Helicopter hanging variable body stability augmentation device

Abstract

The invention designs a helicopter hanging variable body stability augmentation device, and belongs to the field of helicopters. The device comprises a thrust set composed of four ducted fan air injection devices, a ducted fan thrust direction changing mechanism and a box body connecting device. When the hanging object swings and rotates, the thrust set composed of the four ducted fan air injection devices generates force and torque for restraining the hanging object from swinging and rotating, and therefore the effect of reducing the swinging and rotating amplitude is achieved. Meanwhile, self-adaptive layout change can be carried out according to the environment state, and the stability augmentation requirement can be met in various scenes. Compared with an existing stability augmentation device, the structure is simpler, and adaptability is higher.

Description

Technical Field

[0001] The invention belongs to the technical field of helicopters, and in particular relates to a variable-shaped stabilization device for hanging a helicopter. Background Art

[0002] Flying a helicopter with a hanging load is one of the main specialties of a helicopter. The helicopter's maneuvering flight, the unsteady aerodynamic load of the hanging load, and the aerodynamic interference of the rotor wake on the hanging load will cause the hanging load to swing and rotate, which will seriously affect the flight quality of the helicopter.

[0003] In order to reduce the swing / rotation amplitude of the suspended objects, the current solutions to this problem can be divided into two categories: direct stabilization and indirect stabilization technology.

[0004] Indirect stabilization technology is to feed back the state of the hanging object to the helicopter, and suppress the swing by changing the state of the helicopter, but it will cause the helicopter itself to oscillate, and under single-point suspension, the yaw rotation of the hanging object cannot be suppressed.

[0005] Direct stabilization technology stabilizes the suspended object by adding a power device, which currently mainly includes adding fins, spin devices, etc. These devices are effective under the aerodynamic shape of specific suspended objects and have less applicability.

[0006] The present invention proposes a suspension stabilization device based on a jet system, which generates force and torque to suppress the rotation and swing of the suspended object through the thrust combination of the jet system, and dynamically changes its own layout during operation, so as to adapt to a variety of environments. Summary of the invention

[0007] The hovering characteristics of the helicopter itself allow it to perform many transportation tasks without being restricted by complex terrain. However, during suspended transportation, the unstable yaw motion of the suspended object and the aerodynamic interference of the rotor wake on the suspended object will cause the suspended object to swing and rotate, which can easily lead to safety accidents.

[0008] The present invention proposes a device which, with the cooperation of the helicopter's anti-disturbance control algorithm, can quickly and significantly reduce the swing and rotation of the suspended object without causing vibration of the fuselage, making it easy to lift materials or personnel in a small space. The stabilization device in this invention can change its own layout during operation and can adapt to different scenarios.

[0009] The device is mainly composed of a ducted fan thrust group, a ducted fan connecting device, and a box connecting device.

[0010] The thrust group layout of the ducted fan can be simply viewed as a "cross" or "×" shape, and its configuration can be adaptively changed according to the environment and is not limited to the above two types.

[0011] The ducted fan group is connected to the hanging object box through a box connecting device, the bottom of the box connecting device is fixed to the hanging object box through bolts, and the upper end is fixed to the ducted fan group connecting device through a main shaft. The ducted fan is connected to the ducted fan connecting device through a lever arm.

[0012] There is a direction-changing mechanism on the top of the ducted fan, which can change the direction of the ducted fan.

[0013] There are four steering motors in the box connection device, which work together to rotate the main shaft, thereby rotating the ducted fan group connection device, and finally changing the relative position of the ducted fan and the hanging box.

[0014] At this point, the overall layout of the device can be changed by changing the direction of the ducted fan and the relative position of the ducted fan and the hanging object box.

[0015] For different layouts, the relationship between the input of the ducted fan and its total force and torque on the suspended object can be simplified to the output matrix A. By solving the output matrix A using the weighted pseudo-inverse method, the required ducted fan input can be obtained.

[0016] In the device, the transmission of force is described as follows.

[0017] In Figure 1, the force generated by the ducted fan group composed of the ducted fan 3 is transmitted to the lever arm connecting device 5 through the lever arm rod 4, and then the resultant force and the resultant force moment are transmitted to the box connecting device 1 through the main shaft, and then transmitted to the box 2 to realize the control of the box movement.

[0018] In FIG2 , the bevel gear 12 is meshed with the bevel gear shaft 10, and the bevel gear shaft 10 is connected to the upper fixture 13 of the ducted fan. The ducted stepper motor 7 drives the bevel gear 12 to rotate, driving the bevel gear shaft 10 to rotate, thereby driving the upper fixture 8 of the ducted fan to rotate, and finally changing the direction of the ducted fan 3. The force generated by the ducted fan 3 is transmitted to the bevel gear shaft 10 through the upper fixture 8 of the ducted fan, and then transmitted to the ducted fan connecting device 6 through the bearing a11, and then transmitted to the lever arm 4.

[0019] In Fig. 4, the steering motor 13 drives the main shaft to rotate, and the upper part of the main shaft is connected to the lever arm connection device 5, which finally drives the ducted fan group to rotate as a whole. That is, the ducted stepper motor 7 and the steering motor 13 work together to change the overall layout of the helicopter flight suspension damper, which corresponds to the previous text.

[0020] It should be pointed out that when the suspended object swings or rotates violently, the device can change its layout to use all power to suppress the rotation or swing in that direction, and then adaptively change to a suitable layout.

[0021] FIG1 is a schematic diagram of the overall structure of the present invention.

[0022] FIG. 2 is a diagram of a ducted fan reversing mechanism according to the present invention.

[0023] FIG. 3 is an external schematic diagram of the ducted fan connection device of the present invention.

[0024] FIG. 4 is a schematic diagram of the interior of the ducted fan connection device of the present invention.

[0025] FIG. 5 is a detailed schematic diagram of the ducted fan connection device of the present invention.

[0026] FIG. 6 is a schematic diagram of the main components of the ducted fan connection device of the present invention.

[0027] FIG. 7 is a schematic diagram of a “cross” shape, one of the typical layouts of the present invention.

[0028] FIG. 8 is an “×”-shaped schematic diagram of one of the typical layouts of the present invention.

[0029] In the figure: 1-box connecting device, 2-box, 3-ducted fan, 4-lever arm, 5-lever arm connecting device, 6-ducted fan connecting device, 7-ducted stepping motor, 8-ducted fan upper fixer, 9-ducted fan lower fixer, 10-bevel gear shaft, 11-bearing a, 12-bevel gear, 13-steering motor, 14-gear box cover, 15-gear box wall, 16-gear, 17-bearing b, 18-bearing c, 19-spindle fixer, 20 bearing c.

Claims

1. The stabilization device for the transformable helicopter includes: a ducted fan thrust group, a ducted fan connecting device, and a box connecting device.

2. The ducted fan thrust group in the stabilization device for a transformable helicopter according to claim 1 is characterized by: It consists of four ducted fans, and each ducted fan is equipped with a reversing mechanism.

3. The box connecting device in the stabilization device for a transformable helicopter suspension according to claim 1 is characterized by: It can withstand the heavy weight pulling force brought by the hanging objects, and the main shaft can be driven to rotate by four motors.

4. According to the two steering mechanisms described in claims 2 and 3, the effect characteristics that can be achieved after their combination are: the overall layout of the stabilization device can be changed to adapt to different scenarios.

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