A method, system and aircraft for variable blade pitch control

Abstract

This invention discloses a propeller pitch control method, system, and aircraft. The method is applied to a controller, which is communicatively connected to a first sensor installed at the blade's connection point. The controlled component of the propeller is connected to the control terminal of a pitch motor. The propeller pitch control method includes: acquiring a first pitch angle collected by the first sensor when the propeller is in a locked state; and controlling the pitch motor to adjust the first pitch angle within a first preset angle range when the first pitch angle is not an abnormal value. This invention allows the propeller pitch angle to be directly acquired by the first sensor installed at the blade's connection point, enabling accurate detection of the real-time pitch angle. It eliminates the need to return the propeller to its mechanical boundary after it has stopped moving before adjusting the pitch, thus enabling pitch control in various scenarios and meeting the pitch control requirements of multiple applications.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to a propeller pitch control method, system and aircraft. Background Art

[0002] With the development of automation technology, variable blade pitch is crucial to the performance and control of aircraft, including flying cars, multi-rotor aircraft, multi-rotor drones, and other aircraft that require high maneuverability.

[0003] Existing blade pitch control methods cannot accurately detect the real-time blade pitch angle. They require the blades to be straightened back to the mechanical boundary after the blades have stopped moving before the blade pitch can be changed, which makes it difficult to meet the blade pitch requirements in various scenarios. Summary of the Invention

[0004] This invention provides a blade pitch control method, system, and aircraft to solve the technical problem that some blade pitch control methods cannot accurately detect the real-time pitch angle of the blades and are difficult to meet the blade pitch requirements in various scenarios when the blades are stationary.

[0005] This invention provides a blade pitch control method applied to a controller, wherein the controller is communicatively connected to a first sensor, which is installed at the connection part of the blade; the controlled component of the blade is connected to the control end of the pitch motor.

[0006] The blade pitch control method includes:

[0007] With the propeller blade in a locked state, the first propeller pitch angle collected by the first sensor is obtained;

[0008] If the first pitch angle is not an abnormal value, the variable pitch motor is controlled to adjust the first pitch angle to within the first preset angle range.

[0009] Furthermore, the controller is also communicatively connected to a second sensor, which is installed at the input end of the variable pitch motor;

[0010] The blade pitch control method further includes:

[0011] If the first pitch angle is an abnormal value, the motor angle collected by the second sensor is obtained;

[0012] If the motor angle is not within the second preset angle range, the motor angle of the variable pitch motor is adjusted to be within the second preset angle range.

[0013] Furthermore, the controller is also communicatively connected to a third sensor, which is mounted on a transmission rod that passes through the variable pitch motor;

[0014] The blade pitch control method further includes:

[0015] When the first pitch angle is an abnormal value, the transmission rod rotation angle collected by the third sensor is obtained;

[0016] The second pitch angle is calculated based on the rotation angle of the transmission rod and the set transmission ratio.

[0017] If the second pitch angle is not within the first preset angle range, the variable pitch motor is controlled to adjust the second pitch angle to the first preset angle range.

[0018] Furthermore, the blade pitch control method also includes:

[0019] After the variable pitch motor is powered on normally or after a power failure is resolved, the control blades enter a locked state.

[0020] Furthermore, the method of controlling the variable pitch motor to adjust the first pitch angle within a first preset angle range also includes:

[0021] The controller is initialized, and the blades are adjusted to the mechanical boundary. The blade position at the mechanical boundary is taken as the initial blade position, and the first blade pitch angle is adjusted within the first preset angle range.

[0022] Furthermore, after acquiring the first pitch angle collected by the first sensor, the method further includes:

[0023] Compare the first pitch angle with a preset abnormal value to determine whether the first pitch angle is an abnormal value.

[0024] If the first pitch angle is determined to be an abnormal value, the first sensor is determined to be abnormal.

[0025] The present invention also provides a blade pitch control system, including a controller, a motor assembly and a propeller, wherein the motor assembly includes a pitch motor, a first sensor is installed at the connection part of each blade of the propeller, the controller is communicatively connected to the first sensor, and the controlled part of the blade is connected to the control end of the pitch motor.

[0026] The first sensor is used to acquire the first pitch angle of the propeller blade;

[0027] The controller is used to acquire the first pitch angle collected by the first sensor when the blade is in a locked state.

[0028] If the first pitch angle is not an abnormal value, the variable pitch motor is controlled to adjust the first pitch angle to within the first preset angle range.

[0029] Furthermore, the controller is also communicatively connected to a second sensor, which is installed at the input end of the variable pitch motor and is used to collect the motor angle of the variable pitch motor.

[0030] The controller is also used to acquire the motor angle collected by the second sensor when the first pitch angle is an abnormal value;

[0031] If the motor angle is not within the second preset angle range, the motor angle of the variable pitch motor is adjusted to be within the second preset angle range.

[0032] Furthermore, the controller is also communicatively connected to a third sensor, which is mounted on a transmission rod that passes through the variable pitch motor. The third sensor is used to collect the rotation angle of the transmission rod.

[0033] The controller is also used to acquire the transmission rod rotation angle collected by the third sensor when the first pitch angle is an abnormal value.

[0034] The second pitch angle is calculated based on the rotation angle of the transmission rod and the set transmission ratio.

[0035] If the second pitch angle is not within the first preset angle range, the variable pitch motor is controlled to adjust the second pitch angle to the first preset angle range.

[0036] The present invention also provides an aircraft including the blade pitch control system described above.

[0037] The embodiments of the present invention directly acquire the blade pitch angle by means of a first sensor installed at the blade connection, which can accurately detect the real-time blade pitch angle. There is no need to return the blade to the mechanical boundary after the blade stops moving before changing the blade pitch. Thus, blade pitch can be changed in a variety of scenarios to meet the blade pitch change requirements in various scenarios.

[0038] Furthermore, in this embodiment of the invention, the blade position at the mechanical boundary is taken as the initial position of the blade. Adjusting the blade to the mechanical boundary can ensure that the blade is within a safe or reasonable range of motion, preventing mechanical interference or collision. On this basis, the blade is controlled to enter a locked state, ensuring that the blade is in a known and stable state, and effectively avoiding the accumulation of errors caused by long-term pitch changes, thereby effectively improving the stability and accuracy of blade pitch changes. Attached Figure Description

[0039] Figure 1This is a schematic flowchart of the blade pitch control method provided in an embodiment of the present invention;

[0040] Figure 2 This is a flowchart illustrating the real-time pitch control method for propellers provided in an embodiment of the present invention.

[0041] Figure 3 This is a schematic flowchart of the variable pitch control method for blade power failure recovery provided in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the blade self-learning process provided in an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of the blade pitch control system provided in an embodiment of the present invention. Detailed Implementation

[0044] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] In the description of this application, it should be understood that the terms "first" and "second" 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0046] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0047] Please see Figure 1 The present invention provides a blade pitch control method, which is applied to a controller. The controller is communicatively connected to a first sensor, which is installed at the connection part of the blade. The controlled component of the blade is connected to the control end of the pitch motor.

[0048] Blade pitch control methods include:

[0049] S1. With the propeller blades locked, acquire the first propeller pitch angle collected by the first sensor;

[0050] In this embodiment of the invention, the locked state is the fixed state of the blade. When the blade is in the locked state, the blade is fixed and does not move, so as to avoid the blade rotating during the pitch control process and thus failing to accurately position the blade.

[0051] The first sensor can be one of the rotary motion sensors such as encoder, resolver, or eddy current sensor. The first sensor is installed at the connection part of the blade. During the rotation of the blade, the first sensor can directly collect the blade pitch angle and transmit the collected pitch angle to the controller.

[0052] S2. If the first pitch angle is not an abnormal value, control the variable pitch motor to adjust the first pitch angle within the first preset angle range.

[0053] In this embodiment of the invention, the cases where the first pitch angle is an abnormal value include: when the motor is running, the first pitch angle does not change; or the difference between the first pitch angle and the normal value is too large or too small. For example, when the motor is running, if the pitch angle collected within a preset time is 0° or other unchanged values, it is determined that the first pitch angle is an abnormal value, and thus it is determined that the first sensor used to collect the first pitch angle is faulty or abnormal.

[0054] In this embodiment of the invention, when it is determined that the first pitch angle is not an abnormal value (i.e., the first sensor is working normally and acquiring the first pitch angle), the variable pitch motor is controlled to adjust the first pitch angle within a first preset angle range, thereby achieving variable pitch of the propeller blades. The first preset angle range can be set according to actual needs, for example, it can be set to 20°-90°.

[0055] During the variable pitch control process, the controller controls the variable pitch motor to rotate in a certain direction or angle, and drives the blades to move through the variable pitch motor, thereby changing the blade pitch angle.

[0056] The embodiments of the present invention directly acquire the blade pitch angle by means of a first sensor installed at the blade connection, which can accurately detect the real-time blade pitch angle. There is no need to return the blade to the mechanical boundary after the blade stops moving before changing the blade pitch. Thus, blade pitch can be changed in a variety of scenarios to meet the blade pitch change requirements in various scenarios.

[0057] In one embodiment, the controller is also communicatively connected to a second sensor, which is installed at the input of the variable pitch motor;

[0058] Blade pitch control methods also include:

[0059] When the first pitch angle is an abnormal value, the motor angle collected by the second sensor is obtained;

[0060] In this embodiment of the invention, when the first pitch angle is an abnormal value, the first sensor may malfunction or malfunction. The motor angle is then acquired from a second sensor installed at the input of the variable pitch motor to further control the blade pitch. The second sensor can be one of several rotary motion sensors, such as an encoder, resolver, or eddy current sensor.

[0061] If the motor angle is not within the second preset angle range, adjust the motor angle of the variable pitch motor to within the second preset angle range.

[0062] In this embodiment of the invention, to ensure that the pitch angle is within the first preset range when the variable-pitch motor is within the second preset angle range, a second preset angle range is set. Specifically, the second preset angle range can be determined based on the transmission relationship between the motor rotation angle and the pitch angle, as well as the first preset angle range. This eliminates the need to collect the real-time pitch angle of the blades; instead, the variable-pitch motor is controlled based on the current motor angle to adjust the blade pitch angle to the preset conditions, thereby achieving variable-pitch operation and effectively improving the reliability of the variable-pitch operation.

[0063] In one embodiment, the controller is also in communicative connection with a third sensor mounted on a drive rod that passes through a variable-pitch motor.

[0064] Blade pitch control methods also include:

[0065] When the first pitch angle is an abnormal value, the rotation angle of the transmission rod collected by the third sensor is obtained;

[0066] In this embodiment of the invention, when the first sensor malfunctions or malfunctions, the accurate rotation angle of the transmission rod can be obtained through the third sensor. The third sensor can be a linear conveying sensor.

[0067] The second pitch angle is calculated based on the rotation angle of the transmission rod and the set transmission ratio.

[0068] In this embodiment of the invention, one end of the transmission rod is connected to the variable pitch motor, and the other end is connected to the blade connection part. During the motor's movement, the transmission rod is driven to rotate, thereby driving the blade of the connection part to rotate. During the rotation of the transmission rod, there is a transmission ratio between the transmission rod and the connection part. The second blade pitch angle can be calculated by the power transmission angle and the transmission ratio, which is the real-time blade pitch angle at this time.

[0069] In this embodiment of the invention, a power transmission component is also provided at the connection between the connecting part and the transmission rod, so that the transmission rod drives the connecting part to move.

[0070] If the second pitch angle is not within the first preset angle range, the variable pitch motor is controlled to adjust the second pitch angle to within the first preset angle range.

[0071] This invention uses a second sensor to collect the real-time motor angle, and then combines it with the transmission ratio to accurately calculate the real-time blade pitch angle. This enables blade pitch variation even when the real-time blade pitch angle cannot be directly detected, improving the reliability of blade pitch variation and making it suitable for various blade pitch variation scenarios.

[0072] In one embodiment, the blade pitch control method further includes:

[0073] After the variable pitch motor is powered on normally or after a power failure is resolved, the control blades enter a locked state.

[0074] Please see Figure 2 This is a flowchart of a real-time blade pitch control method according to an embodiment of the present invention. During the pitch control process, when the blade pitch angle reaches a first preset angle range, the system enters a stopped pitch control state and a locked state.

[0075] Please see Figure 3 This is a flowchart illustrating a variable-pitch control method for blade power failure recovery according to an embodiment of the present invention. In this embodiment, when a power failure occurs in the variable-pitch motor, the blades are controlled to enter a locked state. The blades are maintained in a first locked state until power is restored. When power is restored, the blades may experience a slight offset; at this time, the blades are controlled to enter a second locked state, thereby performing variable-pitch control. The first and second locked states serve the same purpose: to fix the current position of the blades.

[0076] In this embodiment of the invention, after the variable pitch motor is powered on normally, the blades can enter a locked state, realizing real-time pitch control of the blades. When the variable pitch motor recovers from a power failure, the blades may be in an uncertain position. Entering the locked state immediately after power is restored can prevent the blades from rotating suddenly, which not only avoids injury to personnel or equipment, but also keeps the blades in a stable state, effectively improving the stability and reliability of the blade pitch control.

[0077] In one embodiment, controlling the variable pitch motor to adjust the first pitch angle within a first preset angle range further includes:

[0078] Initialize the controller, adjust the blades to the mechanical boundary, take the blade position at the mechanical boundary as the initial blade position, and adjust the first blade pitch angle within the first preset angle range.

[0079] In this embodiment of the invention, the mechanical boundary refers to the limit positions that a mechanical component can move within a mechanical device or system. That is, the maximum and minimum range that the mechanical component can physically reach. For a propeller blade, the mechanical boundary includes a maximum angle and a minimum angle. The maximum angle is the maximum angular position that the propeller blade can rotate to, which can be determined by a mechanical limiter or design parameters; the minimum angle is the minimum angular position that the propeller blade can rotate to, also limited by a mechanical limiter or design parameters.

[0080] In this embodiment of the invention, the blade position at the mechanical boundary is taken as the initial position of the blade. Adjusting the blade to the mechanical boundary can ensure that the blade is within a safe or reasonable range of motion, preventing mechanical interference or collision. Furthermore, the blade is controlled to enter a locked state, ensuring that the blade is in a known and stable state. This effectively avoids the accumulation of errors caused by long-term pitch changes, thereby effectively improving the stability and accuracy of blade pitch changes.

[0081] Please see Figure 4 This is a schematic diagram of a blade self-learning process provided in one embodiment. This embodiment of the invention can be configured to execute the blade self-learning step when preset conditions are met, in order to avoid the accumulation of errors caused by long-term pitch changes. The preset conditions include executing the blade self-learning step when the number of pitch changes reaches a preset value, or when the pitch change time reaches a preset value. The blade self-learning step includes:

[0082] Initialize the controller and adjust the blades to the mechanical boundary, using the blade position at the mechanical boundary as the initial blade position.

[0083] In one embodiment, after acquiring the first pitch angle collected by the first sensor, the method further includes:

[0084] Compare the first pitch angle with a preset abnormal value to determine whether the first pitch angle is an abnormal value.

[0085] If the first pitch angle is determined to be an abnormal value, the first sensor is determined to be abnormal.

[0086] In this embodiment of the invention, the cases where the first pitch angle is an abnormal value include: when the motor is running, the first pitch angle does not change; or the difference between the first pitch angle and the normal value is too large or too small. For example, when the motor is running, if the pitch angle collected within a preset time is 0° or other unchanged values, it is determined that the first pitch angle is an abnormal value, and thus it is determined that the first sensor used to collect the first pitch angle is faulty or abnormal.

[0087] By timely identifying abnormal blade pitch angles, this invention can avoid potential dangers caused by sensor errors, such as collisions or mechanical failures that may be caused by improper blade positioning.

[0088] Implementing the embodiments of the present invention has the following beneficial effects:

[0089] The embodiments of the present invention directly acquire the blade pitch angle by means of a first sensor installed at the blade connection, which can accurately detect the real-time blade pitch angle. There is no need to return the blade to the mechanical boundary after the blade stops moving before changing the blade pitch. Thus, blade pitch can be changed in a variety of scenarios to meet the blade pitch change requirements in various scenarios.

[0090] Furthermore, in this embodiment of the invention, the blade position at the mechanical boundary is taken as the initial position of the blade. Adjusting the blade to the mechanical boundary can ensure that the blade is within a safe or reasonable range of motion, preventing mechanical interference or collision. On this basis, the blade is controlled to enter a locked state, ensuring that the blade is in a known and stable state, and effectively avoiding the accumulation of errors caused by long-term pitch changes, thereby effectively improving the stability and accuracy of blade pitch changes.

[0091] Please see Figure 5 An embodiment of the present invention also provides a blade pitch control system, including a controller 10, a motor assembly 20 and a propeller. The motor assembly 20 includes a pitch motor. A first sensor 30 is installed at the connection part of each blade of the propeller. The controller 10 is communicatively connected to the first sensor 30. The controlled part of the blade is connected to the control end of the pitch motor.

[0092] The first sensor 30 is used to collect the first pitch angle of the propeller blade;

[0093] The controller 10 is used to acquire the first pitch angle collected by the first sensor 30 when the blades are locked.

[0094] In this embodiment of the invention, the locked state is the fixed state of the blade. When the blade is in the locked state, the blade is fixed and does not move, so as to avoid the blade rotating during the pitch control process and thus failing to accurately position the blade.

[0095] The first sensor 30 can be one of the rotary motion sensors such as encoder, resolver sensor, or eddy current sensor. The first sensor 30 is installed at the connection part of the blade. During the rotation of the blade, the first sensor 30 can directly collect the blade pitch angle and transmit the collected pitch angle to the controller 10.

[0096] If the first pitch angle is not an abnormal value, the control variable pitch motor will adjust the first pitch angle to within the first preset angle range.

[0097] In this embodiment of the invention, the cases where the first pitch angle is an abnormal value include: when the motor is running, the first pitch angle does not change; or the difference between the first pitch angle and the normal value is too large or too small. For example, when the motor is running, if the pitch angle collected within a preset time is 0° or other unchanged values, it is determined that the first pitch angle is an abnormal value, and thus it is determined that the first sensor 30 used to collect the first pitch angle is faulty or abnormal.

[0098] In this embodiment of the invention, when it is determined that the first pitch angle is not an abnormal value, i.e., the first sensor 30 is working normally and has collected the first pitch angle, the variable pitch motor is controlled to adjust the first pitch angle within a first preset angle range, thereby realizing the variable pitch of the blade. The first preset angle range can be set according to actual needs, for example, it can be set to 20°-90°.

[0099] During the variable pitch control process, the controller 10 controls the variable pitch motor to rotate in a certain direction or angle, thereby driving the blades to move and changing the blade pitch angle.

[0100] In this embodiment of the invention, the first sensor 30 installed at the blade connection point directly acquires the blade pitch angle, which can accurately detect the real-time blade pitch angle. There is no need to return the blade to the mechanical boundary after the blade stops moving before changing the blade pitch. Thus, blade pitch can be changed in a variety of scenarios to meet the blade pitch change requirements in various situations.

[0101] In one embodiment, the controller 10 is also communicatively connected to a second sensor 40, which is installed at the input end of the variable pitch motor and is used to acquire the motor angle of the variable pitch motor.

[0102] The controller 10 is also used to acquire the motor angle collected by the second sensor 40 when the first pitch angle is an abnormal value.

[0103] In this embodiment of the invention, when the first pitch angle is an abnormal value, the first sensor 30 may malfunction or malfunction. The second sensor 40, installed at the input of the variable pitch motor, acquires the motor angle to further control the blade pitch. The second sensor 40 can be one of several rotary motion sensors, such as an encoder, resolver, or eddy current sensor.

[0104] If the motor angle is not within the second preset angle range, adjust the motor angle of the variable pitch motor to within the second preset angle range.

[0105] In this embodiment of the invention, to ensure that the pitch angle is within the first preset range when the variable-pitch motor is within the second preset angle range, a second preset angle range is set. Specifically, the second preset angle range can be determined based on the transmission relationship between the motor rotation angle and the pitch angle, as well as the first preset angle range. This eliminates the need to collect the real-time pitch angle of the blades; instead, the variable-pitch motor is controlled based on the current motor angle to adjust the blade pitch angle to the preset conditions, thereby achieving variable-pitch operation and effectively improving the reliability of the variable-pitch operation.

[0106] In one embodiment, the controller 10 is also communicatively connected to a third sensor 50, which is mounted on a transmission rod that passes through a variable-pitch motor. The third sensor 50 is used to collect the rotation angle of the transmission rod.

[0107] The controller 10 is also used to acquire the transmission rod rotation angle collected by the third sensor 50 when the first pitch angle is an abnormal value.

[0108] In this embodiment of the invention, when the first sensor 30 malfunctions or malfunctions, the accurate rotation angle of the transmission rod can be obtained through the third sensor 50. The third sensor 50 can be a linear conveying sensor.

[0109] The second pitch angle is calculated based on the rotation angle of the transmission rod and the set transmission ratio.

[0110] In this embodiment of the invention, one end of the transmission rod is connected to the variable pitch motor, and the other end is connected to the blade connection part. During the motor's movement, the transmission rod is driven to rotate, thereby driving the blade of the connection part to rotate. During the rotation of the transmission rod, there is a transmission ratio between the transmission rod and the connection part. The second blade pitch angle can be calculated by the power transmission angle and the transmission ratio, which is the real-time blade pitch angle at this time.

[0111] In this embodiment of the invention, a power transmission component is also provided at the connection between the connecting part and the transmission rod, so that the transmission rod drives the connecting part to move.

[0112] If the second pitch angle is not within the first preset angle range, the variable pitch motor is controlled to adjust the second pitch angle to within the first preset angle range.

[0113] This invention uses a second sensor 40 to collect the real-time motor angle, and then combines it with the transmission ratio to accurately calculate the real-time blade pitch angle. This enables blade pitch variation even when the real-time blade pitch angle cannot be directly detected, improving the reliability of blade pitch variation and making it suitable for various blade pitch variation scenarios.

[0114] In one embodiment, the blade pitch control method further includes:

[0115] After the variable pitch motor is powered on normally or after a power failure is resolved, the control blades enter a locked state.

[0116] In this embodiment of the invention, after the variable pitch motor is powered on normally, the blades can enter a locked state, realizing real-time pitch control of the blades. When the variable pitch motor recovers from a power failure, the blades may be in an uncertain position. Entering the locked state immediately after power is restored can prevent the blades from rotating suddenly, which not only avoids injury to personnel or equipment, but also keeps the blades in a stable state, effectively improving the stability and reliability of the blade pitch control.

[0117] In one embodiment, controller 10 is further configured to:

[0118] Initialize controller 10, adjust the blade to the mechanical boundary, take the blade position at the mechanical boundary as the initial blade position, and adjust the first blade pitch angle within the first preset angle range.

[0119] In this embodiment of the invention, the mechanical boundary refers to the limit positions that a mechanical component can move within a mechanical device or system. That is, the maximum and minimum range that the mechanical component can physically reach. For a propeller blade, the mechanical boundary includes a maximum angle and a minimum angle. The maximum angle is the maximum angular position that the propeller blade can rotate to, which can be determined by a mechanical limiter or design parameters; the minimum angle is the minimum angular position that the propeller blade can rotate to, also limited by a mechanical limiter or design parameters.

[0120] In this embodiment of the invention, the blade position at the mechanical boundary is taken as the initial position of the blade. Adjusting the blade to the mechanical boundary can ensure that the blade is within a safe or reasonable range of motion, preventing mechanical interference or collision. Furthermore, the blade is controlled to enter a locked state, ensuring that the blade is in a known and stable state. This effectively avoids the accumulation of errors caused by long-term pitch changes, thereby effectively improving the stability and accuracy of blade pitch changes.

[0121] Please see Figure 4 This is a schematic diagram of a blade self-learning process provided in one embodiment. In this embodiment, the controller 10 can be set to execute a blade self-learning step when preset conditions are met, in order to avoid accumulated errors caused by long-term pitch changes. The preset conditions include executing the blade self-learning step when the number of pitch changes reaches a preset value, or when the pitch change time reaches a preset value. The blade self-learning step includes:

[0122] Initialize controller 10 and adjust the blades to the mechanical boundary, using the blade position at the mechanical boundary as the initial blade position.

[0123] In one embodiment, controller 10 is further configured to:

[0124] Compare the first pitch angle with a preset abnormal value to determine whether the first pitch angle is an abnormal value.

[0125] If the first pitch angle is determined to be an abnormal value, the first sensor 30 is determined to be abnormal.

[0126] In this embodiment of the invention, the cases where the first pitch angle is an abnormal value include: when the motor is running, the first pitch angle does not change; or the difference between the first pitch angle and the normal value is too large or too small. For example, when the motor is running, if the pitch angle collected within a preset time is 0° or other unchanged values, it is determined that the first pitch angle is an abnormal value, and thus it is determined that the first sensor 30 used to collect the first pitch angle is faulty or abnormal.

[0127] By timely identifying abnormal blade pitch angles, this invention can avoid potential dangers caused by sensor errors, such as collisions or mechanical failures that may be caused by improper blade positioning.

[0128] Implementing the embodiments of the present invention has the following beneficial effects:

[0129] The embodiments of the present invention directly acquire the blade pitch angle by means of a first sensor installed at the blade connection, which can accurately detect the real-time blade pitch angle. There is no need to return the blade to the mechanical boundary after the blade stops moving before changing the blade pitch. Thus, blade pitch can be changed in a variety of scenarios to meet the blade pitch change requirements in various scenarios.

[0130] Furthermore, in this embodiment of the invention, the blade position at the mechanical boundary is taken as the initial position of the blade. Adjusting the blade to the mechanical boundary can ensure that the blade is within a safe or reasonable range of motion, preventing mechanical interference or collision. On this basis, the blade is controlled to enter a locked state, ensuring that the blade is in a known and stable state, and effectively avoiding the accumulation of errors caused by long-term pitch changes, thereby effectively improving the stability and accuracy of blade pitch changes.

[0131] The present invention also provides an aircraft including the blade pitch control system described above.

[0132] In embodiments of the present invention, the aircraft includes flying cars, multi-rotor aircraft, multi-rotor drones, and other aircraft requiring high maneuverability.

[0133] Accordingly, one embodiment of the present invention also provides a terminal device, including: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the blade pitch control method of any of the above embodiments.

[0134] The terminal device in this embodiment includes a processor, a memory, and a computer program and computer instructions stored in the memory and executable on the processor. When the processor executes the computer program, it implements the various steps described in Embodiment 1 above, for example... Figure 1 Steps S1 to S3 are shown.

[0135] For example, a computer program can be divided into one or more modules / units, one or more of which are stored in memory and executed by a processor to complete the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in a terminal device.

[0136] Terminal devices can be computing devices such as desktop computers, laptops, handheld computers, and cloud servers. Terminal devices may include, but are not limited to, processors and memory. Those skilled in the art will understand that the schematic diagrams are merely examples of terminal devices and do not constitute a limitation on the terminal devices. They may include more or fewer components than illustrated, or combine certain components, or different components. For example, terminal devices may also include input / output devices, network access devices, buses, etc.

[0137] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device through various interfaces and lines.

[0138] Memory can be used to store computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, applications required for at least one function, etc.; the data storage area may store data created based on the use of the mobile terminal, etc. In addition, memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart memory cards (SMC), secure digital cards (SD cards), flash memory cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0139] If the modules / units integrated into the terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0140] Accordingly, one embodiment of the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to execute the blade pitch control method of any of the above embodiments.

[0141] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention in detail. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for controlling blade pitch, characterized in that, The controller is communicatively connected to a first sensor, which is installed at the connection point of the blade; the controlled component of the blade is connected to the control terminal of the variable pitch motor; the controller is also communicatively connected to a second sensor, which is installed at the input terminal of the variable pitch motor. The blade pitch control method includes: After the variable pitch motor is powered on normally or after power is restored from a power failure, the control blades enter the locked state. With the propeller blade in a locked state, the first propeller pitch angle collected by the first sensor is obtained; When the first pitch angle is not an abnormal value, the variable pitch motor is controlled to adjust the first pitch angle within a first preset angle range; the control of the variable pitch motor to adjust the first pitch angle within the first preset angle range includes: initializing the controller, adjusting the blade to the mechanical boundary, taking the blade position at the mechanical boundary as the initial blade position, and adjusting the first pitch angle within the first preset angle range. If the first pitch angle is an abnormal value, the motor angle collected by the second sensor is obtained; If the motor angle is not within the second preset angle range, the motor angle of the variable pitch motor is adjusted to be within the second preset angle range.

2. The blade pitch control method as described in claim 1, characterized in that, The controller is also in communication with a third sensor, which is mounted on a transmission rod that passes through the variable pitch motor. The blade pitch control method further includes: When the first pitch angle is an abnormal value, the transmission rod rotation angle collected by the third sensor is obtained; The second pitch angle is calculated based on the rotation angle of the transmission rod and the set transmission ratio. If the second pitch angle is not within the first preset angle range, the variable pitch motor is controlled to adjust the second pitch angle to the first preset angle range.

3. The blade pitch control method as described in claim 1, characterized in that, After acquiring the first propeller pitch angle collected by the first sensor, the process also includes: Compare the first pitch angle with a preset abnormal value to determine whether the first pitch angle is an abnormal value. If the first pitch angle is determined to be an abnormal value, the first sensor is determined to be abnormal.

4. A blade pitch control system, characterized in that, The device includes a controller, a motor assembly, and a propeller. The motor assembly includes a variable-pitch motor. A first sensor is installed at the connection point of each blade of the propeller. The controller is communicatively connected to the first sensor. The controlled component of the blade is connected to the control terminal of the variable-pitch motor. The controller is also communicatively connected to a second sensor, which is installed at the input terminal of the variable-pitch motor. The first sensor is used to acquire the first pitch angle of the propeller blade; The controller is used to control the blades to enter a locked state after the variable pitch motor is powered on normally or after power is restored from a power failure; and to acquire the first pitch angle collected by the first sensor when the blades are in the locked state. If the first pitch angle is not an abnormal value, control the variable pitch motor to adjust the first pitch angle within the first preset angle range; The control variable pitch motor adjusts the first pitch angle within a first preset angle range, including: initializing the controller, adjusting the blade to the mechanical boundary, taking the blade position at the mechanical boundary as the initial blade position, and adjusting the first pitch angle within the first preset angle range; If the first pitch angle is an abnormal value, the motor angle collected by the second sensor is obtained; If the motor angle is not within the second preset angle range, the motor angle of the variable pitch motor is adjusted to be within the second preset angle range.

5. The blade pitch control system as described in claim 4, characterized in that, The controller is also communicatively connected to a third sensor, which is mounted on a transmission rod that passes through the variable pitch motor. The third sensor is used to collect the rotation angle of the transmission rod. The controller is also used to acquire the transmission rod rotation angle collected by the third sensor when the first pitch angle is an abnormal value. The second pitch angle is calculated based on the rotation angle of the transmission rod and the set transmission ratio. If the second pitch angle is not within the first preset angle range, the variable pitch motor is controlled to adjust the second pitch angle to the first preset angle range.

6. An aircraft, characterized in that, Including the blade pitch control system as described in any one of claims 4-5.

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