Variable speed heading control system for unmanned helicopter

Abstract

The application provides a variable-speed heading control system of an unmanned helicopter, which comprises an upper driving module, an upper rotor assembly, an upper swash plate assembly, a central assembly, a lower swash plate assembly, a lower rotor assembly and a lower driving module; the central assembly comprises a central fixed main shaft, and the upper driving module, the upper rotor assembly, the upper swash plate assembly, the lower swash plate assembly, the lower rotor assembly and the lower driving module are sequentially installed on the central fixed main shaft of the central assembly; the upper swash plate assembly and the lower swash plate assembly jointly form an automatic tilt device for changing the tilt direction and the tilt angle of the upper rotor assembly and the lower rotor assembly; the upper driving module provides power for the upper rotor assembly to rotate; the lower driving module provides power for the lower rotor assembly to rotate; the heading control of the unmanned helicopter is realized through the speed difference between the upper rotor assembly and the lower rotor assembly; and the rotation directions of the upper rotor assembly and the lower rotor assembly are opposite, so that the unmanned helicopter is provided with lifting force.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a variable speed heading control system for an unmanned helicopter. Background Technology

[0002] In the field of helicopters, coaxial twin-rotor helicopters have two rotors mounted on a concentric axis. When in operation, the two rotors rotate in opposite directions and the resulting counter-torque cancels each other out. Therefore, in the overall force balance design of the aircraft, there is no need for a tail rotor to balance the torque of the main rotor, and the aircraft can remain stable in the air.

[0003] In conventional unmanned helicopters, changes in the pitch of the upper and lower rotors alter the lift generated by both rotors. Therefore, when performing yaw control, it is necessary to ensure that the total lift of the two rotors remains constant; that is, the increase and decrease in lift of the upper and lower rotors must be equal. Yaw control can be divided into fully differential control systems and semi-differential control systems, depending on the structural form. For the fully differential control system of a conventional coaxial helicopter, the yaw control struts are located inside the inner ring of the lower rotor swashplate, resulting in limited space for movement. During cyclic pitch control, they are prone to collisions, leading to a complex mechanical structure. This also increases the size of the lower rotor swashplate, correspondingly increasing the size of the outer ring of the upper swashplate, increasing weight and structural instability, and failing to fully utilize the space between the inner ring of the swashplate and the bushing.

[0004] Therefore, how to provide a variable speed heading control system for unmanned helicopters to solve the problems of complex mechanical structure, heavy weight, system complexity, instability, and low space utilization of conventional fully differential heading control and semi differential heading control coaxial unmanned helicopter control systems is a problem that urgently needs to be solved by those skilled in the art.

[0005] Therefore, it is necessary to provide a new type of variable speed heading control system for unmanned helicopters to overcome the above-mentioned defects. Summary of the Invention

[0006] The purpose of this invention is to provide a variable speed heading control system for an unmanned helicopter. The upper drive module, upper rotor assembly, upper swashplate assembly, center assembly, lower swashplate assembly, lower rotor assembly, and lower drive module are sequentially mounted from top to bottom on the central fixed main shaft of the center assembly. This fully utilizes the installation space of the swashplate and allows for periodic pitch changes between the upper and lower rotor assemblies to adjust the helicopter's ascent and descent. By increasing or decreasing the rotational speeds of the upper and lower rotor assemblies, a speed difference is created, and the helicopter's heading is controlled through differential speed adjustment.

[0007] To achieve the above objectives, the present invention provides a variable speed heading control system for an unmanned helicopter, comprising: an upper drive module, an upper rotor assembly, an upper swashplate assembly, a center assembly, a lower swashplate assembly, a lower rotor assembly, and a lower drive module; the center assembly includes a central fixed spindle, and the upper drive module, upper rotor assembly, upper swashplate assembly, center assembly, lower swashplate assembly, lower rotor assembly, and lower drive module are sequentially mounted on the central fixed spindle of the center assembly.

[0008] The upper swashplate assembly and the lower swashplate assembly together form an automatic swashplate to change the tilt direction and angle of the upper rotor assembly and the lower rotor assembly. The upper drive module provides power to the upper rotor assembly to rotate, and the lower drive module provides power to the lower rotor assembly to rotate. The upper rotor assembly and the lower rotor assembly rotate in opposite directions to provide lift for the unmanned helicopter.

[0009] Preferably, the upper drive module includes an upper shaft connector and an upper drive motor mounted on a central fixed main shaft. The upper shaft connector is mounted above the upper drive motor to lock the upper drive motor onto the central fixed shaft. An upper rotor hub connector is mounted on the upper drive motor. The upper rotor assembly is connected to the upper rotor hub connector of the upper drive motor. The upper drive motor drives the upper rotor hub connector to rotate.

[0010] Preferably, threaded holes are provided on both sides of the upper rotor hub connector. The upper rotor assembly includes an upper rotor pitch converter, an upper rotor hub, an upper rotor clamp, and an upper rotor blade. Each side of the upper rotor hub has a through hole, and a bearing is installed in each through hole. A bolt is used to fix the main shaft axis perpendicular to the center and passes through the bearing. The threaded part of the bolt engages with the threaded hole on the side of the upper rotor hub connector and is tightened, so that the upper rotor hub is fixedly connected to the upper rotor hub connector by the bolt engaging with the threaded hole. The upper rotor hub can rotate around the circumference of the bolt through the bearing.

[0011] The upper rotor hub is connected to the upper rotor pitch control component, the upper rotor pitch control component is fixedly connected to the upper rotor clamp, the upper rotor blades are mounted on the upper rotor clamp in a horizontal direction, and the upper drive motor transmits power to the upper rotor hub through the upper rotor hub connector to make the upper rotor hub rotate.

[0012] Preferably, the upper swashplate assembly includes an upper rotating swashplate, an upper swashplate stationary ring, an upper radial joint, an upper stationary ring lever, a servo radial joint, and a servo rocker arm, all fitted onto a centrally fixed spindle. The side protrusions of the upper rotating swashplate are connected to the side protrusions of the upper propeller hub by an upper rotating swashplate pitch-changing rod. The servo rocker arm is connected to the servo radial joint. The upper swashplate stationary ring is hinged to the upper radial joint. The outer ring of the upper swashplate stationary ring is connected to the inner ring of the upper rotating swashplate by an upper rolling bearing. The upper stationary ring lever is hinged to the servo radial joint.

[0013] Preferably, the central assembly further includes servo mounts and central fasteners, with two servo mounts and two central fasteners, forming an upper set of servo mounts and central fasteners and a lower set of servo mounts and central fasteners. The upper set of servo mounts and central fasteners are fastened to the central fixed spindle, and the upper set of central fasteners is connected to the upper rotor pitch control arm. The upper rotor pitch control arm is connected to the upper stationary ring pitch control rod, and the upper stationary ring pitch control rod is hinged to the upper swashplate stationary ring. The upper set of servo mounts fixes two servos.

[0014] Preferably, the swashplate assembly includes a lower rotating swashplate fitted on a central fixed shaft, a lower swashplate stationary ring, a lower radial joint, and a lower stationary ring lever; the side protrusions of the lower rotating swashplate are connected to the side protrusions of the lower propeller hub by a lower rotating swashplate pitch-changing rod, the lower swashplate stationary ring is hinged to the lower radial joint, the outer ring of the lower swashplate stationary ring is connected to the inner ring of the lower rotating swashplate by a lower rolling bearing, and the lower stationary ring lever is hinged to the servo radial joint.

[0015] Preferably, the lower set of servo mounts and the central fasteners are fastened to the central fixed spindle, the lower set of central fasteners are connected to the lower rotor pitch control arm, the lower rotor pitch control arm is connected to the lower stationary ring pitch control rod, the lower stationary ring pitch control rod is hinged to the lower swashplate stationary ring, and the lower set of servo mounts are bolted to fix the two servos.

[0016] Preferably, the lower rotor assembly is mounted above the lower drive module. The lower drive module includes a lower shaft connector and a lower drive motor mounted on a central fixed shaft. The lower shaft connector is mounted below the lower drive motor to lock the lower drive motor onto the central fixed shaft. A lower rotor hub connector is mounted on the lower drive motor. The lower rotor assembly is connected to the lower rotor hub connector of the lower drive motor, and the lower drive motor drives the lower rotor hub connector to rotate.

[0017] Preferably, threaded holes are provided on both sides of the lower rotor hub connector. The lower rotor assembly includes a lower rotor pitch control component, a lower rotor hub, a lower rotor clamp, and a lower rotor blade. The lower rotor hub has through holes on both sides, and a bearing is installed in each through hole. A bolt is used to fix the main shaft axis perpendicular to the center and passes through the bearing. The threaded part of the bolt engages with the threaded hole on the side of the lower rotor hub connector and is tightened, so that the lower rotor hub is connected to the lower rotor hub connector through the engagement of the bolt with the threaded hole. The lower rotor hub is connected to the lower rotor pitch control component, and the lower rotor pitch control component is fixedly connected to the lower rotor clamp. The lower rotor blade is fixedly installed on the lower rotor clamp in the horizontal direction. The drive motor transmits power to the lower rotor hub through the lower rotor hub connector to make the lower rotor hub rotate.

[0018] Compared with existing technologies, the beneficial effects are:

[0019] 1) By sequentially mounting the upper drive module, upper rotor assembly, upper swashplate assembly, center assembly, lower swashplate assembly, lower rotor assembly, and lower drive module onto the central fixed main shaft of the center assembly from top to bottom, the installation space of the swashplate is fully utilized. The helicopter's ascent and descent can be adjusted by periodically changing the pitch of the upper and lower rotor assemblies. A speed difference is formed by increasing or decreasing the rotational speed of the upper and lower rotor assemblies, and the helicopter's heading is controlled by speed differential adjustment.

[0020] 2) The upper rotor assembly and the lower rotor assembly rotate in opposite directions to provide lift for the unmanned helicopter, enabling the unmanned helicopter to fly stably in the air.

[0021] Other features and advantages of the invention will be set forth in the following description, and in part will be apparent from the description, or may be learned by practice of the invention. The features and advantages of the invention may be realized and obtained by means of the elements and combinations specifically pointed out in the appended claims. These and other features of the invention will become more apparent from the following description and the appended claims, or may be learned by practice of the embodiments described herein. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the variable speed heading control system for an unmanned helicopter provided by the present invention.

[0024] Figure 2 for Figure 1 The diagram shows the structure of the upper drive module.

[0025] Figure 3 for Figure 1 The diagram shows the structure of the upper rotor assembly.

[0026] Figure 4 for Figure 1 The diagram shows the structure of the upper sloping disk assembly.

[0027] Figure 5 for Figure 1 The diagram shows the structure of the central component.

[0028] Figure 6 for Figure 1 The diagram shows the structure of the lower sloping disk assembly.

[0029] Figure 7 for Figure 1 The diagram shows the structure of the lower rotor assembly.

[0030] Figure 8 for Figure 1 The diagram shows the structure of the lower drive module. Detailed Implementation

[0031] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are merely for explaining the invention and are not intended to limit the invention.

[0032] It should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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. Therefore, they should not be construed as limitations on the present invention.

[0033] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature. Additionally, "multiple" or "several" means two or more, unless otherwise explicitly specified.

[0035] Please see Figures 1 to 8 This invention provides a variable speed heading control system for an unmanned helicopter, comprising: an upper drive module 1, an upper rotor assembly 2, an upper swashplate assembly 3, a center assembly 4, a lower swashplate assembly 5, a lower rotor assembly 6, and a lower drive module 7; the center assembly 4 includes a centrally fixed main shaft 26.

[0036] The upper drive module 1, upper rotor assembly 2, upper swashplate assembly 3, center assembly 4, lower swashplate assembly 5, lower rotor assembly 6, and lower drive module 7 are sequentially mounted from top to bottom on the central fixed spindle 26 of the center assembly 4.

[0037] The upper swashplate assembly 3 and the lower swashplate assembly 5 together form an automatic swashplate to change the tilt direction and angle of the upper rotor assembly 2 and the lower rotor assembly 6. Combined with the change in rotation speed, this enables control of the helicopter's flight. The upper drive module 1 provides power to the upper rotor assembly 2 to rotate, and the lower drive module 7 provides power to the lower rotor assembly 6 to rotate. Furthermore, the upper rotor assembly 2 and the lower rotor assembly 6 rotate in opposite directions to provide lift for the unmanned helicopter, enabling it to fly in the air.

[0038] In a preferred embodiment, the upper drive module 1 includes an upper shaft connector 8 and an upper drive motor 9 mounted on a central fixed main shaft 26. The upper shaft connector 8 is mounted above the upper drive motor 9 and locks the upper drive motor 9 onto the central fixed shaft 26. An upper rotor hub connector 10 is mounted on the upper drive motor 9. The upper rotor assembly 2 is connected to the upper rotor hub connector 10 of the upper drive motor 9. The upper drive motor 9 drives the upper rotor hub connector 10 to rotate, thereby driving the upper rotor assembly 2 to rotate.

[0039] Specifically, threaded holes are provided on both sides of the upper rotor hub connector 10. The upper rotor assembly 2 includes an upper rotor pitch converter 14, an upper rotor hub 13, an upper rotor clip 12, and an upper rotor blade 11. The upper rotor hub 13 has through holes on both sides, and a bearing is installed in each through hole. A bolt is used to fix the axis of the main shaft 26 perpendicular to the center and passes through the bearing. The threaded part of the bolt engages with the threaded hole on the side of the upper rotor hub connector 10 and is tightened, so that the upper rotor hub 13 is fixedly connected to the upper rotor hub connector 10 by the bolt engaging with the threaded hole. The upper rotor hub 13 can rotate around the circumference of the bolt through the bearing.

[0040] The upper rotor hub 13 is connected to the upper rotor pitch control component 14 by screws. The upper rotor pitch control component 14 is fixedly connected to the upper rotor clamp 12 by flange and bolts. The upper rotor blade 11 is fixedly mounted on the upper rotor clamp 12 in the horizontal direction. The upper drive motor 9 transmits power to the upper rotor hub 13 through the upper rotor hub connector 10 to make the upper rotor hub 13 rotate. The upper rotor hub 13 drives the upper rotor blade 11 to rotate to provide power for the helicopter.

[0041] In a preferred embodiment, the upper swashplate assembly 3 includes an upper rotating swashplate 16 fitted onto a centrally fixed spindle 26, an upper swashplate stationary ring 17, an upper radial joint 18, an upper stationary ring lever 19, a servo radial joint 20, and a servo rocker arm 21. The side protrusions of the upper rotating swashplate 16 are connected to the side protrusions of the upper rotor hub 13 by an upper rotating swashplate pitch-changing rod 23, allowing the upper rotating swashplate 16 to rotate together via the upper rotor hub 13. The servo rocker arm 21 is fixedly connected to the servo radial joint 20.

[0042] The upper swashplate stationary ring 17 is hinged to the upper radial joint 18. The upper swashplate stationary ring 17 can tilt at any angle through the hinge with the upper radial joint 18. The outer ring of the upper swashplate stationary ring 17 is connected to the inner ring of the upper rotating swashplate 16 by an upper rolling bearing 15. The upper stationary ring lever 19 is hinged to the servo motor radial joint 20.

[0043] In a preferred embodiment, the central component 4 further includes a servo mount 27 and a central fastener 28. There are two servo mounts 27 and two central fasteners 28, which are divided into an upper set of servo mounts 27 and central fasteners 28 and a lower set of servo mounts 27 and central fasteners 28.

[0044] The upper set of servo mounts 27 are fastened to the central fixed spindle 26 with the central fastener 28. The upper set of central fasteners 28 are connected to the upper rotor pitch control arm 25. The upper rotor pitch control arm 25 is connected to the upper stationary ring pitch control rod 24. The upper stationary ring pitch control rod 24 is hinged to the upper swashplate stationary ring 17. When the upper swashplate stationary ring 17 is tilted, it can support the upper swashplate stationary ring 17. The upper set of servo mounts 27 are fixed to the two servos 22 with bolts.

[0045] In a preferred embodiment, the swashplate assembly 5 includes a lower rotating swashplate 32 fitted on a central fixed shaft 26, a lower swashplate stationary ring 33, a lower radial joint 30, and a lower stationary ring lever. The side protrusions of the lower rotating swashplate 32 are connected to the side protrusions of the lower rotor hub 38 by a lower rotating swashplate pitch control rod 29. The lower rotor hub 38 drives the lower rotating swashplate 32 to rotate together. The lower swashplate stationary ring 33 is hinged to the lower radial joint 30. The lower swashplate stationary ring 33 can tilt at any angle through the hinge with the lower radial joint 30. The outer ring of the lower swashplate stationary ring 33 is connected to the inner ring of the lower rotating swashplate 32 by a lower rolling bearing 34. The lower stationary ring lever is hinged to the servo radial joint 20.

[0046] The servo arm 21 rotates to drive the upper stationary ring lever 19 and the lower stationary ring lever. The upper stationary ring lever 19 and the lower stationary ring lever then drive the upper swashplate stationary ring 17 and the lower swashplate stationary ring 33 to tilt, causing the upper swashplate stationary ring 17 and the lower swashplate stationary ring 33 to tilt as well. The rotation of the upper swashplate stationary ring 16 and the lower swashplate stationary ring 32 changes the angle of attack of the upper rotor assembly 2 and the lower rotor assembly 6, thus controlling the ascent and descent of the unmanned helicopter.

[0047] In a preferred embodiment, the lower set of servo mounts 27 and the central fasteners 28 are fastened to the central fixed spindle 26. The lower set of central fasteners 28 is connected to the lower rotor pitch control arm. The lower rotor pitch control arm is connected to the lower stationary ring pitch control rod 35. The lower stationary ring pitch control rod 35 is hinged to the lower swashplate stationary ring 33. When the lower swashplate stationary ring 33 is tilted, it can support the lower swashplate stationary ring 33. The lower set of servo mounts 27 is bolted to fix two servos 22.

[0048] In a preferred embodiment, the lower rotor assembly 6 is mounted above the lower drive module 7. The lower drive module 7 includes a lower shaft connector 42 mounted on a central fixed shaft 26 and a lower drive motor 41. The lower shaft connector 42 is mounted below the lower drive motor 41 to lock the lower drive motor 41 onto the central fixed shaft 26. A lower rotor hub connector 40 is mounted on the lower drive motor 41. The lower rotor assembly 6 is connected to the lower rotor hub connector 40 of the lower drive motor 41. The lower drive motor 41 drives the lower rotor hub connector 40 to rotate, thereby driving the lower rotor assembly 6 to rotate.

[0049] Specifically, threaded holes are provided on both sides of the lower rotor hub connector 40. The lower rotor assembly 9 includes a lower rotor pitch converter 39, a lower rotor hub 38, a lower rotor clip 37, and a lower rotor blade 36. The lower rotor hub 38 has through holes on both sides, and a bearing is installed in each through hole. A bolt is used to fix the axis of the main shaft 26 perpendicular to the center and passes through the bearing. The threaded part of the bolt engages with the threaded hole on the side of the lower rotor hub connector 40 and is tightened, so that the lower rotor hub 38 is connected to the lower rotor hub connector 40 through the engagement of the bolt with the threaded hole. The lower rotor hub 38 can rotate around the circumference of the bolt through the bearing.

[0050] The lower rotor hub 38 is connected to the lower rotor pitch control component 39 by screws. The lower rotor pitch control component 39 is fixedly connected to the lower rotor clamp 37 by flange and bolts. The lower rotor blade 36 is fixedly mounted on the lower rotor clamp 37 in the horizontal direction. The drive motor 42 transmits power to the lower rotor hub 38 through the lower rotor hub connector 40 to make the lower rotor hub 38 rotate. The lower rotor hub 38 drives the lower rotor blade 36 to rotate to provide power for the helicopter.

[0051] The helicopter's ascent and descent are adjusted by a servo group consisting of two servo motors 22, which directly drive and adjust the tilt angles of the upper rotary tilting disk 16 and the lower rotary tilting disk 32 to perform periodic pitch changes on the upper rotor assembly 2 and the lower rotor assembly 6, respectively. By increasing or decreasing the rotational speeds of the upper rotor assembly and the lower rotor assembly, a speed difference is formed, and the helicopter's heading is controlled by the speed differential adjustment.

[0052] The present invention is not limited to the description in the specification and embodiments, and thus other advantages and modifications can be readily realized by those skilled in the art. Therefore, the present invention is not limited to the specific details, representative devices and illustrated examples shown and described herein without departing from the spirit and scope of the general concept as defined by the claims and their equivalents.

Claims

1. A variable-speed heading control system for an unmanned helicopter, characterized in that, include: The upper drive module (1), upper rotor assembly (2), upper swashplate assembly (3), center assembly (4), lower swashplate assembly (5), lower rotor assembly (6), and lower drive module (7) are provided. The center assembly (4) includes a central fixed spindle (26). The upper drive module (1), upper rotor assembly (2), upper swashplate assembly (3), center assembly (4), lower swashplate assembly (5), lower rotor assembly (6), and lower drive module (7) are sequentially mounted on the central fixed spindle (26) of the center assembly (4). The upper swashplate assembly (3) and the lower swashplate assembly (5) together form an automatic swashplate to change the tilt direction and tilt angle of the upper rotor assembly (2) and the lower rotor assembly (6). The upper drive module (1) provides power to the upper rotor assembly (2) to make the upper rotor assembly (2) rotate. The lower drive module (7) provides power to the lower rotor assembly (6) to make the lower rotor assembly (6) rotate. The upper rotor assembly (2) and the lower rotor assembly (6) rotate in opposite directions to provide lift for the unmanned helicopter. The upper drive module (1) includes an upper shaft connector (8) and an upper drive motor (9) mounted on a central fixed main shaft (26). The upper shaft connector (8) is mounted above the upper drive motor (9) to lock the upper drive motor (9) onto the central fixed main shaft (26). An upper rotor hub connector (10) is mounted on the upper drive motor (9). The upper rotor assembly (2) is connected to the upper rotor hub connector (10) of the upper drive motor (9). The upper drive motor (9) drives the upper rotor hub connector (10) to rotate. The upper rotor hub connector (10) has threaded holes on both sides. The upper rotor assembly (2) includes an upper rotor pitch converter (14), an upper rotor hub (13), an upper rotor clip (12), and an upper rotor blade (11). The upper rotor hub (13) has through holes on both sides. Each through hole is fitted with a bearing. A bolt is used to fix the main shaft (26) perpendicular to the center axis through the bearing. The threaded part of the bolt engages with the threaded hole on the side of the upper rotor hub connector (10) and tightens it, so that the upper rotor hub (13) is fixedly connected to the upper rotor hub connector (10) by the bolt engaging with the threaded hole. The upper rotor hub (13) can rotate around the circumference of the bolt through the bearing. The upper rotor hub (13) is connected to the upper rotor pitch reducer (14), the upper rotor pitch reducer (14) is fixedly connected to the upper rotor clamp (12), the upper rotor blade (11) is mounted on the upper rotor clamp (12) in a horizontal direction, and the upper drive motor (9) transmits power to the upper rotor hub (13) through the upper rotor hub connector (10) to make the upper rotor hub (13) rotate; The upper swashplate assembly (3) includes an upper rotating swashplate (16) fitted on a central fixed spindle (26), an upper swashplate stationary ring (17), an upper radial joint (18), an upper stationary ring lever (19), a servo radial joint (20), and a servo rocker arm (21); the side protrusion step of the upper rotating swashplate (16) is connected to the side protrusion step of the upper propeller hub (13) by an upper rotating swashplate pitch rod (23); the servo rocker arm (21) is connected to the servo radial joint (20); the upper swashplate stationary ring (17) is hinged to the upper radial joint (18); the outer ring of the upper swashplate stationary ring (17) is connected to the inner ring of the upper rotating swashplate (16) by an upper rolling bearing (15); and the upper stationary ring lever (19) is hinged to the servo radial joint (20). The central component (4) also includes a servo mount (27) and a central fastener (28). There are two servo mounts (27) and two central fasteners (28), which are divided into an upper set of servo mounts and central fasteners and a lower set of servo mounts and central fasteners. The upper set of servo mounts and central fasteners are fastened to the central fixed spindle (26). The upper set of central fasteners (28) is connected to the upper rotor pitch control arm (25). The upper rotor pitch control arm (25) is connected to the upper stationary ring pitch control rod (24). The upper stationary ring pitch control rod (24) is hinged to the upper swashplate stationary ring (17). The upper set of servo mounts (27) fixes two servos (22). The swashplate assembly (5) includes a lower rotating swashplate (32) fitted on a central fixed spindle (26), a lower swashplate stationary ring (33), a lower radial joint (30), and a lower stationary ring lever; the side protrusion step of the lower rotating swashplate (32) is connected to the side protrusion step of the lower propeller hub (38) by a lower rotating swashplate pitch rod (29); the lower swashplate stationary ring (33) is hinged to the lower radial joint (30); the outer ring of the lower swashplate stationary ring (33) is connected to the inner ring of the lower rotating swashplate (32) by a lower rolling bearing (34); and the lower stationary ring lever is hinged to the servo radial joint (20).

2. The variable speed heading control system for an unmanned helicopter as described in claim 1, characterized in that, The lower set of servo mounts (27) and the center fastener (28) are fastened to the center fixed spindle (26). The lower set of center fasteners (28) are connected to the lower rotor pitch control arm. The lower rotor pitch control arm is connected to the lower stationary ring pitch control rod (35). The lower stationary ring pitch control rod (35) is hinged to the lower swashplate stationary ring (33). The lower set of servo mounts (27) are bolted to fix two servos (22).

3. The variable speed heading control system for an unmanned helicopter as described in claim 1, characterized in that, The lower rotor assembly (6) is mounted above the lower drive module (7). The lower drive module (7) includes a lower shaft connector (42) and a lower drive motor (41) mounted on a central fixed main shaft (26). The lower shaft connector (42) is mounted below the lower drive motor (41) to lock the lower drive motor (41) onto the central fixed main shaft (26). A lower rotor hub connector (40) is mounted on the lower drive motor (41). The lower rotor assembly (6) is connected to the lower rotor hub connector (40) of the lower drive motor (41). The lower drive motor (41) drives the lower rotor hub connector (40) to rotate.

4. The variable speed heading control system for an unmanned helicopter as described in claim 3, characterized in that, The lower rotor hub connector (40) has threaded holes on both sides. The lower rotor assembly (6) includes a lower rotor pitch converter (39), a lower rotor hub (38), a lower rotor clip (37), and a lower rotor blade (36). The lower rotor hub (38) has through holes on both sides, and each through hole contains a bearing. A bolt is used to fix the main shaft (26) perpendicular to the center axis, passing through the bearing. The threaded part of the bolt engages with the threaded hole on the side of the lower rotor hub connector (40) and is tightened. The lower rotor hub (38) is connected to the lower rotor hub connector (40) by bolts and threaded holes; the lower rotor hub (38) is connected to the lower rotor pitch member (39), the lower rotor pitch member (39) is fixedly connected to the lower rotor clamp (37), the lower rotor blade (36) is fixedly installed on the lower rotor clamp (37) in the horizontal direction, and the lower drive motor (41) transmits power to the lower rotor hub (38) through the lower rotor hub connector (40) to make the lower rotor hub (38) rotate.

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