the variable cycle aircraft blade adjustment device is switched from other modes to the mechanical synchronous operation mode, the control method includes the following steps: The push-pull motor drives the transmission shaft to move outward for a certain distance, and the lifting frame drives the connecting shaft to lift vertically upwards under the drive of the push rod motor until it is concentric with the two transmission shafts; The worm gear on the outer sleeve of the connecting shaft meshes with the worm on the connecting shaft, and the drive shaft is pushed inward by the push-pull motor, and the tooth clutch is used to nest and clamp the left and right ends of the connecting shaft with the drive shaft at the opposite end of the connecting shaft. A spring buckle is provided on the inner wall of the shell. When the transmission shaft is pushed inward to a specified position, the buckle clamps and fixes the tilting motor, the connecting shaft lifting module drops to the initial position, and the mechanical synchronous tilting mode is ready.

8. The control method of the variable cycle aircraft blade adjustment device according to claim 7, characterized in that: When the variable cycle aircraft blade adjustment device is switched from other modes to the mechanical single-axis operation mode, the control method includes the following steps: The connecting shaft lifting module rises to a specified position and fixes the connecting shaft, and then the push-pull motor pulls the two transmission shafts outwards for a distance, disengaging the dog clutch; The connecting shaft lifting module starts to descend, and when it descends to the initial position, the push rod motor pushes the connecting shaft back to its original position, and the single-axis operation mode is ready.

9. The control method of the variable cycle aircraft blade adjustment device according to claim 7, characterized in that: When the variable cycle aircraft blade adjustment device is switched from other modes to the electronic synchronous operation mode, the following steps are included: The main control module reads the barometric altitude data from the barometric pressure sensor, the three-axis acceleration and angular velocity data from the accelerometer and gyroscope, the route data from the magnetic compass, the GPS position data, and the speed data; The rotation speed of the power motor and the tilt angle of the tilt motor are calculated, and a signal is sent to the motor control module to control the rotation state of each motor, thereby keeping the rotation speed and angle of the two tilt motors the same.

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