Actuating mechanism for controlling swash plate to drive rotor wing to change pitch and flying platform control strategy

Abstract

The invention discloses an execution mechanism for controlling a swash plate to drive a rotor wing to change the pitch and a flight platform control strategy. A servo execution unit assembly is arranged in the middle of a main force bearing assembly, and an upper swash plate assembly and a lower swash plate assembly are arranged on the main force bearing assembly located at the upper end and the lower end of the servo execution unit assembly; an upper rotor wing assembly and a lower rotor wing assembly are respectively arranged on the main force bearing assembly positioned at the upper end of the upper swash plate assembly and the lower end of the lower swash plate assembly; the phase lag angle is determined according to the optimal flapping frequency ratio of the rotor, the rocker arm connecting position connected with the variable-pitch pull rod on the bearing seat is designed in a targeted mode, the variable-pitch pull rod connecting points located on the swash plate assembly are located at the same vertical position, the optimal phase lag angle is achieved, meanwhile, the compactness and reliability of pull rod connection are guaranteed, and the service life of the rotor is prolonged. And the rotating tangential direction of the inclined disc assembly is basically perpendicular to the mounting plane of the spherical hinge base, so that the variable-pitch pull rod spherical hinge is further prevented from falling off.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft design, and in particular to an actuator for controlling a swash plate to drive a rotor pitch change and a flight platform control strategy. Background Art

[0002] The coaxial twin-rotor flight system is a relatively special flight system. It adopts a layout in which two pairs of forward and reverse rotors are installed on the same axis and arranged up and down. The two pairs of forward and reverse rotors offset each other's anti-torque, and there is no need for a tail rotor to balance the anti-torque, so the fuselage structure is more compact. At the same time, due to its special structural design, it has high efficiency, load capacity and high-speed performance, and is widely used in military, civil and scientific research fields. At the same time, the coaxial twin-rotor flight system is also limited in many aspects of application due to its complex mechanical structure, difficult maintenance, and interference between rotors.

[0003] In the existing public information, the design of the coaxial twin-rotor flight system has a single operating structure and cannot achieve complex control, or can achieve complex control but the structure is complex. These problems have a certain impact on the flight performance, reliability, lightweight and other aspects of the flight system.

[0004] International patent PCT / CN2020 / 126687 discloses a three-servo direct-drive coaxial rotor system and control strategy. The system uses three servos to directly drive the upper tilting disc and the lower tilting disc to perform cyclic pitch change and add / subtract total pitch control on the rotor. The connection point on the upper tilting disc and the corresponding connection point of the servo rocker arm form a deflection angle greater than or equal to 0° and less than 90° around the rotation axis in a top-down perspective, forming a phase lag angle of the rotor. However, the connecting rod connecting the connection point on the tilting disc and the corresponding connection point of the servo rocker arm will be installed at an angle. This arrangement may cause the connection position of the connecting rod to be poorly stressed and easy to fall off. Summary of the invention

[0005] In view of this, in order to solve the problem in the prior art that the connecting rod connecting the connection point on the tilting plate and the corresponding connection point of the servo rocker arm will be installed at an angle, this arrangement may cause the connection position of the connecting rod to be poorly stressed and easy to fall off, the present invention proposes an actuator and a flight platform control strategy for controlling the tilting plate to drive the rotor pitch change.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An actuator for controlling a swash plate to drive a rotor pitch change, comprising a main load-bearing assembly, a servo actuator assembly being arranged in the middle of the main load-bearing assembly, an upper swash plate assembly and a lower swash plate assembly being arranged on the main load-bearing assembly at the upper and lower ends of the servo actuator assembly, and an upper rotor assembly and a lower rotor assembly being arranged on the main load-bearing assembly at the upper end of the upper swash plate assembly and the lower end of the lower swash plate assembly;

[0008] The servo actuator assembly is connected to the upper tilting plate assembly through an upper rudder arm hinge rod assembly, and the servo actuator assembly is connected to the lower tilting plate assembly through a lower rudder arm hinge rod assembly. The upper rudder arm hinge rod assembly and the lower rudder arm hinge rod assembly are both three in number. The upper tilting plate assembly and the upper rotor assembly, as well as the lower tilting plate assembly and the lower rotor assembly are both connected through a variable pitch rod assembly.

[0009] The upper rudder arm hinge rod assembly and the upper inclined plate assembly, the lower rudder arm hinge rod assembly and the lower inclined plate assembly, and the variable pitch rod assembly and the upper inclined plate assembly or the lower inclined plate assembly are connected by ball joints, and the direction of installation and insertion is opposite to the tangential direction of the active stage rotation on the upper inclined plate assembly or the lower inclined plate assembly.

[0010] As a further improvement of the above technical solution:

[0011] Preferably, the upper rudder arm hinge rod assembly, the lower rudder arm hinge rod assembly and the variable pitch rod assembly are relatively vertically arranged.

[0012] Preferably, under a plumb viewing angle, the distance Ob1 between the connection point b1 between the variable pitch tie rod assembly and the upper inclined plate assembly or the lower inclined plate assembly and the center point O of the main load-bearing assembly is smaller than the distance Ob2 between the connection point b2 between the upper rudder arm hinge tie rod assembly and the upper inclined plate assembly and the center point O of the main load-bearing assembly, where b2 similarly represents the connection point between the lower rudder arm hinge tie rod assembly and the lower inclined plate assembly, forming a force-saving lever.

[0013] Preferably, a limit arm is arranged on the periphery of the servo actuator unit assembly, and strip grooves are arranged at the upper and lower ends of the limit arm, and the strip grooves are respectively located at the same height as the upper inclined plate assembly and the lower inclined plate assembly, and a phase arm is arranged on the upper inclined plate assembly and the lower inclined plate assembly, and the phase arm is inserted into the strip groove of the limit arm, thereby reducing the stress on the pull rod assembly.

[0014] Preferably, in a vertical viewing angle, a line Ob between the connection point b1 of the variable pitch tie rod assembly and the upper inclined plate assembly or the lower inclined plate assembly to the center point O of the main load-bearing assembly, and a line Oa between the phase arm a and the center point O of the main load-bearing assembly, form a relative lag angle θ between Oa and Ob, and the angle range is 0° to 90°.

[0015] Preferably, the main load-bearing component includes a main shaft, an upper motor seat and a lower motor seat respectively arranged at the upper and lower ends of the main shaft, the servo actuator unit assembly, the upper inclined plate assembly, and the lower inclined plate assembly are all arranged on the main shaft, and the upper rotor assembly and the lower rotor assembly are respectively installed on the upper motor seat and the lower motor seat.

[0016] Preferably, the servo actuator unit assembly includes a servo frame installed on the main shaft, the servo frame is located between the upper motor seat and the lower motor seat, three driving servos are installed on the servo frame, the driving servos are respectively connected to the upper rudder arm hinge rod assembly and the lower rudder arm hinge rod assembly through the rudder arm hinge, the upper ends of the three upper rudder arm hinge rod assemblies are connected to the upper inclined plate assembly, and the lower ends of the three lower rudder arm hinge rod assemblies are connected to the lower inclined plate assembly; a limit arm is arranged on the periphery of the servo frame.

[0017] Preferably, the upper inclined plate assembly and the lower inclined plate assembly have the same structure, the upper inclined plate assembly includes a spherical bearing connected to the main shaft, a driving stage inner ring is installed on the outside of the spherical bearing, a slewing bearing is installed on the outer ring of the driving stage inner ring, a movable stage is installed on the outer ring of the slewing bearing, the bottom of the driving stage inner ring is connected to the driving stage outer ring, three tie rod connection structures are arranged on the periphery of the driving stage outer ring, the tie rod connection structures are used to connect with the upper rudder arm hinge tie rod assembly and the lower rudder arm hinge tie rod assembly, and a phase arm is also arranged on the driving stage outer ring.

[0018] Preferably, the upper rotor assembly and the lower rotor assembly have the same structure, the upper rotor assembly includes a drive motor installed on the upper motor seat, a hub is installed on the drive motor, a bearing seat is provided on the phase arm on the hub, a bearing group is provided on the bearing seat, propeller clamp assemblies are provided on the left and right sides of the bearing seat, blades are provided on the propeller clamp assembly, a rocker arm structure is provided on the bearing seat, and the rocker arm structures at both ends of the variable pitch rod assembly are connected to the active stage, wherein the blades of the upper rotor assembly and the blades of the lower rotor assembly rotate in opposite directions.

[0019] Based on the above structure, the present invention also proposes a flight platform control strategy, including

[0020] The pitch and roll control of the flight platform is performed by changing the tilt angle of the swash plate based on the three-point driven swash plate pitch change mechanism to perform periodic pitch change.

[0021] The swash plate pitch-changing mechanism based on the three-point drive changes the swash plate height, thereby changing the collective pitch of the rotor system, thereby controlling the height of the flight platform;

[0022] Two points can be controlled simultaneously to obtain the simultaneous change characteristics of lift and attitude;

[0023] The yaw torque is obtained by controlling the speed of the upper and lower motors, thereby performing yaw control.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention determines the phase lag angle according to the optimal flapping frequency ratio of the rotor, and specifically designs the rocker arm connection position connected to the variable pitch rod on the bearing seat, so that the variable pitch rod connection point located at the swash plate assembly is in the same vertical position, thereby achieving the optimal phase lag angle while ensuring the compactness and reliability of the rod connection, reducing the possibility of the ball joint falling off, and the tangent direction of the swash plate assembly rotating is basically perpendicular to the mounting plane of the ball joint base, further preventing the variable pitch rod ball joint from falling off.

[0026] 2. The swash plate force transmission of the present invention adopts a force-saving lever-like structure, allowing for smaller driving torque and more precise variable pitch control.

[0027] 3. The present invention adopts three-point drive, and three servo actuators are located in the middle of the upper and lower rotors, which simultaneously drive the upper and lower rotor phase arms to change pitch. The structure is simple and compact, and the reliability is high.

[0028] 4. The mechanism and control strategy provided by the present invention can control cyclic pitch and collective pitch at the same time, and can improve the lift change characteristics while performing pitch and roll attitude control; the mechanism and control strategy provided by the present invention decouple heading control and altitude control, and the rotor motor control amount is only used for heading control, which can provide better control quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a front perspective schematic diagram of the actuator of the present invention;

[0030] Figure 2 It is a side perspective schematic diagram of the actuator of the present invention;

[0031] Figure 3 A schematic diagram of a three-point driven swash plate controlling pitch change according to the present invention;

[0032] Figure 4 It is a three-dimensional schematic diagram of the phase lag angle design of the present invention;

[0033] Figure 5 It is a top view schematic diagram of the phase lag angle design of the present invention.

[0034] In the figure: 1. servo actuator group; 11. driving servo; 12. servo frame; 13. limit arm; 14. upper rudder arm hinge rod assembly; 15. lower rudder arm hinge rod assembly; 2. upper tilting plate assembly; 21. driving stage outer ring; 22. driving stage inner ring; 23. movable stage; 24. joint bearing; 25. slewing bearing; 3. lower tilting plate assembly; 4. upper rotor assembly; 41. blade; 42. propeller clamp assembly; 43. propeller hub; 44. bearing group; 45. bearing seat; 46. driving motor; 47. pitch change rod assembly; 5. lower rotor assembly; 6. main load-bearing assembly; 61. main shaft; 62. upper motor seat; 63. lower motor seat. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and 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, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The processing scheme of this technology is described as follows:

[0039] Example 1

[0040] This technical solution is an actuator designed based on a method of controlling the pitch of a three-point driven swash plate, and the method is described in detail as follows:

[0041] The three-point drive swash plate pitch control method includes a swash plate plane, three control points on the periphery of the swash plate plane, an axis along which the swash plate midpoint moves up and down, and a connecting rod connecting the rotor pitch rocker arm and the outer ring of the swash plate.

[0042] The specific description is as follows: Figure 3 As shown, three control points (A1, A2, A3) determine a plane xoy, which is the tilted disk plane. By controlling the positions of the three control points, the three-dimensional tilt angle control of the tilted disk plane is achieved;

[0043] The midpoint of the swash plate plane is constrained to be on the axis z, which avoids overdefinition of the three-point control plane and keeps the swash plate plane centered;

[0044] The rotation of the swash plate in the swash plate plane drives the movement of the rotor pitch rocker arm through the connecting rod (B1, B2) connecting the rotor pitch rocker arm and the outer ring of the swash plate, thereby realizing the cyclic pitch change and collective pitch adjustment of the rotor.

[0045] Based on the three-point drive swash plate control pitch change method, an actuator for controlling the swash plate to drive the rotor pitch change is designed. Figure 1 With attached Figure 2 As shown, it mainly includes a servo actuator unit group 1, an upper slant plate assembly 2, a lower slant plate assembly 3, an upper rotor assembly 4, a lower rotor assembly 5, and a main load-bearing component assembly.

[0046] The main load-bearing assembly 6 includes a main shaft 61, an upper motor seat 62, and a lower motor seat 63. The upper motor seat 62 is installed above the main shaft 61; the lower motor seat 63 is installed below the main shaft 61;

[0047] The servo actuator unit group 1 includes three driving servos 11, a servo frame 12, a limit arm 13, an upper rudder arm hinge rod assembly 14, and a lower rudder arm hinge rod assembly 15;

[0048] The servo frame 12 is installed on the main shaft 61, and is located between the upper motor seat 62 and the lower motor seat 63; three driving servos 11 are installed on the servo frame 12, and the rudder arms on the driving servos 11 are respectively connected to the upper rudder arm hinge rod assembly 14 and the lower rudder arm hinge rod assembly 15 through rudder arm hinges, the three upper rudder arm hinge rod assemblies 14 are connected to the upper tilting plate, and the three lower rudder arm hinge rod assemblies 15 are connected to the lower tilting plate assembly 3; the limit arm 13 is installed on the periphery of the servo frame 12, and its upper and lower strip groove structures are respectively located at the same height as the upper and lower tilting plate assemblies 3. The driving servo 11 can be replaced by other forms of servo rotary actuators or servo linear actuators.

[0049] The upper slant plate assembly 2 and the lower slant plate assembly 3 have the same composition, including a driving stage outer ring 21 , a driving stage inner ring 22 , a movable stage 23 , a spherical bearing 24 , and a slewing bearing 25 .

[0050] The inner ring of the slewing bearing 25 is installed with the driving stage inner ring 22, the bottom of the driving stage inner ring 22 is connected to the driving stage outer ring 21, and the joint bearing 24 is installed on the inner side of the driving stage inner ring 22; the outer ring of the slewing bearing 25 is installed with the movable stage 23, which has the connection characteristics of the connecting rod; three tie rod connection structures are arranged on the periphery of the driving stage outer ring 21, the tie rod connection structure of the upper inclined plate assembly 2 is connected to the three upper rudder arm hinge tie rod assemblies 14, and the tie rod connection structure of the lower inclined plate assembly 3 is connected to the three lower rudder arm hinge tie rod assemblies 15.

[0051] The outer periphery of the driving stage outer ring 21 includes a phase arm structure, and the phase arm structures of the upper and lower slant plate assemblies 3 are respectively inserted into the upper and lower strip groove structures of the limit arm 13, thereby limiting the rotation of the driving stage outer ring 21 and reducing the force on the pull rod assembly;

[0052] The above constitutes a swash plate assembly, which is installed on the main shaft 61 through a joint bearing 24. The upper swash plate assembly 2 is located between the servo actuator unit group 1 and the upper rotor assembly 4, and the lower swash plate assembly 3 is located between the servo actuator unit group 1 and the lower rotor assembly 5.

[0053] The upper rotor assembly 4 and the lower rotor assembly 5 have the same composition, including blades 41, a blade clamp assembly 42, a hub 43, a bearing group 44, a bearing seat 45, a drive motor 46, and a pitch-changing rod assembly 47. The structural feature of the pitch-changing rod assembly 47 is a connecting rod structure with hinged interfaces at both ends. The hinged interface at one end is connected to the ball joint on the movable stage 23 of the swash plate, and the hinged interface at the other end is connected to the pitch-changing rocker arm on the rotor assembly. The pitch-changing rod assembly 47 is driven by the swash plate, and the pitch-changing rod assembly 47 drives the rotor pitch-changing rocker arm. The pitch-changing rod assembly 47 has an additional component because it can be a rod composed of several parts or a single part.

[0054] The blades 41 of the upper rotor assembly 4 and the lower rotor assembly 5 are forward and reverse propellers. Preferably, the blades 41 of the upper rotor assembly 4 are counterclockwise rotating blades 41, and the blades 41 of the lower rotor assembly 4 are clockwise rotating blades 41.

[0055] The propeller hub 43 is mounted on the drive motor 46, and the bearing seat 45 is mounted on the phase arm of the propeller hub 43, and is in mating contact with the phase arm through the bearing group 44. The bearing group 44 can withstand axial and radial loads, wherein the bearing group 44 adopts a deep groove ball bearing and a thrust ball bearing group 44, and the radial displacement of the bearing seat 45 on the propeller hub 43 is limited by fasteners.

[0056] The propeller clamp assembly 42 includes a propeller clamp and a propeller clamp slot. The propeller clamp slot and the propeller clamp are hinged to form a flapping hinge of the rotor. The propeller clamp and the propeller clamp slot are hinged to fold and store the propeller blade 41. An elastic structure including but not limited to a torsion spring is added at the hinge to realize the automatic pop-up of the propeller blade 41 after the constraint is released.

[0057] The blade clamp assembly 42 is connected to the bearing seat 45 through the blade clamp groove; the blade 41 is installed on the blade clamp and connected through a bolt perpendicular to the blade hinge to form a swing array hinge; the hub 43 can be designed to install multiple blades 41 as needed, and two blades 41 are used in the attached figure.

[0058] A rocker arm structure is designed on the bearing seat 45, and a variable pitch pull rod assembly 47 is installed on the rocker arm.

[0059] In the upper rotor assembly 4, the lower end of the pitch rod assembly 47 is connected to the rod connection structure on the movable stage 23 of the upper swash plate assembly 2, and the drive motor 46 is located above the hub 43 assembly and is connected and fixed to the upper motor seat 62;

[0060] In the lower rotor assembly 5 , the upper end of the pitch rod assembly 47 is connected to the rod connection structure on the movable stage 23 of the lower swash plate assembly 3 , and the drive motor 46 is located below the hub 43 assembly and is fixedly connected to the lower motor seat 63 .

[0061] In the above scheme, the connection method of the upper rudder arm hinge rod assembly 14, the lower rudder arm hinge rod assembly 15, the variable pitch rod assembly 47 and other components is a connection method including but not limited to a hinge method.

[0062] The rudder arm hinge formed by the upper rudder arm hinge pull rod assembly 14, the lower rudder arm hinge pull rod assembly 15 and the rudder arm adopts a cylindrical hinge form, and the connection mode between the rudder arm and the tilting plate adopts a ball hinge form;

[0063] The connection between the pitch-changing tie rod assembly 47 and the bearing seat 45 is in the form of a cylindrical hinge, and the connection with the tilting plate is in the form of a ball joint connection.

[0064] In order to further optimize the actuator, the following improvements are made:

[0065] 1. By the attached Figure 1 It can be seen that the upper rudder arm hinge rod assembly 14, the lower rudder arm hinge rod assembly 15, and the variable pitch rod assembly 47 are arranged relatively vertically, which can improve the compactness of the structural arrangement. The explanation of the plumb bob is that the description of the plumb bob is limited to when the posture of the drone is in a vertical state. When the posture of the drone is in an inclined state, the plumb bob can be understood as being parallel to the axis of the main shaft (61). The description of the plumb bob in the whole text can be understood in this way;

[0066] 2. By the attached Figure 4 and attached Figure 5It can be seen that in order to adapt to the relative vertical arrangement of the pitch rod assembly 47, the rocker arm connection position connected to the pitch rod on the bearing seat 45 is specifically designed so that the pitch rod connection point (b1) located at the swash plate assembly is in the same vertical position. The vertical position forms a phase lag angle θ with the line (ob) connecting the center point of the main shaft 61 and the axis (oa) of the phase arm on the swash plate in the vertical viewing angle, and the angle ranges from 0° to 90°, which is determined according to the optimal flapping frequency ratio of the rotor.

[0067] 3. By the attached Figure 4 It can be seen that the distance (ob1) from the pitch rod connection point (b1) of the swash plate assembly to the center point (o) of the main shaft 61 in a vertical perspective is smaller than the distance (ob2) from the connection point (b2) of the tiller arm tie rod assembly and the swash plate assembly to the center point (o) of the main shaft 61. Thus, the swash plate structure forms a force-saving lever. The tiller arm tie rod assembly acts on the long arm position to drive the short arm where the connection point of the pitch rod assembly 47 and the swash plate assembly is located, that is, the pitch change of the blade 41 allows a smaller driving force to be used for driving. At the same time, the driving stroke is greater than the pitch change stroke of the blade 41, so that more precise pitch change control can be obtained.

[0068] 4. The upper rudder arm hinge rod assembly 14, the lower rudder arm hinge rod assembly 15, the pitch-changing rod assembly 47 and the tilting plate are connected by a ball joint. The direction of installation and insertion is opposite to the rotation tangent of the movable stage 23 of the tilting plate. When the movable stage 23 rotates at high speed, the rotation tangent direction is basically perpendicular to the installation plane of the ball joint base, which avoids the ball joint from falling off. The pitch-changing rod assembly 47 is always perpendicular to the installation axis of the ball joint base, that is, parallel to the installation plane of the ball joint base, which can ensure the reliability of the ball joint installation and further avoid the ball joint from falling off.

[0069] Example 2

[0070] According to the above-mentioned variable pitch method and actuator, this technical solution also proposes a flight platform control strategy, which is as follows:

[0071] The pitch and roll control of the flight platform is performed by changing the tilt angle of the swash plate based on the three-point driven swash plate pitch change mechanism to perform periodic pitch change.

[0072] The swash plate pitch-changing mechanism based on the three-point drive changes the swash plate height, thereby changing the collective pitch of the rotor system, thereby controlling the height of the flight platform;

[0073] The above two points can be controlled simultaneously to obtain the simultaneous change characteristics of lift and attitude;

[0074] The yaw torque is obtained by controlling the speed of the upper and lower motors, thereby performing yaw control.

[0075] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An actuator for controlling a swash plate to drive a rotor pitch change, comprising a main load-bearing assembly, a servo actuator assembly (1) being arranged in the middle of the main load-bearing assembly, an upper swash plate assembly (2) and a lower swash plate assembly (3) being arranged on the main load-bearing assembly located at the upper and lower ends of the servo actuator assembly (1), and an upper rotor assembly (4) and a lower rotor assembly (5) being arranged on the main load-bearing assembly located at the upper end of the upper swash plate assembly (2) and the lower end of the lower swash plate assembly (3); The servo actuator unit assembly (1) is connected to the upper slant plate assembly (2) via an upper rudder arm hinge rod assembly (14), and the servo actuator unit assembly (1) is connected to the lower slant plate assembly (3) via a lower rudder arm hinge rod assembly (15). The upper rudder arm hinge rod assembly (14) and the lower rudder arm hinge rod assembly (15) are both three in number. The upper slant plate assembly (2) and the upper rotor assembly (4), as well as the lower slant plate assembly (3) and the lower rotor assembly (5) are both connected via a variable pitch rod assembly (46). Features: The upper rudder arm hinge rod assembly (14) and the upper inclined disk assembly (2), the lower rudder arm hinge rod assembly (15) and the lower inclined disk assembly (3), and the variable pitch rod assembly (46) and the upper inclined disk assembly (2) or the lower inclined disk assembly (3) are connected by ball joints, and the direction of installation and insertion is opposite to the rotation tangent direction of the movable stage (23) on the upper inclined disk assembly (2) or the lower inclined disk assembly (3).

2. The actuator for controlling the swash plate to drive the rotor pitch change according to claim 1, characterized in that: The upper rudder arm hinge rod assembly (14), the lower rudder arm hinge rod assembly (15) and the variable pitch rod assembly (46) are arranged relatively vertically.

3. The actuator for controlling the swash plate to drive the rotor pitch change according to claim 1, characterized in that: In a vertical perspective, the distance Ob1 between the connection point b1 between the variable pitch tie rod assembly (46) and the upper inclined plate assembly (2) or the lower inclined plate assembly (3) and the center point O of the main load-bearing assembly is smaller than the distance Ob2 between the connection point b2 between the upper rudder arm hinge tie rod assembly (14) and the upper inclined plate assembly (2) and the center point O of the main load-bearing assembly, wherein b2 similarly represents the connection point between the lower rudder arm hinge tie rod assembly (15) and the lower inclined plate assembly (3), forming a force-saving lever.

4. The actuator for controlling the swash plate to drive the rotor pitch change according to claim 1, characterized in that: A limit arm (13) is arranged on the periphery of the servo actuator assembly (1), and strip grooves are arranged at the upper and lower ends of the limit arm (13). The strip grooves are located at the same height as the upper inclined disk assembly (2) and the lower inclined disk assembly (3), respectively. Phase arms are arranged on the upper inclined disk assembly (2) and the lower inclined disk assembly (3), and the phase arms are inserted into the strip grooves of the limit arm (13), thereby reducing the stress on the pull rod assembly.

5. The actuator for controlling the swash plate to drive the rotor pitch change according to claim 4, characterized in that: In a vertical viewing angle, a line Ob between the connection point b1 between the variable pitch tie rod assembly (46) and the upper inclined disk assembly (2) or the lower inclined disk assembly (3) and the center point O of the main load-bearing assembly, and a line Oa between the phase arm a and the center point O of the main load-bearing assembly, form a relative lag angle θ between Oa and Ob, and the angle range is 0° to 90°.

6. The actuator for controlling the swash plate to drive the rotor pitch change according to claim 1, characterized in that: The main load-bearing assembly comprises a main shaft (61), an upper motor seat (62) and a lower motor seat (63) respectively arranged at the upper and lower ends of the main shaft (61); the servo actuator assembly (1), the upper slant plate assembly (2) and the lower slant plate assembly (3) are all arranged on the main shaft (61); and the upper rotor assembly (4) and the lower rotor assembly (5) are respectively mounted on the upper motor seat (62) and the lower motor seat (63).

7. The actuator for controlling the swash plate to drive the rotor pitch change according to claim 6, characterized in that: The servo actuator assembly (1) comprises a steering gear frame (12) mounted on the main shaft (61), the steering gear frame (12) being located between an upper motor seat (62) and a lower motor seat (63), three driving steering gears (11) being mounted on the steering gear frame (12), the driving steering gears (11) being respectively connected to an upper rudder arm hinge rod assembly (14) and a lower rudder arm hinge rod assembly (15) through rudder arm hinges, the upper ends of the three upper rudder arm hinge rod assemblies (14) being connected to an upper inclined plate assembly (2), and the lower ends of the three lower rudder arm hinge rod assemblies (15) being connected to a lower inclined plate assembly (3); a limit arm (13) is arranged on the periphery of the steering gear frame (12).

8. The actuator for controlling the swash plate to drive the rotor pitch change according to claim 7, characterized in that: The upper inclined plate assembly (2) and the lower inclined plate assembly (3) have the same assembly structure. The upper inclined plate assembly (2) includes a spherical bearing (24) connected to the main shaft (61). A driving stage inner ring (22) is installed on the outer side of the spherical bearing (24). A slewing bearing (25) is installed on the outer ring of the driving stage inner ring (22). A movable stage (23) is installed on the outer ring of the slewing bearing (25). The bottom of the driving stage inner ring (22) is connected to the driving stage outer ring (21). Three tie rod connection structures are arranged on the periphery of the driving stage outer ring (21). The tie rod connection structures are used to connect with the upper rudder arm hinge tie rod assembly (14) and the lower rudder arm hinge tie rod assembly (15). A phase arm is also arranged on the driving stage outer ring (21).

9. The actuator for controlling the swash plate to drive the rotor pitch change according to claim 7, characterized in that: The upper rotor assembly (4) and the lower rotor assembly (5) have the same structure. The upper rotor assembly (4) comprises a driving motor (46) mounted on the upper motor seat (62). A propeller hub (43) is mounted on the driving motor (46). A bearing seat (45) is arranged on the phase arm on the propeller hub (43). A bearing group (44) is arranged on the bearing seat (45). Propeller clamp assemblies (42) are arranged on the left and right sides of the bearing seat (45). A propeller blade (41) is arranged on the propeller clamp assembly (42). A rocker arm structure is arranged on the bearing seat (45). The rocker arm structures at both ends of the variable pitch pull rod assembly (46) are connected to the active stage (23). The propeller blade (41) of the upper rotor assembly (4) and the propeller blade (41) of the lower rotor assembly (5) rotate in opposite directions.

10. A flight platform control strategy based on the actuator for controlling the swash plate to drive the rotor pitch change according to claims 1 to 9, characterized in that: Features include: The pitch and roll control of the flight platform is performed by changing the tilt angle of the swash plate based on the three-point driven swash plate pitch change mechanism to perform periodic pitch change. The swash plate pitch-changing mechanism based on the three-point drive changes the swash plate height, thereby changing the collective pitch of the rotor system, thereby controlling the height of the flight platform; Two points can be controlled simultaneously to obtain the simultaneous change characteristics of lift and attitude; The yaw torque is obtained by controlling the speed of the upper and lower motors, thereby performing yaw control.

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