An ultra-micro bionic rotor flight control device and control method

Abstract

The application discloses an ultra-micro bionic rotor flight control device and a control method. The device comprises an ultra-micro rotor, an ultra-micro rotor rotating shaft is arranged through the center of the ultra-micro rotor, two piezoelectric ceramics are symmetrically arranged on the top of the ultra-micro rotor rotating shaft, a first carbon rod is connected to the bottom of the piezoelectric ceramics, micro bearings are sleeved on both ends of the first carbon rod, a transmission connecting rod is connected to the first carbon rod between the two micro bearings, the other end of the transmission connecting rod is fixed on the ultra-micro rotor, a driving motor and a conductive device are sequentially connected to the bottom of the ultra-micro rotor rotating shaft, the driving motor is arranged at the bottom of the ultra-micro rotor rotating shaft, the rotation movement of the ultra-micro rotor is ensured, the energy conversion of the piezoelectric ceramics is achieved by transmitting electric energy to the conductive device, the pitch angle of the ultra-micro rotor is adjusted through the micro rotating shaft and the transmission connecting rod, the flight attitude of the ultra-micro rotor can be effectively adjusted when the ultra-micro rotor flies at a low Reynolds number, and the flight performance of the ultra-micro rotor is improved.

Description

Technical Field

[0001] This invention relates to the field of ultra-micro rotor control technology, specifically to an ultra-micro bionic rotor flight control device and its control method. Background Technology

[0002] Micro-sized aircraft are small, lightweight, and easy to carry. They have multiple flight capabilities, including low-speed flight, vertical take-off and landing, and hovering. They can be used for unmanned reconnaissance, information transmission, and target tracking in complex and narrow spaces. They can also be used for environmental monitoring, disaster investigation, and search and rescue, and have important military and civilian value.

[0003] Because micro rotors fly at extremely low Reynolds numbers, the influence of viscous forces increases significantly, which can easily lead to laminar separation and thus reduce the aerodynamic performance of the rotor.

[0004] To improve the aerodynamic performance of micro rotors, conventional optimization design methods mainly focus on improving rotor geometry and aerodynamic layout. However, due to size limitations, these methods cannot effectively improve the aerodynamic performance of micro rotors, nor can they effectively adjust the flight attitude of micro rotors. Summary of the Invention

[0005] The purpose of this invention is to provide a method for calculating the current gear position, so as to overcome the problem that the existing technology is limited by size and cannot effectively improve the aerodynamic performance of micro rotors or effectively adjust the flight attitude of micro rotors.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A micro-miniature biomimetic rotor flight control device includes a micro-miniature rotor with a micro-miniature rotor shaft running through its center. Two symmetrically arranged piezoelectric ceramics are connected to the top of the micro-miniature rotor shaft, and a first carbon rod is connected to the bottom of the piezoelectric ceramics. Micro-bearings are sleeved at both ends of the first carbon rod. A transmission link is connected to the first carbon rod located between the two micro-bearings. One end of the transmission link is connected to the first carbon rod, and the other end of the transmission link is fixed to the micro-miniature rotor. A drive motor and a conductive device are sequentially connected to the bottom of the micro-miniature rotor shaft.

[0008] Preferably, the transmission link includes a support leg and a column. There are two support legs, which are connected to a first carbon rod between the two miniature bearings. The column is integrally formed with the support leg and is fixed to the micro rotor.

[0009] Preferably, the two symmetrically arranged tubular columns are connected by a second carbon rod.

[0010] Preferably, the conductive device includes a conductive sheet and a conductive spring, wherein the conductive sheet has a hole in its center and the conductive spring is fixed in the hole.

[0011] Preferably, the conductive device includes a first conductive sheet and a second conductive sheet, the first conductive sheet being fixed at the bottom and the second conductive sheet rotating with the micro rotor shaft.

[0012] Preferably, the micro rotor shaft has a wire inside, which connects a conductive device and a piezoelectric ceramic.

[0013] Preferably, the diameter of both the first carbon rod and the second carbon rod is 1.5 mm.

[0014] Preferably, the inner diameter of the miniature bearing is 1.5 mm and the outer diameter is 4 mm.

[0015] Preferably, the rotation angle of the miniature bearing is less than or equal to 8°.

[0016] A control method for an ultra-miniature biomimetic rotor flight control device, based on the aforementioned device, characterized in that it includes pitch angle control and rotation speed control;

[0017] The pitch angle control specifically involves activating a conductive device to generate electrical energy, which is then transmitted to a piezoelectric ceramic via the micro rotor shaft. The piezoelectric ceramic converts the electrical energy into mechanical energy, which in turn drives the micro rotor shaft to rotate. The micro rotor shaft then drives a transmission link to rotate around a first carbon rod. The transmission link then drives the micro rotor to adjust its pitch angle. The pitch angle of the micro rotor is controlled by changing the amount of electrical energy generated by the conductive device.

[0018] The rotation speed control specifically involves turning on the drive motor to drive the micro rotor shaft to rotate, and the micro rotor shaft to drive the micro rotor to rotate. The rotation speed of the micro rotor is adjusted by changing the power of the drive motor.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides an ultra-micro bionic rotor flight control device. By setting an ultra-micro rotor shaft through the center of the ultra-micro rotor and setting a drive motor at the bottom of the ultra-micro rotor shaft, the rotational motion of the ultra-micro rotor is ensured. At the same time, the energy conversion of electrical energy transmitted by the piezoelectric ceramic to the conductive device is achieved through the micro rotor shaft and transmission linkage to realize the adjustment of the pitch angle of the ultra-micro rotor. This ensures that the ultra-micro rotor can effectively adjust its flight attitude at low Reynolds numbers and improves the flight performance of the ultra-micro rotor.

[0020] Furthermore, the transmission linkage includes two legs and a column. The two legs are connected to the first carbon rod between two miniature bearings. The column is integrally formed with the legs and is fixed on the micro rotor, realizing the transmission of kinetic energy and further realizing the pitch angle adjustment of the micro rotor.

[0021] Furthermore, the two symmetrically arranged tubes are connected by a second carbon rod, ensuring that the motion patterns on both sides of the micro rotor are consistent.

[0022] The present invention also provides a control method for an ultra-miniature bionic rotor flight control device, which can simply and effectively adjust the pitch angle and rotation speed of the ultra-miniature rotor. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of an ultra-miniature bionic rotor flight control device according to the present invention;

[0024] Figure 2 This is a schematic diagram of the ultra-miniature rotor of the present invention;

[0025] Figure 3 This is a schematic diagram of the transmission linkage structure of the present invention;

[0026] Figure 4 This is a schematic diagram of the miniature bearing of the present invention;

[0027] Figure 5 This is a schematic diagram of the conductive device of the present invention;

[0028] Figure 6 This is a schematic diagram of the motion of the ultra-micro rotor of the present invention;

[0029] Figure 7 This is a schematic diagram of the working state of the piezoelectric ceramic of the present invention;

[0030] In the diagram, 1-piezoelectric ceramic, 2-miniature bearing, 3-transmission link, 4-micro rotor, 5-micro rotor shaft, 6-drive motor, 7-conductive device. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0034] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0037] The present invention will now be described in further detail with reference to the accompanying drawings:

[0038] like Figure 1 As shown, the present invention provides an ultra-miniature bionic rotor flight control device, characterized in that it includes an ultra-miniature rotor 4, an ultra-miniature rotor shaft 5 through which the ultra-miniature rotor 4 is disposed, two symmetrically arranged piezoelectric ceramics 1 are connected to the top of the ultra-miniature rotor shaft 5, a first carbon rod is connected to the bottom of the piezoelectric ceramics 1, micro bearings 2 are sleeved at both ends of the first carbon rod, a transmission link 3 is connected to the first carbon rod located between the two micro bearings 2, one end of the transmission link 3 is connected to the first carbon rod, and the other end of the transmission link 3 is fixed to the ultra-miniature rotor 4, and a drive motor 6 and a conductive device 7 are sequentially connected to the bottom of the ultra-miniature rotor shaft 5.

[0039] By having a micro rotor shaft 5 running through the center of the micro rotor 4, and a drive motor 6 at the bottom of the micro rotor shaft 5, the rotational motion of the micro rotor 4 is ensured. At the same time, the energy conversion of electrical energy transmitted by the piezoelectric ceramic 1 to the conductive device 7 is achieved through the micro rotor shaft 5 and the transmission linkage 3, thus realizing the adjustment of the pitch angle of the micro rotor 4. This ensures that the micro rotor 4 can effectively adjust its flight attitude at low Reynolds numbers, thereby improving the flight performance of the micro rotor 4.

[0040] Another embodiment of the present invention provides an ultra-miniature biomimetic rotor flight control device, the specific structure of which is as follows:

[0041] The rotor includes a micro rotor 4, with a micro rotor shaft 5 running through its center. Two symmetrically arranged piezoelectric ceramics 1 are connected to the top of the micro rotor shaft 5. A first carbon rod is connected to the bottom of each piezoelectric ceramic 1. Micro bearings 2 are sleeved at both ends of the first carbon rod. A transmission link 3 is connected to the first carbon rod located between the two micro bearings 2. One end of the transmission link 3 is connected to the first carbon rod, and the other end is fixed to the micro rotor 4. A drive motor 6 and a conductive device 7 are sequentially connected to the bottom of the micro rotor shaft 5. Figure 3 As shown, the transmission link 3 includes a support leg and a column. There are two support legs, which are connected to the first carbon rod between the two miniature bearings 2. The column is integrally formed with the support leg and is fixed on the micro rotor 4, which further realizes the pitch angle adjustment of the micro rotor.

[0042] Another embodiment of the present invention provides an ultra-miniature biomimetic rotor flight control device, the specific structure of which is as follows:

[0043] The device includes a micro rotor 4, with a micro rotor shaft 5 running through its center. Two symmetrically arranged piezoelectric ceramics 1 are connected to the top of the micro rotor shaft 5. A first carbon rod is connected to the bottom of each piezoelectric ceramic 1. Micro bearings 2 are sleeved at both ends of the first carbon rod. A transmission link 3 is connected to the first carbon rod located between the two micro bearings 2. One end of the transmission link 3 is connected to the first carbon rod, and the other end is fixed to the micro rotor 4. A drive motor 6 and a conductive device 7 are sequentially connected to the bottom of the micro rotor shaft 5. The transmission link 3 includes two legs connected to the first carbon rod between the two micro bearings 2. The link is integrally formed with the legs and fixed to the micro rotor 4. The two symmetrically arranged links are connected by a second carbon rod.

[0044] Another embodiment of the present invention provides an ultra-miniature biomimetic rotor flight control device, the specific structure of which is as follows:

[0045] The device includes a micro rotor 4, with a micro rotor shaft 5 running through its center. Two symmetrically arranged piezoelectric ceramics 1 are connected to the top of the micro rotor shaft 5, and a first carbon rod is connected to the bottom of each piezoelectric ceramic 1. Micro bearings 2 are sleeved at both ends of the first carbon rod, and a transmission link 3 is connected to the first carbon rod located between the two micro bearings 2. One end of the transmission link 3 is connected to the first carbon rod, and the other end of the transmission link 3 is fixed to the micro rotor 4. A drive motor 6 and a conductive device 7 are sequentially connected to the bottom of the micro rotor shaft 5. The conductive device 7 includes a conductive sheet and a conductive spring. A hole is provided in the center of the conductive sheet, and the conductive spring is fixed in the hole.

[0046] Another embodiment of the present invention provides an ultra-miniature biomimetic rotor flight control device, the specific structure of which is as follows:

[0047] The rotor includes a micro rotor 4, with a micro rotor shaft 5 running through its center. Two symmetrically arranged piezoelectric ceramics 1 are connected to the top of the micro rotor shaft 5. A first carbon rod is connected to the bottom of each piezoelectric ceramic 1. Micro bearings 2 are sleeved at both ends of the first carbon rod. A transmission link 3 is connected to the first carbon rod located between the two micro bearings 2. One end of the transmission link 3 is connected to the first carbon rod, and the other end is fixed to the micro rotor 4. A drive motor 6 and a conductive device 7 are sequentially connected to the bottom of the micro rotor shaft 5. Figure 5 The conductive device 7 shown includes a first conductive sheet and a second conductive sheet. The first conductive sheet is fixed at the bottom, and the second conductive sheet rotates with the micro rotor shaft 5.

[0048] Another embodiment of the present invention provides an ultra-miniature biomimetic rotor flight control device, the specific structure of which is as follows:

[0049] The device includes a micro rotor 4, with a micro rotor shaft 5 running through its center. Two symmetrically arranged piezoelectric ceramics 1 are connected to the top of the micro rotor shaft 5. A first carbon rod is connected to the bottom of each piezoelectric ceramic 1, and micro bearings 2 are sleeved at both ends of the first carbon rod. A transmission rod 3 is connected to the first carbon rod located between the two micro bearings 2. One end of the transmission rod 3 is connected to the first carbon rod, and the other end is fixed to the micro rotor 4. A drive motor 6 and a conductive device 7 are sequentially connected to the bottom of the micro rotor shaft 5. A wire is installed inside the micro rotor shaft 5, connecting the conductive device 7 and the piezoelectric ceramics 1.

[0050] Another embodiment of the present invention provides an ultra-miniature biomimetic rotor flight control device, the specific structure of which is as follows:

[0051] The device includes a micro rotor 4, with a micro rotor shaft 5 running through its center. Two symmetrically arranged piezoelectric ceramics 1 are connected to the top of the micro rotor shaft 5. A first carbon rod is connected to the bottom of each piezoelectric ceramic 1, and micro bearings 2 are sleeved at both ends of the first carbon rod. A transmission rod 3 is connected to the first carbon rod located between the two micro bearings 2. One end of the transmission rod 3 is connected to the first carbon rod, and the other end is fixed to the micro rotor 4. A drive motor 6 and a conductive device 7 are sequentially connected to the bottom of the micro rotor shaft 5. The diameter of both the first and second carbon rods is 1.5 mm.

[0052] Another embodiment of the present invention provides an ultra-miniature biomimetic rotor flight control device, the specific structure of which is as follows:

[0053] The rotor includes a micro rotor 4, with a micro rotor shaft 5 running through its center. Two symmetrically arranged piezoelectric ceramics 1 are connected to the top of the micro rotor shaft 5. A first carbon rod is connected to the bottom of each piezoelectric ceramic 1. Micro bearings 2 are sleeved at both ends of the first carbon rod. A transmission link 3 is connected to the first carbon rod located between the two micro bearings 2. One end of the transmission link 3 is connected to the first carbon rod, and the other end is fixed to the micro rotor 4. A drive motor 6 and a conductive device 7 are sequentially connected to the bottom of the micro rotor shaft 5. Figure 4 As shown, the inner diameter of the miniature bearing 2 is 1.5 mm and the outer diameter is 4 mm.

[0054] Another embodiment of the present invention provides an ultra-miniature biomimetic rotor flight control device, the specific structure of which is as follows:

[0055] The device includes a micro rotor 4, with a micro rotor shaft 5 running through its center. Two symmetrically arranged piezoelectric ceramics 1 are connected to the top of the micro rotor shaft 5, and a first carbon rod is connected to the bottom of each piezoelectric ceramic 1. Micro bearings 2 are sleeved at both ends of the first carbon rod. A transmission link 3 is connected to the first carbon rod located between the two micro bearings 2. One end of the transmission link 3 is connected to the first carbon rod, and the other end of the transmission link 3 is fixed to the micro rotor 4. A drive motor 6 and a conductive device 7 are sequentially connected to the bottom of the micro rotor shaft 5. The rotation angle of the micro bearings 2 is less than or equal to 8°.

[0056] like Figure 2 As shown, the micro rotor 4 is made by pressing carbon fiber cloth, epoxy resin and curing agent in a mold. The carbon fiber cloth consists of six layers, which are laid crosswise along the fiber direction. The ratio of epoxy resin to curing agent is 10:3. The carbon fiber cloth must be completely impregnated. After that, it is placed in the prepared mold and pressed for 8 hours to complete the process.

[0057] like Figure 6As shown, the present invention also provides a control method for an ultra-miniature bionic rotor flight control device, including pitch angle control and rotation speed control;

[0058] The pitch angle control is specifically achieved by activating the conductive device 7 to generate electrical energy, which is then transmitted to the piezoelectric ceramic 1 via the micro rotor shaft 5. The piezoelectric ceramic 1 converts the electrical energy into mechanical energy, which drives the micro rotor shaft 2 to rotate. The micro rotor shaft 2 drives the transmission link 3 to rotate around the first carbon rod. The transmission link 3 drives the micro rotor 4 to adjust the pitch angle. The pitch angle of the micro rotor 4 is controlled by changing the amount of electrical energy generated by the conductive device.

[0059] The rotation speed control is specifically achieved by turning on the drive motor 6 to drive the micro rotor shaft 5 to rotate, and the micro rotor shaft 5 to drive the micro rotor 4 to rotate. The rotation speed of the micro rotor 4 is adjusted by changing the power of the drive motor 6.

[0060] Meanwhile, the control law was studied and analyzed when active control was carried out. First, the performance of piezoelectric ceramics was studied.

[0061] A performance analysis and testing platform was built. Piezoelectric actuation was achieved through the inverse piezoelectric effect of the piezoelectric ceramic sheet, fixing the top end of the ceramic sheet while allowing displacement of the free end. The piezoelectric ceramic sheet used was primarily PZT piezoelectric ceramic, utilizing the transverse piezoelectric effect, i.e., the piezoelectric coefficient d31. Under static conditions, it exhibits significant creep characteristics; therefore, piezoelectric ceramic sheets are mainly used in dynamic applications. Figure 7 The figure shows the motion and parameters of the ceramic blade in operation. The ceramic blade used is 20mm long and operates at 200V AC. It can generate a displacement of 0.3mm at the free end to drive the blade pitch motion.

[0062] Secondly, the biomimetic motion of the rotor is addressed, and its mathematical model is established to gain a detailed understanding of its overall motion state. For the case of unsteady rotor motion, the overall rotation axis direction is chosen as the Z-axis, the rotor blade spanwise direction as the X-axis, and the Y-axis direction is determined by the right-hand rule. The rotor motion is shown in the attached figure. Figure 6 As shown, it can move in two degrees of freedom relative to the overall axis of rotation: rotation about the Z-axis and rotation about the X-axis. The blade pitches near its quarter chord point at a set rotational rate.

[0063] To better describe the motion of the biomimetic rotor, the following coordinate systems were established for analysis, further completing the mathematical model: inertial coordinate systems Xf, Yf, Zf; body coordinate systems Xb, Yb, Zb; and blade coordinate systems Xw, Yw, Zw. Euler angles were introduced to facilitate transformations between coordinate systems, serving as an intermediary to obtain the transformation equations for each system. The transformation equation from the body coordinate system to the inertial coordinate system is shown in Equation 1:

[0064]

[0065] The transformation equation between the blade coordinate system and the body coordinate system is shown in Equation 2:

[0066]

[0067] In the formula: θ and φ are the Euler angles between the inertial frame and the machine frame. θ w φ w The Euler angle between the engine system and the propeller system.

[0068] The equation for the angular velocity transformation between the body coordinate system and Euler angles is:

[0069]

[0070] Based on the above equations, the various motion parameters are unified in a certain coordinate system, thereby completing the derivation and calculation of the mathematical model.

[0071] The equations of motion for the micro rotor 4 consist of two parts. One part is the overall equation, which describes the overall motion characteristics of the rotor in the inertial frame, including displacement and velocity in various spatial directions. The other part is the rotor attitude equation, which describes the changes in the rotor's attitude characteristics in space. Since the forces acting on the rotor are fixed to its attitude, the rotor attitude will have a significant impact on the rotor's motion.

[0072] To facilitate the establishment of the mathematical model, the geometric or kinematic parameters of the rotor are specified. Let the total mass of the rotor be m. all The mass of the blade is m b The moment of inertia is I b The blade mass is m w The quantity is i, and the moment of inertia is I. w The moment of inertia of a point on the rotor about a quarter chord is I. L The vector from the origin of the inertial frame to the rotor's center of mass is R. c The vector from the wing root to the rotor center of mass is R. h The vector from the blade's centroid to the blade is R. w The perpendicular vector from each point on the blade to the quarter chord is R. L The distance from the foot of the vertical blade to the center of mass of the blade is R. p The distance from each point on the rotor to the rotor's center of mass is R, and the distance to the origin of the inertial frame is R'. l The inertial frame of reference is denoted by f, the mechanical frame by b, and the propeller frame by w. The lift generated by the rotor is F. A The acceleration of the center of mass is v c The angular velocity in the machine system is ω bThe torque about the origin of the inertial frame is M l The blade angular velocity of the propeller system is ω. L The torque about the rotor's center of mass is M A .

[0073] A. Equations of motion

[0074] From the above definition, we can obtain that m all =m b +i×m w First, list the velocity and momentum equations for the entire rotor. The velocity equations for each point on the rotor relative to the origin of the inertial frame are:

[0075]

[0076] The momentum equations for each point on the rotor are:

[0077]

[0078] Based on Newton's second law of motion:

[0079]

[0080] The sum of the internal and external forces acting on each point on the blade is:

[0081]

[0082] For each point on the blade f R = f R h + f R w + f R L + f R p Therefore, we can obtain:

[0083]

[0084] By combining equations 7 and 8, we can obtain:

[0085]

[0086] Equation 9 is the rotor inertial equation established in the inertial frame, while velocity and acceleration are expressed in the machine frame. Therefore, establishing the relationship between the two coordinate systems, in the machine frame, we can obtain:

[0087]

[0088]

[0089] Substituting the geometric and motion variables from the model into Equations 10 and 11 yields:

[0090]

[0091]

[0092]

[0093] Substituting the obtained equations into Newton's second law of motion, we get the equations of motion for the micro rotor 4 as follows:

[0094] B-attitude equation

[0095] The rotor's attitude equations are established based on the rotor's overall angular momentum equation, which is:

[0096] d f H = f R l × f vdm (16)

[0097] Also based on Newton's second law of motion:

[0098] Based on the principle of velocity superposition, the velocity at any point on the rotor... f v is:

[0099]

[0100] For any point on the blade, there exists R = R h +R w +R L +R p Therefore, we get:

[0101]

[0102] Solving the above three equations simultaneously yields the following:

[0103]

[0104] The above formula is decomposed and analyzed term by term.

[0105] Since R is a vector relative to the rotor's center of mass, the first term in the above equation can be transformed into:

[0106] Similarly, the second term can be converted to:

[0107]

[0108] The third item can be converted to:

[0109]

[0110] The fourth item can be converted to:

[0111]

[0112] In the formula:

[0113]

[0114] After simplifying the four terms, the original expression is:

[0115]

[0116] f Taking the derivative of H with respect to time t, we get:

[0117]

[0118] The equation for the external torque on the rotor can be written as follows:

[0119]

[0120] Where M1 is the torque acting on the rotor about the origin of the frame of inertia, and M is the torque acting on the rotor about its center of mass. Substituting equations 29 and 28 into equation 8, we get:

[0121]

[0122] Transforming the parameters of the inertial frame in Equation 3-31 into the mechanical frame, we obtain the following equation:

[0123]

[0124]

[0125]

[0126]

[0127] Substituting the various equations of the above system into Equation 29, we get:

[0128]

[0129] This equation is the attitude equation for the micro rotor 4.

[0130] Based on a complete mathematical model, its aerodynamic performance was simulated and analyzed to obtain relatively optimal pitch angle and pitch frequency, thereby obtaining the appropriate voltage and frequency for the piezoelectric ceramic. The data was then used for experimental verification to obtain an actively controlled micro-bionic rotor with better aerodynamic performance.

[0131] Although embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments and application fields described above. The specific embodiments described above are merely illustrative and instructive, and not restrictive. Those skilled in the art, guided by the specification, can make many other modifications without departing from the scope of the claims of the present invention, and all of these modifications are within the scope of protection of the present invention.

Claims

1. A micro-miniature bionic rotor flight control device, characterized in that, The device includes a micro rotor (4), with a micro rotor shaft (5) running through the center of the micro rotor (4). Two symmetrically arranged piezoelectric ceramics (1) are connected to the top of the micro rotor shaft (5), and a first carbon rod is connected to the bottom of the piezoelectric ceramics (1). Micro bearings (2) are sleeved at both ends of the first carbon rod. A transmission link (3) is connected to the first carbon rod between the two micro bearings (2). One end of the transmission link (3) is connected to the first carbon rod, and the other end of the transmission link (3) is fixed to the micro rotor (4). A drive motor (6) and a conductive device (7) are sequentially connected to the bottom of the micro rotor shaft (5). The transmission link (3) includes a support leg and a column. There are two support legs, which are connected to the first carbon rod between the two micro bearings (2). The column is integrally formed with the support leg and is fixed on the micro rotor (4). The conductive device (7) includes a conductive sheet and a conductive spring. The conductive sheet has a hole in the center and the conductive spring is fixed in the hole.

2. The ultra-miniature bionic rotor flight control device according to claim 1, characterized in that, The two symmetrically arranged tubular columns are connected by a second carbon rod.

3. The ultra-miniature bionic rotor flight control device according to claim 1, characterized in that, The conductive device (7) includes a first conductive sheet and a second conductive sheet. The first conductive sheet is fixed at the bottom, and the second conductive sheet rotates with the micro rotor shaft (5).

4. The ultra-miniature bionic rotor flight control device according to claim 1, characterized in that, The micro rotor shaft (5) is equipped with a wire inside, which connects the conductive device (7) and the piezoelectric ceramic (1).

5. The ultra-miniature bionic rotor flight control device according to claim 1, characterized in that, The diameter of both the first carbon rod and the second carbon rod is 1.5 mm.

6. The ultra-miniature bionic rotor flight control device according to claim 1, characterized in that, The miniature bearing (2) has an inner diameter of 1.5 mm and an outer diameter of 4 mm.

7. The ultra-miniature bionic rotor flight control device according to claim 1, characterized in that, The rotation angle of the miniature bearing (2) is less than or equal to 8°.

8. A control method for an ultra-miniature bionic rotor flight control device, based on the ultra-miniature bionic rotor flight control device described in claims 1-7, characterized in that, This includes pitch control and yaw rate control; The pitch angle control specifically involves turning on the conductive device (7) to generate electrical energy, which is then transmitted to the piezoelectric ceramic (1) via the micro rotor shaft (5). The piezoelectric ceramic (1) converts the electrical energy into mechanical energy, which drives the micro bearing (2) to rotate. The micro bearing (2) drives the transmission link (3) to rotate around the first carbon rod. The transmission link (3) drives the micro rotor (4) to adjust the pitch angle. The pitch angle of the micro rotor (4) is controlled by changing the amount of electrical energy generated by the conductive device. The rotation speed control is specifically achieved by turning on the drive motor (6) to drive the micro rotor shaft (5) to rotate, and the micro rotor shaft (5) to drive the micro rotor (4) to rotate. The rotation speed of the micro rotor (4) is adjusted by changing the power of the drive motor (6).

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