Dual-redundancy aircraft propeller wireless variable pitch system and variable pitch control method

Abstract

The invention provides a dual-redundancy aircraft propeller wireless variable-pitch system and a variable-pitch control method. The system comprises a driving integrated control board, a power supply distribution assembly box, a Lora communication system, a wireless data transmission radio station, a wireless power supply system, a transmitting double-antenna, a receiving double-antenna, a variable-pitch motor and a propeller mechanical mechanism. Wherein the wireless power supply system comprises a transmitting coil group and a receiving coil group; the transmitting dual-antenna comprises an antenna I and an antenna II, and the receiving dual-antenna comprises an antenna III and an antenna IV; according to the system design provided by the invention, an electric slip ring used in wired pitch change is replaced by a wireless pitch change mode, and wireless electric energy supply and wireless signal control of the pitch change motor are realized. And meanwhile, a dual-redundancy design of a Lora communication system and a wireless data transmission radio station is adopted to carry out wireless communication so as to control the variable-pitch motor.

Description

Technical Field

[0001] The invention belongs to the technical field of wireless control of aviation flight, and in particular relates to a dual-redundant wireless pitch-changing system for aircraft propellers and a pitch-changing control method. Background Art

[0002] The purpose of the research on variable pitch propeller control system is to make the efficiency of the entire aircraft system have a qualitative leap compared with the efficiency of the fixed pitch propeller system. Compared with the fixed pitch propeller system, the application of variable pitch propeller improves the efficiency of the propulsion system, greatly improves and improves the maneuverability, long flight time and overall efficiency of the entire aircraft system. The variable pitch propeller method refers to the use of the motor to generate the variable pitch driving force, drive the mechanical transmission mechanism to rotate the propeller blades, thereby changing the airflow angle of attack on the blades, and then maintaining a high efficiency of the propeller.

[0003] Usually, the pitch motor in the wired pitch system of aircraft propellers is included in the pitch machine of the propeller, and rotates at high speed with the propeller. The electric pitch system of aircraft propellers generally connects the aircraft fuselage with the high-speed rotating propeller through a conductive slip ring to provide power and transmit signals to the pitch motor. Conductive slip rings are required to control the pitch motor in high-speed rotation. Compared with the method of using electric slip rings for power and signal transmission, wireless power and signal transmission technology has many advantages such as non-contact, wear-free, flexible and convenient. The wireless pitch control system effectively avoids the problems such as the over-temperature of the conductive slip ring surface caused by the long-term high-speed rotation of the aircraft propeller, which leads to over-temperature failure of the conductive slip ring and the brush. At the same time, the working environment of the electromagnetic field in aviation flight products is complex, and large-area metal coverage will hinder electromagnetic coupling, generate eddy current loss, and reduce transmission efficiency.

[0004] Therefore, in a complex metal environment, it is very meaningful to reduce losses and increase coupling to achieve maximum efficiency transmission and improve wireless control stability. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a dual-redundant aircraft propeller wireless pitch control system and pitch control method to improve the transmission efficiency of wireless communication control.

[0006] The technical solution of the present invention is: a dual-redundant aircraft propeller wireless pitch-changing system, comprising: a driving integrated control panel, a power distribution assembly box, a Lora communication system, a wireless data transmission radio, a wireless power supply system, a transmitting dual antenna, a receiving dual antenna, a pitch-changing motor, and a propeller mechanical mechanism; wherein the wireless power supply system comprises a transmitting coil group and a receiving coil group; the transmitting dual antenna comprises antenna 1 and antenna 2, and the receiving dual antenna comprises antenna 3 and antenna 4;

[0007] Antenna 1 and antenna 3 are connected to the Lora communication system, and antenna 2 and antenna 4 are connected to the wireless data transmission radio;

[0008] The Lora communication system and the wireless data transmission radio are connected to the driving integrated control panel;

[0009] The Lora communication system and the wireless data transmission radio are connected to the variable pitch motor to send a rotation instruction to the variable pitch motor; the variable pitch motor drives the propeller mechanical structure to rotate;

[0010] The sensor in the pitch-changing motor is used to monitor the actual rotation parameter information of the propeller mechanical mechanism. The pitch-changing motor is connected to the Lora communication system and the wireless data transmission radio signal. The Lora communication system and the wireless data transmission radio feed back the received actual rotation parameter information of the propeller mechanical mechanism to the driving integrated control board.

[0011] The power distribution assembly box is connected to the transmitting coil group and the driving integrated control board respectively. The receiving coil group is connected to the variable pitch motor.

[0012] Furthermore, the system also includes a display screen, and the driving integrated control panel is connected to the display screen; the power distribution assembly box is connected to the display screen.

[0013] Furthermore, the Lora communication chip model is E22-230T33E, the operating frequency is 233M, and it is used in conjunction with the transmitting antenna one and receiving antenna three of the fpc; the wireless data transmission radio model is E95M-DTU (400SL22-485), the operating frequency is 433M, and it is used in conjunction with the transmitting antenna two and receiving antenna four.

[0014] Furthermore, a switching unit is provided in the driving integrated control panel, and the switching unit is implemented by a single chip microcomputer in cooperation with a peripheral circuit, and communicates with the Lora communication and the data transmission radio through the serial port, and sends the main and standby setting instructions to the Lora communication and the data transmission radio according to the serial port communication status.

[0015] Furthermore, a 485 communication protocol is used between the brushless DC motor, the sensor and the driving integrated control board in the variable pitch motor.

[0016] Furthermore, the driving integrated control board selects an STM32 board as a controller, and its model is STM32F103ZET6.

[0017] The present invention also provides a dual-redundant aircraft propeller wireless pitch control method, comprising:

[0018] S1: After the coupling phenomenon occurs in the high-frequency oscillator and power amplifier in the transmitting coil group circuit, the receiving coil group obtains electric energy after being rectified, extracted, amplified and sorted by the circuit. The receiving coil group is connected to the variable pitch motor to provide wireless power to the variable pitch motor.

[0019] S2: The driving integrated control panel sends signal instructions to the Lora communication system and the wireless data transmission radio at the same time, and the data between the Lora communication system and the wireless data transmission radio is synchronized;

[0020] S3: Antenna 3 and antenna 4 receive the variable distance control command sent by the Lora communication system and the wireless data transmission station, and antenna 1 and antenna 2 send the variable distance control command;

[0021] S4: The pitch-changing motor receives the pitch-changing command from the antenna, and drives the propeller mechanical transmission mechanism to change the propeller blade angle;

[0022] S5: The sensors in the variable pitch motor monitor the data information parameters of the actual rotation of the variable pitch system, which are then fed back to the driving integrated control board by the Lora communication system and wireless data transmission radio and displayed on the display screen.

[0023] The invention provides a dual-redundant aircraft propeller wireless pitch control system and pitch control method, which uses Lora communication and data transmission radio dual-redundant design to improve the transmission efficiency of wireless communication control. The STM32 board is selected as the controller, and the control signal is transmitted through the dual antennas, and the signal received by the dual antennas at the receiving end drives the motor to adjust the angle. It can also be combined with the flight control system to establish an intelligent control system using the flight control system sensors.

[0024] The dual-redundant wireless pitch control system for aircraft propellers of the present invention enables more precise control of the pitch angle of the pitch control system. In order to solve the electromagnetic interference problem in wireless control, a dual-redundant design communication control method is adopted to ensure a higher degree of safety and stability.

[0025] The system design provided by the present invention adopts a wireless pitch change method to replace the electric slip ring used in the wired pitch change, realizing the wireless power supply and wireless signal control of the pitch change motor. At the same time, in order to solve the influence of electromagnetic eddy current interference caused by the complex environment of electromagnetic devices on the transmission of wireless signals, the Lora communication system and the wireless data transmission radio station dual redundant design are used for wireless communication to control the pitch change motor. The pitch change motor provides power for the blade angle adjustment of the propeller mechanical pitch change mechanism, thereby changing the flight torque of the propeller. And the information of the pitch change motor and the sensor is fed back through the display screen to accurately display the working status, speed, pitch and other parameters of the propeller pitch change system. Based on the feedback information of the motor and the sensor, the driving integrated control board can accurately adjust the output control signal, thereby reducing the propeller pitch change error and improving the flight performance. The pitch change system is suitable for unmanned aerial vehicles and small and medium-sized aircraft with propellers, and can be flexibly switched in multiple operating modes. Further enhance market competitiveness and bring huge economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 A schematic structural diagram of a dual-redundant aircraft propeller wireless pitch-changing system provided by the present invention;

[0029] Figure 2 A control analysis diagram of a dual-redundancy design for a wireless pitch-changing system for aircraft propellers provided by the present invention;

[0030] Figure 3 An analysis diagram of the dual redundant communication system provided by the present invention;

[0031] Figure 4 The RS485 communication principle diagram provided by the present invention. DETAILED DESCRIPTION

[0032] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present invention. Instead, they are merely examples of systems consistent with some aspects of the present invention as detailed in the appended claims.

[0033] In the prior art, the electric pitch-changing system of aircraft propellers usually uses a conductive slip ring to connect the aircraft fuselage and the high-speed rotating propeller to provide power and transmit signals for the pitch-changing motor. However, the long-term high-speed rotation of the propeller may cause the surface temperature of the conductive slip ring to be too high. Therefore, firstly, this embodiment provides a dual-redundant wireless pitch-changing system for aircraft propellers, including: a driving integrated control panel 1, a power distribution assembly box 2, a Lora communication system 3, a wireless data transmission radio 4, a wireless power supply system, a transmitting dual antenna 7, a receiving dual antenna 9, a pitch-changing motor 10, and a propeller mechanical mechanism 11; wherein the wireless power supply system includes a transmitting coil group 6 and a receiving coil group 8; the transmitting dual antenna 7 includes antenna one and antenna two, and the receiving dual antenna 9 includes antenna three and antenna four;

[0034] Antenna 1 and antenna 3 are connected to Lora communication system 3, and antenna 2 and antenna 4 are connected to wireless data transmission station 4;

[0035] The Lora communication system 3 and the wireless data transmission radio 4 are connected to the driving integrated control panel 1;

[0036] The Lora communication system 3 and the wireless data transmission radio 4 are connected to the variable pitch motor 10, and are used to send a rotation instruction to the variable pitch motor 10; the variable pitch motor 10 drives the propeller mechanical structure 11 to rotate;

[0037] The sensor in the pitch-changing motor is used to monitor the actual rotation parameter information of the propeller mechanical mechanism 12. The pitch-changing motor is connected to the Lora communication system 3 and the wireless data transmission radio 4. The Lora communication system 3 and the wireless data transmission radio 4 feed back the received actual rotation parameter information of the propeller mechanical mechanism 11 to the driving integrated control board 1.

[0038] The power distribution assembly box 2 is connected to the wireless power supply system and the driving integrated control board 1 respectively, and the receiving coil group 8 in the wireless power supply system is connected to the variable pitch motor 10.

[0039] It also includes a display screen 5 , and the driving integrated control panel 1 is connected to the display screen 5 ; the power distribution assembly box 2 is connected to the display screen 5 .

[0040] The wireless power supply system in this implementation scheme is of magnetic induction type. The direct current input by the wireless power supply transmitter is converted into alternating current through a rectifier and inverter circuit. Then, according to the system's demand for output frequency, it is processed by a high-frequency inverter circuit to become a corresponding high-frequency alternating current, which excites the coupling coil and the compensation structure to produce resonance. One side of the coil generates a high-frequency alternating magnetic field, which transmits power to the other side of the coil through magnetic coupling and generates high-frequency alternating current again. Finally, after relevant rectification and filtering, the direct current is delivered to the power load.

[0041] The power distribution assembly box 2 has a variety of distribution circuits. The power distribution assembly box 2 is connected to the transmitting coil group 6. The transmitting coil group 6 includes a high-frequency oscillator, a power amplifier and other transmitting devices. The power distribution assembly box 2 is also connected to the driving integrated control panel 1 and the display screen 5;

[0042] Specifically, the power distribution assembly box is provided with multiple voltage power supplies. Among them, the power distribution assembly box is connected to the coupling coil, the power distribution assembly box contains a conversion adjustable circuit, the power supply can provide 12V-48V adjustable voltage output, the power distribution assembly box is connected to the wireless power transmission coupling coil, and the power distribution assembly box is connected to the driving integrated control board to provide 5V and 3.3V power supply, and the power supply is connected to the display screen to provide 5V power supply.

[0043] This implementation scheme uses a switching unit to monitor / switch the working status of two sets of transmitting antennas and two sets of receiving antennas; the switching unit is implemented by a single-chip microcomputer in conjunction with peripheral circuits, and communicates with Lora communication and digital radio through the serial port, and sends master and standby setting instructions to Lora communication and digital radio according to the serial port communication status; the single-chip microcomputer I / O port controls the power-on contactor of the driving unit through an intermediate relay; when Lora communication works as the host, if the Lora communication system detects a fault or the communication with the switching unit is interrupted, the switching unit cuts off the drive of the Lora communication and sends a master-standby switching instruction to the digital radio system, and the digital radio starts working as the host immediately.

[0044] Antenna 1 and antenna 2 use dual redundant system dual antenna transmission to ensure accurate transmission of pitch control instructions; antenna 3 and antenna 4 in the receiving dual antenna 9 are connected to the signal input end of the pitch motor 10; the receiving coil group 8 is connected to the power input end of the pitch motor 10; the rotating output end of the pitch motor 10 drives the propeller pitch mechanical mechanism 11 to change the propeller blade angle. The sensor monitors the actual rotation working status, speed, pitch data and other information parameters of the pitch system, and the dual redundant communication system feeds back to the driving integrated control board 1.

[0045] The Lora communication chip model is E22-230T33E, the operating frequency is 233M, and the antennas 1 and 3 used in conjunction are fpc antennas. The wireless data radio model is E95M-DTU (400SL22-485), the operating frequency is 433M, and the antennas 2 and 4 used in conjunction are ring antennas. The two have different operating frequencies and will not be affected by interference.

[0046] Applying the above system, the following control process is adopted:

[0047] S1: After the high-frequency oscillator and power amplifier in the transmitting coil group circuit produce coupling, the receiving coil group obtains electrical energy after circuit rectification, extraction, amplification and sorting. The receiving coil group is connected to the variable pitch motor to provide wireless power to the variable pitch motor.

[0048] S2: The Lora communication system and the wireless data transmission radio are connected to the driving integrated control board, and the driving integrated control board model is STM32F103ZET6. The driving integrated control board simultaneously sends and receives signal instructions to the Lora communication system and the wireless data transmission radio, and the data between the Lora communication system and the wireless data transmission radio is synchronized.

[0049] S3: Antenna 1 and Antenna 2 in the transmitting coil group and dual antenna assembly, Antenna 1 is connected to the Lora communication system, and Antenna 2 is connected to the wireless data transmission station. Antenna 1 and Antenna 2 use dual redundant design to ensure accurate transmission of variable pitch control instructions. Antenna 3 and Antenna 4 in the receiving coil and dual antenna assembly, Antenna 3 and Antenna 4 are used as dual antennas to receive variable pitch control instructions to avoid signal transmission obstruction caused by electromagnetic eddy current interference caused by complex environment of electromagnetic devices.

[0050] S4: The pitch motor receives the pitch command from the antenna, and drives the propeller mechanical transmission mechanism to change the propeller blade angle.

[0051] S5: The sensors in the variable pitch motor monitor the actual working status, speed, pitch data and other information parameters of the variable pitch system, which are then fed back to the driving integrated control board by the dual redundant communication system and displayed on the display screen.

[0052] The composition of the dual redundant communication system is as follows: Figure 3 As shown. The Lora communication system and the data transmission radio are the control core. The antenna interface SMA of the Lora communication system is connected to the IPXE interface of antenna one. The antenna interface of the data transmission radio is connected to the antenna interface of antenna two. The Lora communication and the data transmission radio send the rotation command to antenna three and four. Antenna three and four are transmitted by the Lora communication and the data transmission radio. The logic circuit control device in the variable pitch motor drives the MS4005v3 series DC brushless motor to rotate. The motor drives the propeller mechanical structure to rotate through the reducer. The variable pitch motor integration includes a limit switch. If a limit occurs, the drive motor is stopped.

[0053] The variable pitch motor used in the present invention is an integrated structure, including a brushless DC motor, an angle sensor and a limit switch. The brushless DC motor is a driving component, and the angle sensor and the limit switch are measuring components, all of which are concentrated in the variable pitch motor. Lora communication, data transmission radio, and antenna have many internal electronic components, and the probability of electromagnetic interference failure is much greater than that of motors, limit switches and sensors. Therefore, the dual redundant communication system mainly solves the problem of coordinated work of Lora communication, antenna one, data transmission radio, antenna two, and dual sets of antennas three and four.

[0054] In the dual redundant communication system, the switching unit is used to monitor / switch the working status of two sets of transmitting antennas and two sets of receiving antennas. The switching unit is implemented by a highly reliable single-chip microcomputer with mature peripheral circuits. It communicates with the Lora communication system and the digital radio through the serial port, and sends the master and standby setting instructions to the Lora communication system and the digital radio according to the serial port communication status. The I / O port of the single-chip microcomputer controls the power-on contactor of the drive unit through the intermediate relay. When the Lora communication system works as the host, if the Lora communication system detects a fault or the communication with the switching unit is interrupted, the switching unit cuts off the drive of the Lora communication system and sends the master-slave switching instruction to the digital radio system. The digital radio starts working as the host immediately to ensure that the communication service is not interrupted.

[0055] Specifically, the wireless data transmission radio 4 is internally provided with an antenna interface, an indicator light, a reset button (embedded), a power interface, a motor control signal input port, and a data communication serial port; the Lora communication system 3 is provided with a data communication serial port, a motor control signal input port, an antenna interface, and a status indicator light.

[0056] Specifically, the driving integrated control board 1 is provided with interfaces such as a controller connection power supply port, a motor control signal output port, a propeller speed signal input port, a data communication serial port, an intelligent voice broadcast, and a buzzer alarm; the display screen 5 is 4.7 inches in size, on which the operating status of each major component can be seen, and a manual adjustment operating mode option is provided on the display screen; the DC brushless motor and sensor in the variable pitch motor 10 and the driving integrated control board 1 all adopt the 485 communication protocol.

[0057] In the RS485 communication network, a 485 transceiver is usually used to convert the TTL level into the RS485 differential signal. The serial port TxD of the autonomous driving integrated control board sends data, which is converted into a differential signal by the 485 transceiver and transmitted to the bus. When receiving data, the 485 transceiver converts the differential signal on the bus into a TTL signal from RxD to the serial port of the autonomous driving integrated control board. Figure 4 U16 in the figure is a 3.3V low-power half-duplex transceiver, powered by 3.3V, and meets RS-485 and RS-422 standards. The RX (PA3) and TX (PA2) of the main control chip USART are connected to the RO and DI pins of U16 respectively, and the A and B pins of U16 are connected to the wiring terminal.

[0058] At the receiver output, if AB≥-0.05V, RO is high. When AB≤-0.2V, RO is low; if A and B are left floating or short-circuited, RO is also high. U16's 2nd pin RE is receive enable, and the overline indicates that the low level is valid, that is, when U16's 2nd pin is low, U16 receives data. U16's 3rd pin DE is output enable, and the high level is valid, that is, when U16's 3rd pin is high, U16 sends data. R10 is a terminal matching resistor with a resistance of 120Ω.

[0059] In summary, the present invention adopts a dual redundant design method, and controls the pitch-variable motor by connecting the two communication systems of Lora communication and wireless data transmission radio through the driving integrated control panel. The pitch-variable system uses wireless power supply technology and wireless signal transmission technology to control the pitch-variable motor in high-speed rotation. The DC brushless motor is used to provide pitch-variable power for the propeller pitch-variable mechanical mechanism. The feedback information of the sensor in the pitch-variable motor is displayed on the display screen, which can reflect the working status, speed, pitch data and other information parameters of the actual rotation of the propeller pitch-variable system. The accurate pitch value is calculated in combination with the set propeller characteristic parameters, and the pitch, airspeed and engine power output of the variable pitch propeller can be accurately matched.

[0060] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These changes and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A dual-redundant aircraft propeller wireless pitch control system, characterized in that: include: A driving integrated control panel (1), a power distribution assembly box (2), a Lora communication system (3), a wireless data transmission radio (4), a wireless power supply system, a transmitting dual antenna (7), a receiving dual antenna (9), a variable pitch motor (10), and a propeller mechanical mechanism (11); wherein the wireless power supply system comprises a transmitting coil group (6) and a receiving coil group (8); the transmitting dual antenna (7) comprises an antenna 1 and an antenna 2, and the receiving dual antenna (9) comprises an antenna 3 and an antenna 4; the variable pitch motor is an integrated structure, comprising a DC brushless motor, an angle sensor, and a limit switch; Antenna 1 and antenna 3 are connected to the Lora communication system (3), and antenna 2 and antenna 4 are connected to the wireless data transmission station (4); The Lora communication system (3) and the wireless data transmission radio (4) are connected to the driving integrated control panel (1); The Lora communication system (3) and the wireless data transmission radio station (4) are connected to the variable pitch motor (10) and are used to send a rotation instruction to the variable pitch motor (10); the variable pitch motor (10) drives the propeller mechanical structure (12) to rotate; The sensor in the pitch-changing motor (10) is used to monitor the actual rotation parameter information of the propeller mechanical mechanism (12). The pitch-changing motor (10) is connected to the Lora communication system (3) and the wireless data transmission radio (4) by signal. The Lora communication system (3) and the wireless data transmission radio (4) feed back the received actual rotation parameter information of the propeller mechanical mechanism (12) to the driving integrated control panel (1); The power distribution assembly box (2) is respectively connected to the transmitting coil group (6) and the driving integrated control panel (1), and the receiving coil group (8) is connected to the variable pitch motor.

2. A dual-redundant aircraft propeller wireless pitch control system according to claim 1, characterized in that: It comprises a display screen (5), wherein the driving integrated control panel (1) is connected to the display screen (5); and the power distribution assembly box (2) is connected to the display screen (5).

3. A dual-redundant aircraft propeller wireless pitch control system according to claim 1, characterized in that: The Lora communication chip model is E22-230T33E, the operating frequency is 233M, and it is used in conjunction with the transmitting antenna one and receiving antenna three of fpc; the wireless data radio model is E95M-DTU (400SL22-485), the operating frequency is 433M, and it is used in conjunction with the transmitting antenna two and receiving antenna four.

4. A dual-redundant aircraft propeller wireless pitch control system according to claim 1, characterized in that: The driving integrated control panel (1) is provided with a switching unit, which is implemented by a single chip microcomputer in cooperation with a peripheral circuit, and communicates with the Lora communication and data transmission radio via a serial port, and sends a master / standby setting instruction to the Lora communication and data transmission radio according to the serial port communication status.

5. A dual-redundant aircraft propeller wireless pitch control system according to claim 1, characterized in that: A 485 communication protocol is used between the brushless DC motor, the sensor and the driving integrated control board (1) in the variable pitch motor (10).

6. A dual-redundant aircraft propeller wireless pitch control system according to claim 1, characterized in that: The driving integrated control board (1) selects an STM32 board as a controller, and its model is STM32F103ZET6.

7. A dual-redundant wireless pitch control method for aircraft propellers, characterized in that: include: S1: After the coupling phenomenon occurs in the high-frequency oscillator and power amplifier in the transmitting coil group circuit, the receiving coil group obtains electric energy after being rectified, extracted, amplified and sorted by the circuit. The receiving coil group is connected to the variable pitch motor to provide wireless power to the variable pitch motor. S2: The driving integrated control panel sends signal instructions to the Lora communication system and the wireless data transmission radio at the same time, and the data between the Lora communication system and the wireless data transmission radio is synchronized; S3: Antenna 3 and antenna 4 receive the variable distance control command sent by the Lora communication system and the wireless data transmission station, and antenna 1 and antenna 2 send the variable distance control command; S4: The pitch motor receives the pitch command from the antenna and drives the propeller mechanical transmission mechanism to change the propeller blade angle; S5: The sensors in the variable pitch motor monitor the data information parameters of the actual rotation of the variable pitch system, which are then fed back to the driving integrated control board by the Lora communication system and wireless data transmission radio and displayed on the display screen.

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