Coaxial twin-rotor helicopter rotor folding and unfolding control system

Abstract

The present application relates to the technical field of helicopters, and discloses a coaxial dual-rotor helicopter rotor folding and unfolding control system, which comprises a sensor module for sensing the position, speed, attitude and other information of the rotor, including a gyroscope, an accelerometer, a barometer and the like; a flight control module for being responsible for controlling the entire rotor system to ensure the stability of the helicopter during folding and unfolding, including a flight control algorithm and a control law; and a motor and actuator control module for being responsible for controlling the motor and actuator on the rotor to realize folding and unfolding of the rotor. By additionally arranging a state monitoring and fault detection module, the state of each key component and sensor of the rotor folding and unfolding control system can be monitored in real time, and faults can be found and diagnosed in time. By detecting faults and providing corresponding fault information, the pilot or maintenance personnel can be helped to quickly locate the problem, reduce the troubleshooting time, and improve the reliability and safety of the system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of helicopters, in particular to a coaxial dual-rotor helicopter rotor folding and unfolding control system. BACKGROUND

[0002] The existing coaxial dual-rotor helicopters need to be folded when parked, stored or transported on the ground to reduce the size and space occupation of the helicopter. At the same time, the rotors need to be unfolded before flight to ensure the normal take-off and flight operation of the helicopter. Currently, the folding and unfolding operations of the rotors are usually performed manually, which requires the pilots or maintenance personnel to have certain professional knowledge and skills. In addition, due to the complex operation process and dependence on manual judgment and control, there may be problems such as misoperation, inaccurate folding and unfolding, safety hazards, etc. Moreover, the existing folding and unfolding control systems usually lack real-time monitoring and fault detection capabilities for the rotor state, and cannot timely discover and diagnose potential faults, resulting in safety hazards. Therefore, the coaxial dual-rotor helicopter rotor folding and unfolding control system is proposed by the person skilled in the art to solve the above problems. SUMMARY

[0003] In view of the deficiencies of the prior art, the coaxial dual-rotor helicopter rotor folding and unfolding control system is provided to solve the problem that the folding of the rotors of the coaxial dual-rotor helicopter in the prior art lacks real-time monitoring and fault detection capabilities for the rotor state, cannot timely discover and diagnose potential faults, and results in safety hazards.

[0004] To achieve the above purpose, the following technical solutions are adopted: the coaxial dual-rotor helicopter rotor folding and unfolding control system comprises:

[0005] A sensor module for sensing the position, speed, attitude and other information of the rotors, including a gyroscope, an accelerometer, a barometer, etc.

[0006] A flight control module for controlling the entire rotor system to ensure the stability of the helicopter during folding and unfolding, including flight control algorithms and control laws.

[0007] A motor and actuator control module for controlling the motors and actuators on the rotors to achieve folding and unfolding of the rotors.

[0008] A communication module for communicating with the ground station or other helicopter systems to receive commands or send status information.

[0009] A power system control module, if the coaxial dual-rotor helicopter adopts a hybrid power system, this module will be responsible for coordinating different power sources such as electric motors and gas turbines.

[0010] Folding and unfolding mechanism control module, responsible for manipulating the mechanical structure of the rotor, ensuring correct execution during folding and unfolding;

[0011] State monitoring and fault detection module, monitors the system's state, detects possible faults and takes appropriate measures to ensure safe operation;

[0012] Positioning and navigation module, ensures accurate positioning and navigation of the helicopter in space during folding and unfolding.

[0013] Preferably, the sensor module includes:

[0014] Gyroscope unit, measures the angular velocity of the rotor, providing information about the helicopter's attitude changes;

[0015] Accelerometer unit, measures the linear acceleration of the rotor and calculates the acceleration and tilt angle of the helicopter;

[0016] Magnetometer unit, detects the Earth's magnetic field, providing information about the helicopter's direction;

[0017] Barometer unit, measures atmospheric pressure to estimate the height of the helicopter;

[0018] GPS receiver unit, acquires Global Positioning System signals, providing accurate positioning information for the helicopter;

[0019] Visual sensor unit, monitors the environment around the helicopter in real time to support navigation and obstacle avoidance.

[0020] Preferably, the flight control module includes:

[0021] Attitude control unit, responsible for controlling the attitude of the helicopter, ensuring the desired direction during folding and unfolding;

[0022] Altitude control unit, maintains the height of the helicopter, especially during folding and unfolding to ensure smooth changes in height;

[0023] Position control unit, ensures the stability of the helicopter's position in three-dimensional space;

[0024] Speed control unit, controls the speed of the helicopter to ensure smooth changes in speed during folding and unfolding;

[0025] Control law unit, contains mathematical models and algorithms that generate appropriate control commands based on sensor feedback and flight mission requirements;

[0026] Overload protection unit, monitors system load to prevent exceeding the rated performance of the helicopter or system.

[0027] Preferably, the power system control module includes:

[0028] A generator control unit for managing the operation of the generator, monitoring power generation, and coordinating with other power sources;

[0029] A power monitoring unit for monitoring the power consumption of the entire system and assessing the performance of the system in real time;

[0030] A thermal management unit for ensuring that each component in the system operates within the appropriate temperature range, preventing overheating or overcooling.

[0031] Preferably, the state monitoring and fault detection module includes:

[0032] A sensor interface unit for communicating with various sensors, including but not limited to gyroscopes, accelerometers, magnetometers, barometers, temperature sensors, humidity sensors, etc., to collect state information of each system of the helicopter;

[0033] A data acquisition unit responsible for collecting data from sensors and other systems, converting them into processable digital signals for subsequent analysis and processing;

[0034] A state monitoring unit for real-time analysis using sensor data and pre-set thresholds to detect the state of each system of the helicopter, including the power system, the power system, the flight control system, etc.;

[0035] A fault diagnosis unit for identifying possible faults in the system based on sensor data and pre-set fault models, and generating corresponding fault reports or warnings;

[0036] A health management unit for comprehensive analysis of state and fault information, providing an overall assessment of the health of the helicopter to support decision-making and maintenance planning;

[0037] A troubleshooting unit for providing corresponding guidelines or suggestions based on fault diagnosis results to support maintenance and fault repair work.

[0038] Preferably, the positioning and navigation module includes:

[0039] A receiving unit for receiving signals from satellites or other positioning systems for determining position and time information;

[0040] A positioning calculation unit for processing signals obtained from the receiving unit, performing triangulation, Doppler effect, etc. algorithms to calculate the position of the device;

[0041] An inertial navigation unit using sensors such as gyroscopes and accelerometers to measure the acceleration and angular velocity of the device to estimate its relative motion and provide position information;

[0042] a map database unit for storing geographic information and map data for reference and comparison during positioning and navigation;

[0043] a navigation control unit for executing navigation algorithms and control strategies to provide navigation instructions based on target locations and current positions.

[0044] Preferably, the communication module includes:

[0045] a communication interface unit for interfacing with other devices or systems for data exchange;

[0046] a data processing unit for processing received data or preparing data to be sent, which can perform data parsing, compression, encryption, verification, etc. to ensure data integrity, security and reliability;

[0047] an antenna unit for transmitting and receiving wireless signals such as Wi-Fi, Bluetooth, radio frequency communication, etc.

[0048] Preferably, it also includes a safety control module for monitoring and responding to possible safety issues such as risk identification, emergency shutdown, automatic power cutoff, etc.

[0049] Preferably, it also includes a vibration control module for identifying and monitoring vibrations generated during folding and unfolding of the rotor.

[0050] Preferably, it also includes a power management module for managing the power supply of the entire system to ensure that each module can obtain sufficient power.

[0051] The present application provides a coaxial dual-rotor helicopter rotor folding and unfolding control system. It has the following advantages:

[0052] 1. The present application adds a state monitoring and fault detection module, which can monitor the state of each key component and sensor of the rotor folding and unfolding control system in real time, and diagnose faults in time. By detecting faults and providing corresponding fault information, it can help pilots or maintenance personnel quickly locate problems, reduce troubleshooting time, and improve system reliability and safety.

[0053] 2. The present application adds a folding and unfolding mechanism control module, which can realize automatic control of the folding and unfolding process of the rotor. Through pre-set programs and algorithms, the action and motion trajectory of the mechanism can be accurately controlled, reducing the dependence on manual operation, improving the accuracy and efficiency of folding and unfolding, and monitoring and detecting key parameters and states such as mechanism position, tension, current, etc. to ensure the stability and reliability of mechanism movement. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 is a general framework diagram of the present application;

[0055] Figure 2 is a sensor module framework diagram of the present application;

[0056] Figure 3 is a flight control module framework diagram of the present application;

[0057] Figure 4 is a power system control module framework diagram of the present application;

[0058] Figure 5 is a state monitoring and fault detection module framework diagram of the present application;

[0059] Figure 6 is a communication module framework diagram of the present application;

[0060] Figure 7 is a positioning and navigation module framework diagram of the present application. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0062] Embodiments:

[0063] Please refer to the accompanying drawings of the present application Figure 1 - the accompanying drawings of the present application Figure 7 The embodiments of the present application provide a coaxial dual-rotor helicopter rotor folding and unfolding control system, which comprises:

[0064] A sensor module is used to sense the position, speed, attitude and other information of the rotor, which includes a gyroscope, an accelerometer, a barometer and the like.

[0065] Specifically, the data collected by the sensor module can be used for data analysis and optimization, thereby improving the performance and efficiency of the folding and unfolding control system. Through processing and analysis of the data, useful information and patterns can be extracted, the control algorithm can be optimized, and the response speed and accuracy of the system can be improved.

[0066] The sensor module comprises:

[0067] A gyroscope unit is used to measure the angular velocity of the rotor and provide information about the attitude change of the helicopter.

[0068] Specifically, the gyroscope unit is a high-precision measuring device used to measure the angular velocity of the rotor. It can accurately measure the rotational speed and direction of the rotor through sensors and algorithms, providing information about the changes in the helicopter's attitude.

[0069] The accelerometer unit is used to measure the linear acceleration of the rotor and calculate the acceleration and tilt angle of the helicopter.

[0070] Specifically, the accelerometer unit is a device used to measure the linear acceleration of the rotor. It can calculate the acceleration and tilt angle of the helicopter by measuring the acceleration of the rotor in three axial directions.

[0071] The magnetometer unit is used to detect the Earth's magnetic field, providing information about the direction of the helicopter.

[0072] Specifically, the magnetometer unit is a device used to detect the Earth's magnetic field. It can provide information about the direction of the helicopter by measuring the direction and strength of the Earth's magnetic field. This information is crucial for the navigation and positioning of the helicopter, helping the pilot to determine the position and direction of the helicopter

[0073] The barometer unit is used to measure atmospheric pressure to estimate the height of the helicopter.

[0074] The GPS receiver unit is used to acquire Global Positioning System signals, providing accurate positioning information of the helicopter.

[0075] The visual sensor unit is used to monitor the environment around the helicopter in real time to support navigation and obstacle avoidance.

[0076] The flight control module is responsible for controlling the entire rotor system to ensure the stability of the helicopter during folding and unfolding, including flight control algorithms and control laws.

[0077] The flight control module includes:

[0078] The attitude control unit is responsible for controlling the attitude of the helicopter to ensure the desired direction during folding and unfolding.

[0079] The altitude control unit is used to maintain the height of the helicopter, especially to ensure the smoothness of the height change during folding and unfolding.

[0080] The position control unit is used to ensure the stability of the helicopter's position in three-dimensional space.

[0081] The speed control unit is used to control the speed of the helicopter to ensure smooth changes in speed during folding and unfolding.

[0082] Specifically, the attitude control unit can precisely control the attitude of the aircraft, keeping it in the desired direction and angle. The altitude control unit can maintain the aircraft flying steadily at a preset height. The position control unit can position the aircraft to a preset target position. The speed control unit can control the speed of the aircraft to reach the expected speed. The combination of these control units can achieve precise control of the aircraft, providing more accurate flight performance and navigation capabilities.

[0083] The control law unit contains mathematical models and algorithms that generate appropriate control instructions based on sensor feedback and flight mission requirements.

[0084] The overload protection unit is used to monitor system load to prevent exceeding the rated performance of the helicopter or system

[0085] The motor and actuator control module is responsible for controlling the motors and actuators on the rotors to achieve folding and unfolding of the rotors.

[0086] The communication module is used to communicate with ground stations or other helicopter systems to receive commands or send status information.

[0087] The communication module includes:

[0088] The communication interface unit is an interface for data exchange with other devices or systems.

[0089] The data processing unit is used to process received data or prepare data to be sent, which can perform data parsing, compression, encryption, verification, etc. to ensure data integrity, security and reliability.

[0090] The antenna unit is a device for transmitting and receiving wireless signals such as Wi-Fi, Bluetooth, radio frequency communication, etc.

[0091] The power system control module will coordinate different power sources such as electric motors, gas turbines, etc. if the coaxial dual-rotor helicopter uses a hybrid power system.

[0092] The power system control module includes:

[0093] The generator control unit is used to manage the operation of the generator, monitor power generation, and coordinate with other power sources.

[0094] The power monitoring unit is used to monitor the power consumption of the entire system and assess the performance of the system in real time.

[0095] The thermal treatment unit is used to ensure that each component in the system operates within the appropriate temperature range, preventing overheating or overcooling

[0096] The folding and unfolding mechanism control module is responsible for controlling the mechanical structure of the rotor, ensuring that the rotor can correctly perform during folding and unfolding.

[0097] Specifically, by adding the folding mechanism control module, the rotor can be folded into a more compact form, reducing space occupation during parking or storage, and facilitating placement in limited spaces such as ship decks, narrow garages, etc.

[0098] The state monitoring and fault detection module is used to monitor the state of the system, detect possible faults and take appropriate measures to ensure safe operation.

[0099] Specifically, the fault detection module can monitor possible faults or abnormal conditions during the folding and unfolding process of the rotor. It can detect and identify potential faults such as sensor failure, actuator failure, etc., and timely issue an alarm or take appropriate measures to ensure the safety and reliability of the folding and unfolding process of the rotor.

[0100] The state monitoring and fault detection module includes:

[0101] The sensor interface unit is used to communicate with various sensors, including but not limited to gyroscopes, accelerometers, magnetometers, barometers, temperature sensors, humidity sensors, etc., to collect state information of various systems of the helicopter.

[0102] The data acquisition unit is responsible for collecting data from sensors and other systems, converting it into processable digital signals for subsequent analysis and processing.

[0103] Specifically, the data acquisition unit is responsible for collecting and recording relevant data during the folding and unfolding process of the rotor. It can obtain information such as the position, angle, speed, current, temperature of the rotor through sensors or other monitoring devices. The collected data can be used for subsequent state monitoring and fault diagnosis, as well as analysis and optimization of the folding and unfolding process of the rotor.

[0104] The state monitoring unit uses sensor data and preset thresholds for real-time analysis to detect the state of various systems of the helicopter, including power systems, power systems, flight control systems, etc.

[0105] Specifically, the state monitoring unit uses data acquired by the data acquisition unit to monitor the state of the rotor in real time. It can analyze parameters such as the position, angle, speed of the rotor, and detect whether there are abnormalities or exceed the preset range. If the rotor state is abnormal, the state monitoring unit can issue an alarm to remind the operator to take appropriate measures to ensure the safety and stability of the folding and unfolding process of the rotor.

[0106] a fault diagnosis unit for identifying possible faults in the system based on sensor data and pre-set fault models, and generating corresponding fault reports or warnings;

[0107] Specifically, the fault diagnosis unit utilizes the data acquired by the data acquisition unit and the status information provided by the status monitoring unit to diagnose possible faults that may occur during the folding and unfolding process of the rotor. It can analyze the data, compare with pre-set models or rules, identify and locate the fault causes. Once a fault is found, the fault diagnosis unit can timely issue an alarm and provide corresponding fault handling suggestions to help the operator quickly solve the problem and ensure the normal operation of the rotor folding and unfolding control system.

[0108] a health management unit for comprehensive analysis of status and fault information, providing an assessment of the overall health of the helicopter, supporting decision-making and maintenance planning;

[0109] a troubleshooting unit for providing corresponding guidelines or suggestions based on fault diagnosis results to support maintenance and fault repair work

[0110] a positioning and navigation module for ensuring accurate positioning and navigation of the helicopter in space during folding and unfolding.

[0111] The positioning and navigation module includes:

[0112] a receiving unit for receiving signals from satellites or other positioning systems for determining position and time information;

[0113] a positioning calculation unit for processing signals obtained from the receiving unit, performing triangulation, Doppler effect, etc. algorithms to calculate the position of the device;

[0114] an inertial navigation unit using gyroscopes and accelerometers to measure the acceleration and angular velocity of the device to estimate its relative motion and provide position information;

[0115] a map database unit for storing geographic information and map data for reference and comparison during positioning and navigation;

[0116] a navigation control unit for executing navigation algorithms and control strategies to provide navigation instructions based on target position and current position.

[0117] It also includes a safety control module for monitoring and responding to possible safety issues such as risk identification, emergency shutdown, automatic power cutoff, etc.

[0118] It also includes a vibration control module for identifying and monitoring vibrations generated during the folding and unfolding process of the rotor.

[0119] Specifically, the anti-shake control module can monitor the vibration and shock during the folding and unfolding process of the rotor, and take corresponding control strategies to suppress or reduce these unstable factors. Through precise control, the anti-shake control module can reduce the vibration amplitude of the mechanism and the rotor, and improve the smoothness and stability of the entire folding and unfolding process.

[0120] It also includes a power management module for managing the power supply of the entire system, ensuring that each module can obtain sufficient power.

[0121] Specifically, the power management module can monitor and manage the power supply of the rotor folding and unfolding control system, ensuring stable power supply and meeting the working requirements of various components and sensors. It can provide appropriate voltage and current output to avoid failures or performance degradation caused by power fluctuations or instability.

[0122] In summary: the present application can monitor the state of each key component and sensor of the rotor folding and unfolding control system in real time by adding a state monitoring and fault detection module, and timely discover and diagnose faults. By detecting faults and providing corresponding fault information, it can help pilots or maintenance personnel quickly locate problems, reduce troubleshooting time, improve system reliability and safety, and add folding and unfolding mechanism control module to realize automatic control of the folding and unfolding process of the rotor. Through pre-set programs and algorithms, the action and motion trajectory of the mechanism can be accurately controlled, reducing the dependence on manual operation, improving the accuracy and efficiency of folding and unfolding, and monitoring and detecting key parameters and states such as mechanism position, tension, current, etc. to ensure the stability and reliability of mechanism movement.

[0123] Although embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A coaxial twin-rotor helicopter rotor folding and unfolding control system, characterized in that, The system includes: Sensor modules for sensing the position, velocity, and attitude information of the rotors, including gyroscopes, accelerometers, and barometers; Flight control modules responsible for controlling the entire rotor system to ensure stability during folding and unfolding, including flight control algorithms and control laws; Motor and actuator control modules responsible for controlling the motors and actuators on the rotors to achieve folding and unfolding of the rotors; Communication modules for communicating with ground stations or other helicopter systems to receive commands or send status information; Power system control modules for coordinating the electric motors and gas turbines in the coaxial dual-rotor helicopter; Folding and unfolding mechanism control modules for manipulating the mechanical structure of the rotors to ensure correct execution during folding and unfolding; State monitoring and fault detection modules for monitoring the state of the system, detecting possible faults, and taking appropriate measures to ensure safe operation; Positioning and navigation modules for ensuring accurate positioning and navigation of the helicopter in space during folding and unfolding.

2. The coaxial dual-rotor helicopter rotor folding and unfolding control system according to claim 1, characterized in that, The sensor modules include: Gyroscope units for measuring the angular velocity of the rotors, providing information about changes in the attitude of the helicopter; Accelerometer units for measuring the linear acceleration of the rotors and calculating the acceleration and tilt angle of the helicopter; Magnetometer units for detecting the Earth's magnetic field, providing information about the direction of the helicopter; Barometer units for measuring atmospheric pressure to estimate the height of the helicopter; GPS receiver units for acquiring Global Positioning System signals to provide accurate positioning information of the helicopter; Visual sensor units for real-time monitoring of the environment around the helicopter to support navigation and obstacle avoidance.

3. The coaxial dual-rotor helicopter rotor folding and unfolding control system according to claim 1, characterized in that, The flight control modules include: Attitude control units responsible for controlling the attitude of the helicopter to ensure the desired direction during folding and unfolding; Altitude control units for maintaining the height of the helicopter and ensuring smooth changes in height during folding and unfolding; Position control units to ensure the stability of the helicopter's position in three-dimensional space; Velocity control units to control the speed of the helicopter to ensure smooth changes in speed during folding and unfolding; Control law units containing mathematical models and algorithms to generate appropriate control instructions based on sensor feedback and flight mission requirements; Overload protection units for monitoring loads to prevent exceeding the rated performance of the helicopter.

4. The coaxial dual-rotor helicopter rotor folding and unfolding control system in accordance with claim 1, characterized in that, The power system control modules include: Generator control units for managing the operation of the generators, monitoring power generation, and coordinating with other power sources; Power monitoring units for monitoring the power consumption of the entire system and assessing the performance of the system in real time; Thermal treatment units to ensure that each component in the system operates within the appropriate temperature range, preventing overheating or overcooling.

5. The coaxial dual-rotor helicopter rotor folding and unfolding control system in accordance with claim 1, characterized in that, The state monitoring and fault detection modules include: Sensor interface units for communication with various sensors, including but not limited to gyroscopes, accelerometers, magnetometers, barometers, temperature sensors, and humidity sensors, to collect state information of various systems of the helicopter; Data acquisition unit, responsible for collecting sensor and other system data, converting it into processable digital signals for subsequent analysis and processing; State monitoring unit, using sensor data and preset thresholds for real-time analysis to detect the status of each system of the helicopter, including power system, power system and flight control system; Fault diagnosis unit, according to sensor data and preset fault model, identify possible faults in the system, and generate corresponding fault report or warning; Health management unit, comprehensive analysis of state and fault information, provide overall health assessment of the helicopter, support decision making and maintenance plan; Troubleshooting unit, according to the fault diagnosis results to provide corresponding guidelines or suggestions to support maintenance and fault repair work.

6. The coaxial dual-rotor helicopter rotor folding and unfolding control system in accordance with claim 1, characterized in that, The positioning and navigation module includes: Receiving unit, for receiving signals from satellites or other positioning systems to determine position and time information; Positioning calculation unit, for processing signals obtained from the receiving unit, performing triangulation and Doppler effect algorithm to calculate the position of the device; Inertial navigation unit, using gyroscopes and accelerometer sensors to measure the acceleration and angular velocity of the device to estimate its relative motion and provide position information; Map database unit, for storing geographic information and map data, for reference and comparison in positioning and navigation process; Navigation control unit, for executing navigation algorithms and control strategies, providing navigation instructions according to target position and current position.

7. The coaxial dual-rotor helicopter rotor folding and unfolding control system in accordance with claim 1, characterized in that, The communication module includes: Communication interface unit, for data exchange interface with other devices or systems; Data processing unit, for processing received data or preparing data to be sent, which can perform data parsing, compression, encryption and verification to ensure data integrity, security and reliability; Antenna unit, for sending and receiving wireless signals.

8. The coaxial dual-rotor helicopter rotor folding and unfolding control system in accordance with claim 1, characterized in that, Also includes safety control module, for monitoring and responding to possible safety issues.

9. The coaxial dual-rotor helicopter rotor folding and unfolding control system in accordance with claim 1, characterized in that, Also includes anti-shake control module, for identifying and monitoring the vibration generated during the folding and unfolding of the rotor.

10. The coaxial dual-rotor helicopter rotor folding and unfolding control system in accordance with claim 1, characterized in that, Also includes power management module, for managing the power supply of the whole system, ensuring that each module can obtain sufficient power.

Images