Wireless power supply helicopter rotor structure and control method and device thereof

Abstract

According to the wireless power supply helicopter rotor structure and the control method and device thereof, different blades can be fixedly connected to the two ends of the propeller hub respectively, and the propeller hub drives the blades to deflect through induced current generated by the power transmission device based on the electromagnetic induction principle of alternating current; an actuating mechanism does not need to be fixedly mounted on the fuselage of the small unmanned helicopter, so that the rotor structure of the small unmanned helicopter is simplified, and the structural weight and air resistance of the small unmanned helicopter are reduced; moreover, induced current generated by the power transmission device can be utilized to enable the propeller hub to drive the blades to deflect, so that the power transmission device can supply power to the propeller hub without adopting contact devices such as an electric slip ring as power relay equipment, and monitoring and control of a rotating part are realized; and the reliability and the service life of the small unmanned helicopter are greatly improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and in particular to a wirelessly powered helicopter rotor structure and a control method and device thereof. Background Art

[0002] Small unmanned helicopters generally use servos as the actuating mechanism for controlling the rotor blades in flight. In order to facilitate the design of the power supply line, small unmanned helicopters generally fix the actuating mechanism on the helicopter fuselage and indirectly control the rotating rotor blades through the swash plate structure. However, fixing the actuating mechanism on the helicopter fuselage can easily lead to a complicated rotor structure of the small unmanned helicopter, which significantly increases the structural weight and air resistance of the small unmanned helicopter. Summary of the invention

[0003] In order to solve the above problems, the purpose of the embodiments of the present application is to provide a wirelessly powered helicopter rotor structure and a control method and device thereof.

[0004] In a first aspect, an embodiment of the present application provides a wirelessly powered helicopter rotor structure, comprising: a rotor, a power system, a power transmission device, a fuselage, a power supply, and a flight control system;

[0005] The rotor comprises: a rotor shaft, a hub, blades and a rotor control module;

[0006] The power transmission device comprises: a stator, a rotor and an input-end transformer; wherein the stator is a ring-shaped structure;

[0007] One end of the rotor shaft passes through the power transmission device and the fuselage and is connected to the output end of the power system, and the other end of the rotor shaft is connected to the hub; the rotor control module is fixed on the rotor shaft, close to the end of the rotor shaft connected to the output end of the power system, and is connected to the rotor through a cable;

[0008] The two ends of the hub are respectively fixedly connected to different blades;

[0009] The stator is fixed on the fuselage, the rotor is arranged inside the stator and is coaxially installed with the rotor shaft; the input-end transformer is fixed on the fuselage;

[0010] The power supply is fixed to the fuselage and connected to the input-end transformer via a cable;

[0011] The flight control system is fixed to the fuselage and is in communication connection with the rotor control module;

[0012] The rotor shaft rotates under the drive of the power system, and drives the hub and the blades to rotate; the power supply outputs direct current to the input-end transformer, and the input-end transformer converts the input direct current into alternating current. After the alternating current is transmitted to the stator, the stator generates an alternating electric field, and the rotor arranged inside the stator generates an induced current under the action of the alternating electric field. The generated induced current is output to the hub, so that the hub drives the blades to deflect;

[0013] The flight control system is used to obtain the flight parameters of the helicopter where the helicopter rotor structure is located and the expected flight direction of the helicopter; based on the flight parameters of the helicopter and the expected flight direction, obtain the control instructions of the blades; send the obtained control instructions of the blades to the rotor control module, and adjust the deflection angle of the deflection generated by the blades through the rotor control module.

[0014] In a second aspect, an embodiment of the present application further provides a control method for a helicopter rotor structure, which is used to perform the function of a flight control system in the wirelessly powered helicopter rotor structure described in the first aspect above, and the method comprises:

[0015] Acquiring flight parameters of the helicopter in which the helicopter rotor structure is located and a desired flight direction of the helicopter;

[0016] Based on the flight parameters of the helicopter and the desired flight direction, obtaining a control instruction for the blades;

[0017] The obtained control instruction of the blade is sent to the rotor control module, and the deflection angle of the deflection generated by the blade is adjusted by the rotor control module.

[0018] In a third aspect, an embodiment of the present application further provides a control device for a helicopter rotor structure, comprising:

[0019] An acquisition module, used to acquire flight parameters of the helicopter where the helicopter rotor structure is located and a desired flight direction of the helicopter;

[0020] A processing module, configured to obtain a control instruction for the blade based on the flight parameters of the helicopter and the desired flight direction;

[0021] The execution module is used to send the obtained control instruction of the blade to the rotor control module, and adjust the deflection angle of the deflection generated by the blade through the rotor control module.

[0022] In the solutions provided in the first to third aspects of the embodiments of the present application, a power transmission device including a stator, a rotor and an input-end transformer is arranged in the helicopter rotor structure, the power supply outputs direct current to the input-end transformer, the input-end transformer converts the input direct current into alternating current, and after the alternating current is transmitted to the stator, the stator generates an alternating electric field, and the rotor arranged inside the stator generates an induced current under the action of the alternating electric field, and the generated induced current is output to the hub, so that the hub drives the blades to deflect, and the two ends of the hub are fixedly connected to different blades respectively; compared with the related art, small and medium-sized unmanned helicopters generally fix the actuating mechanism on the helicopter fuselage, and indirectly control the rotating rotor blades through the inclined plate structure. Compared with the blade method, different blades can be fixedly connected to the two ends of the hub respectively, and the induced current generated by the power transmission device based on the electromagnetic induction principle of alternating current makes the hub drive the blades to deflect, and there is no need to fix the actuating mechanism on the fuselage of the small unmanned helicopter, which simplifies the rotor structure of the small unmanned helicopter and reduces the structural weight and air resistance of the small unmanned helicopter; moreover, the induced current generated by the power transmission device can be used to make the hub drive the blades to deflect, and there is no need to use contact devices such as electric slip rings as power relay equipment to complete the power transmission device to supply power to the hub, thereby realizing the monitoring and control of rotating parts, and greatly improving the reliability and service life of the small unmanned helicopter.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application 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, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic structural diagram of a helicopter rotor structure provided in Example 1 of the present application is shown;

[0026] Figure 2 A schematic diagram showing the structure of a wireless power transmission device provided in Embodiment 1 of the present application is shown;

[0027] Figure 3 The connection structure between the rotor shaft, the hub and the blades in the rotor provided in Example 1 of the present application is shown;

[0028] Figure 4 A schematic diagram of the pitch angle of the blades provided in Example 1 of the present application is shown;

[0029] Figure 5 A schematic diagram showing the azimuth angle of the blade rotation provided in Example 1 of the present application is shown;

[0030] Figure 6 A flow chart showing a method for controlling a helicopter rotor structure provided in Example 2 of the present application is shown;

[0031] Figure 7 A schematic structural diagram of a control device for a helicopter rotor structure provided in Example 3 of the present application is shown. DETAILED DESCRIPTION

[0032] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] Small unmanned helicopters generally use servos as the actuating mechanism for controlling the rotor blades in flight. In order to facilitate the design of the power supply line, small unmanned helicopters generally fix the actuating mechanism on the helicopter fuselage and indirectly control the rotating rotor blades through the swash plate structure. However, fixing the actuating mechanism on the helicopter fuselage can easily lead to a complicated rotor structure of the small unmanned helicopter, which significantly increases the structural weight and air resistance of the small unmanned helicopter.

[0036] Based on this, the following embodiments of the present application propose a wirelessly powered helicopter rotor structure and a control method and device thereof, wherein a power transmission device including a stator, a rotor and an input-end transformer is arranged in the helicopter rotor structure, the power supply outputs direct current to the input-end transformer, the input-end transformer converts the input direct current into alternating current, and after the alternating current is transmitted to the stator, the stator generates an alternating electric field, and the rotor arranged inside the stator generates an induced current under the action of the alternating electric field, and the generated induced current is output to the hub, so that the hub drives the blades to deflect, and the two ends of the hub are respectively fixedly connected to the different blades; the two ends of the hub can be respectively fixedly connected Different blades, and the induced current generated by the power transmission device based on the electromagnetic induction principle of alternating current makes the hub drive the blades to deflect, and there is no need to fix the actuating mechanism on the fuselage of the small unmanned helicopter, which simplifies the rotor structure of the small unmanned helicopter and reduces the structural weight and air resistance of the small unmanned helicopter; moreover, the induced current generated by the power transmission device can be used to make the hub drive the blades to deflect, and there is no need to use contact devices such as electric slip rings as power relay equipment to complete the power transmission device to supply power to the hub, thereby realizing the monitoring and control of rotating parts, and greatly improving the reliability and service life of the small unmanned helicopter.

[0037] In the following embodiments, the term "helicopter" refers to a small unmanned helicopter.

[0038] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and embodiments.

[0039] Example 1

[0040] See also Figure 1 The schematic diagram of the helicopter rotor structure shown in FIG. Figure 2 The structural diagram of the wireless power transmission device shown in FIG. Figure 3 The connection structure between the rotor shaft, the hub and the blades in the rotor shown in the embodiment proposes a wirelessly powered helicopter rotor structure, including: a rotor 1, a power system 2, a power transmission device 3, a fuselage 4, a power supply 5 and a flight control system 6.

[0041] In one embodiment, the power system 2 may be, but is not limited to, an engine or an electric motor.

[0042] The rotor 1 includes a rotor shaft 101 , a hub 102 , blades 103 and a rotor control module 104 .

[0043] The power transmission device 3 includes: a stator 301, a rotor 302 and an input-end transformer 303; wherein the stator 301 is a ring structure.

[0044] One end of the rotor shaft 101 passes through the power transmission device 3 and the fuselage 4 and is connected to the output end of the power system 2, and the other end of the rotor shaft 101 is connected to the hub 102; the rotor control module 104 is fixed on the rotor shaft 101, close to the end of the rotor shaft 101 connected to the output end of the power system 2, and is connected to the rotor 302 through a cable.

[0045] Two ends of the hub 102 are fixedly connected to different blades 103 respectively.

[0046] The stator 301 is fixed on the fuselage 4 , the rotor 302 is arranged inside the stator 301 and is coaxially installed with the rotor shaft 101 ; the input-end transformer 303 is fixed on the fuselage 4 .

[0047] The power supply 5 is fixed on the body 4 and connected to the input-end transformer 303 via a cable.

[0048] The flight control system 6 is fixed on the fuselage 4 and is in communication connection with the rotor control module 104 .

[0049] Here, the communication connection mode between the flight control system 6 and the rotor control module 104 can be a wireless communication connection or a wired communication connection.

[0050] The rotor shaft 101 rotates under the drive of the power system 2, and drives the hub 102 and the blades 103 to rotate; the power supply 5 outputs direct current to the input end transformer 303, and the input end transformer 303 converts the input direct current into alternating current. After the alternating current is transmitted to the stator 301, the stator generates an alternating electric field, and the rotor 302 arranged inside the stator 301 generates an induced current under the action of the alternating electric field. The generated induced current is output to the hub 102, so that the hub 102 drives the blades 103 to deflect.

[0051] In this embodiment, making the propeller hub 102 drive the propeller blades 103 to deflect means: making the propeller hub 102 drive the propeller blades 103 to rotate.

[0052] The flight control system 6 is used to obtain the flight parameters of the helicopter where the helicopter rotor structure is located and the expected flight direction of the helicopter; based on the flight parameters of the helicopter and the expected flight direction, obtain the control instructions of the blades 103; send the obtained control instructions of the blades 103 to the rotor control module 104, and adjust the deflection angle of the deflection generated by the blades 103 through the rotor control module 104.

[0053] In this embodiment, the deflection angle of the blade 103 and the pitch angle of the blade 103 have the same meaning.

[0054] In the wireless powered helicopter rotor structure proposed in this embodiment, Figure 2 As shown, the stator 301 includes: a stator core 311 and a stator coil 312 wound on the stator core 311; the stator core 311 is fixed on the fuselage 4.

[0055] The rotor 302 includes: a rotor core 321 and a rotor coil 322 wound around the rotor core 321 ; the rotor core 321 is coaxially mounted with the rotor shaft 101 .

[0056] The input transformer 303 converts the input direct current into alternating current and transmits it to the stator coil 312, so that the stator core 311 generates an alternating magnetic field under the electromagnetic induction of the alternating current in the stator coil 312, and the rotor coil 322 of the rotor 302 generates an induced current under the action of the alternating magnetic field.

[0057] In this embodiment, see Figure 4 In the schematic diagram of the blade pitch angle shown, the deflection angle of the blade 103 has the same meaning as the pitch angle of the blade 103 .

[0058] The wirelessly powered helicopter rotor structure proposed in this embodiment also includes: a voltage stabilizer 304; the voltage stabilizer 304 is fixed on the rotor shaft 101 and connected to the rotor coil 322 and the hub 102 via a cable; the voltage stabilizer 304 converts the alternating current output by the rotor coil 322 into direct current, and outputs it to the hub 102 via a cable.

[0059] like Figure 3 As shown, the hub 102 includes: a hub base 121, an actuating motor 122, a propeller clamp seat 123, an actuating motor end cover 124 and a propeller clamp 125.

[0060] The hub base 121 is fixedly mounted on the rotor shaft 101, the actuating motor 122 is fixed on the hub base 121, the actuating motor end cover 124 is mounted on the outer side of the rotor of the actuating motor 122 and is fixedly connected to the hub base 121, one end of the propeller clamp seat 123 is coaxially mounted with the output shaft of the actuating motor 122, the other end of the propeller clamp seat 123 is connected to the propeller clamp 125, and the propeller clamp 125 is connected to the blade 103.

[0061] The hub base 121 rotates synchronously with the rotor shaft 101, the actuating motor 122 can drive the propeller clamp seat 123 to rotate around the length axis direction of the blade 103, and the actuating motor end cover 124 can withstand the centrifugal force generated when the propeller clamp seat 123 rotates around the length axis direction of the blade 103 and the centrifugal force generated when the blade 103 rotates around the rotor shaft 101.

[0062] The paddle clamp 125 is mounted at the end of the paddle clamp seat 123, and a hinge joint with a bearing is provided between the paddle clamp 125 and the paddle clamp seat 123 to ensure that the paddle clamp 125 can rotate freely around the axis without restriction. Preferably, the paddle blade 103 is mounted at the end of the paddle clamp 125. There is also a hinge joint with a bearing between the paddle blade 103 and the paddle clamp 125, and the paddle blade 103 can rotate freely around the axis without restriction.

[0063] Different blades 103 are driven by the actuating motor 122 installed on each blade 103, so that each blade can be controlled individually and the structure can be simplified.

[0064] In one embodiment, see Figure 5 The schematic diagram of the azimuth angle of blade rotation shown in the figure shows that an angle sensor may be installed on the power system 2 or the rotor shaft 101 to measure the azimuth angle φ of the blade 103 relative to the axis of the fuselage in real time.

[0065] Specifically, the flight parameters include, but are not limited to: blade rotation azimuth, rotor thrust, blade length, blade width, number of blades, blade airfoil, flight speed, rotor rotation speed, atmospheric density and flight acceleration.

[0066] The flight control system 6 is used to obtain the control instructions of the blades 103 based on the flight parameters of the helicopter and the expected flight direction, and includes the following specific steps (1) to (8):

[0067] (1) determining the pitch angle variation amplitude corresponding to the flight acceleration from the corresponding relationship between the flight acceleration and the pitch angle variation amplitude;

[0068] (2) Calculate the rotor solidity using the following formula:

[0069] s = R × b × n ÷ πR 2 ;

[0070] Among them, s represents the solidity of the rotor; b represents the blade width; R represents the blade length; n represents the number of blades;

[0071] (3) determining a lift line slope corresponding to the blade airfoil;

[0072] (4) The induced speed of the helicopter rotor is calculated by the following formula:

[0073] T = 2ρ(πR 2 )v i 2 ;

[0074] Where T is the rotor thrust; ρ is the atmospheric density; v i represents the induced speed of the rotor;

[0075] (5) calculating an average value of the pitch angle during the rotation of the blade according to the rotor thrust, the rotor solidity, the lift line slope corresponding to the blade airfoil, the flight speed, the rotor rotation speed, the blade length, the induced speed of the rotor, and the atmospheric density;

[0076] (6) determining the direction angle of the desired flight direction;

[0077] (7) Calculate ψ1 by the following formula:

[0078] ψ1=180°-φ0;

[0079] Wherein, ψ1 represents the azimuth angle of the blade when the blade rotates to an angle corresponding to the average value of the pitch angle during the rotation process; φ0 represents the direction angle of the desired flight direction;

[0080] (8) The control command of the blade is obtained by the following formula:

[0081] θ=A0+ A1×sin(φ+ψ1);

[0082] Wherein, θ represents the pitch angle of the blade; A0 represents the average value of the pitch angle during the rotation of the blade; A1 represents the amplitude of the pitch angle change corresponding to the flight acceleration; φ represents the azimuth angle of the blade rotation.

[0083] In the above step (1), the corresponding relationship between the flight acceleration and the pitch angle variation amplitude is pre-stored in the flight control system 6.

[0084] In the above step (3), the process of determining the lift line slope corresponding to the blade airfoil includes: based on the blade airfoil, querying the lift line slope corresponding to the blade airfoil from the corresponding relationship between the blade airfoil and the lift line slope.

[0085] The correspondence between the blade airfoil and the lift line slope is pre-stored in the flight control system 6 .

[0086] In the above step (5), the average value of the pitch angle during the rotation of the blade is calculated by the following formula:

[0087] T = sa[0.33 × A0 × (1 + 3 (V / (NR))2 / 2)-0.5v i / (NR)]×(0.5×ρ×(NR) 2 );

[0088] Among them, a represents the lift line slope corresponding to the blade airfoil; V represents the flight speed; and N represents the rotor rotation speed.

[0089] In the above step (6), when the desired flight direction is known, the specific process of determining the direction angle of the desired flight direction is prior art and will not be described in detail here.

[0090] In the above step (8), the azimuth angle of the blade rotation is the azimuth angle φ of the blade 103 relative to the fuselage axis. The azimuth angle of the blade rotation is measured by the angle sensor and transmitted to the flight control system 6.

[0091] The rotor control module 104 receives power from the rotor coil 322 and a control command for controlling the blades from the flight control system 6, and controls the actuator motor 122 to adjust the deflection angle of the blades 103 in real time. By adjusting the deflection angle to change with the azimuth angle, the lift generated by the blades 103 will change continuously during the rotation process, thereby changing the magnitude and direction of the overall thrust and torque of the rotor, and realizing flight control of the helicopter.

[0092] In summary, this embodiment proposes a wirelessly powered helicopter rotor structure, in which a power transmission device including a stator, a rotor and an input-end transformer is arranged in the helicopter rotor structure, the power supply outputs direct current to the input-end transformer, the input-end transformer converts the input direct current into alternating current, and after the alternating current is transmitted to the stator, the stator generates an alternating electric field, and the rotor arranged inside the stator generates an induced current under the action of the alternating electric field, and the generated induced current is output to the hub, so that the hub drives the blades to deflect, and the two ends of the hub are fixedly connected to different blades respectively; in the related art, small and medium-sized unmanned helicopters generally fix the actuator mechanism on the helicopter fuselage, and indirectly control the rotating rotor through the swash plate structure. Compared with the blade method, different blades can be fixedly connected to the two ends of the hub respectively, and the induced current generated by the power transmission device based on the electromagnetic induction principle of alternating current makes the hub drive the blades to deflect, and there is no need to fix the actuating mechanism on the fuselage of the small unmanned helicopter, which simplifies the rotor structure of the small unmanned helicopter and reduces the structural weight and air resistance of the small unmanned helicopter; moreover, the induced current generated by the power transmission device can be used to make the hub drive the blades to deflect, and there is no need to use contact devices such as electric slip rings as power relay equipment to complete the power transmission device to supply power to the hub, thereby realizing the monitoring and control of rotating parts, and greatly improving the reliability and service life of the small unmanned helicopter.

[0093] Example 2

[0094] See also Figure 6 The flowchart of a control method of a helicopter rotor structure is shown in FIG. 1 . This embodiment provides a control method of a helicopter rotor structure, which is used to perform the function of the flight control system in the wirelessly powered helicopter rotor structure in the above-mentioned embodiment 1. The method includes the following specific steps:

[0095] Step 600: Obtain flight parameters of the helicopter where the helicopter rotor structure is located and the expected flight direction of the helicopter.

[0096] Step 602: Obtain control instructions for the blades based on the flight parameters of the helicopter and the desired flight direction.

[0097] Specifically, in the above step 602, in order to obtain the control instruction of the blade, the following steps (10) to (17) may be performed:

[0098] (10) determining the pitch angle variation amplitude corresponding to the flight acceleration from the corresponding relationship between the flight acceleration and the pitch angle variation amplitude;

[0099] (11) The rotor solidity is calculated using the following formula:

[0100] s = R × b × n ÷ πR 2 ;

[0101] Among them, s represents the solidity of the rotor; b represents the blade width; R represents the blade length; n represents the number of blades;

[0102] (12) determining a lift line slope corresponding to the blade airfoil;

[0103] (13) The induced speed of the helicopter rotor is calculated by the following formula:

[0104] T = 2ρ(πR 2 )v i 2 ;

[0105] Where T is the rotor thrust; ρ is the atmospheric density; v i represents the induced speed of the rotor;

[0106] (14) calculating an average value of the pitch angle during the rotation of the blade according to the rotor thrust, the rotor solidity, the lift line slope corresponding to the blade airfoil, the flight speed, the rotor rotation speed, the blade length, the induced speed of the rotor, and the atmospheric density;

[0107] (15) determining the direction angle of the desired flight direction;

[0108] (16) ψ1 is calculated by the following formula:

[0109] ψ1=180°-φ0;

[0110] Wherein, ψ1 represents the azimuth angle of the blade when the blade rotates to an angle corresponding to the average value of the pitch angle during the rotation process; φ0 represents the direction angle of the desired flight direction;

[0111] (17) The control command of the blade is obtained by the following formula:

[0112] θ=A0+ A1×sin(φ+ψ1);

[0113] Wherein, θ represents the pitch angle of the blade; A0 represents the average value of the pitch angle during the rotation of the blade; A1 represents the amplitude of the pitch angle change corresponding to the flight acceleration; φ represents the azimuth angle of the blade rotation.

[0114] In the above step (16), the average value of the pitch angle during the rotation of the blade is calculated by the following formula:

[0115] T = sa[0.33 × A0 × (1 + 3 (V / (NR)) 2 / 2)-0.5v i / (NR)]×(0.5×ρ×(NR) 2 );

[0116] Among them, a represents the lift line slope corresponding to the blade airfoil; V represents the flight speed; and N represents the rotor rotation speed.

[0117] Step 604: Send the obtained control instruction of the blade to the rotor control module, and adjust the deflection angle of the blade through the rotor control module.

[0118] In summary, this embodiment proposes a control method for a helicopter rotor structure, by setting a power transmission device including a stator, a rotor and an input-end transformer in the helicopter rotor structure, the power supply outputs direct current to the input-end transformer, the input-end transformer converts the input direct current into alternating current, and after the alternating current is transmitted to the stator, the stator generates an alternating electric field, and the rotor arranged inside the stator generates an induced current under the action of the alternating electric field, and the generated induced current is output to the hub, so that the hub drives the blades to deflect, and the two ends of the hub are fixedly connected to different blades respectively; in the related art, small and medium-sized unmanned helicopters generally fix the actuator mechanism on the helicopter fuselage, and indirectly control the rotating rotor through the swash plate structure. Compared with the blade method, different blades can be fixedly connected to the two ends of the hub respectively, and the induced current generated by the power transmission device based on the electromagnetic induction principle of alternating current makes the hub drive the blades to deflect, and there is no need to fix the actuating mechanism on the fuselage of the small unmanned helicopter, which simplifies the rotor structure of the small unmanned helicopter and reduces the structural weight and air resistance of the small unmanned helicopter; moreover, the induced current generated by the power transmission device can be used to make the hub drive the blades to deflect, and there is no need to use contact devices such as electric slip rings as power relay equipment to complete the power transmission device to supply power to the hub, thereby realizing the monitoring and control of rotating parts, and greatly improving the reliability and service life of the small unmanned helicopter.

[0119] Example 3

[0120] This embodiment provides a control device for a helicopter rotor structure, which is used to execute the control method for the helicopter rotor structure provided in the above-mentioned embodiment 2.

[0121] See also Figure 7 The structure diagram of a control device for a helicopter rotor structure is shown in FIG. 1 . This embodiment provides a control device for a helicopter rotor structure, comprising:

[0122] The acquisition module 700 is used to acquire the flight parameters of the helicopter where the helicopter rotor structure is located and the expected flight direction of the helicopter.

[0123] The processing module 702 is used to obtain a control instruction for the blade based on the flight parameters of the helicopter and the expected flight direction.

[0124] The execution module 704 is used to send the obtained control instruction of the blade to the rotor control module, and adjust the deflection angle of the blade through the rotor control module.

[0125] In summary, this embodiment proposes a control device for a helicopter rotor structure, by setting a power transmission device including a stator, a rotor and an input-end transformer in the helicopter rotor structure, the power supply outputs direct current to the input-end transformer, the input-end transformer converts the input direct current into alternating current, and after the alternating current is transmitted to the stator, the stator generates an alternating electric field, and the rotor arranged inside the stator generates an induced current under the action of the alternating electric field, and the generated induced current is output to the hub, so that the hub drives the blades to deflect, and the two ends of the hub are fixedly connected to different blades respectively; in the related art, small and medium-sized unmanned helicopters generally fix the actuator mechanism on the helicopter fuselage, and indirectly control the rotating rotor through the swash plate structure. Compared with the blade method, different blades can be fixedly connected to the two ends of the hub respectively, and the induced current generated by the power transmission device based on the electromagnetic induction principle of alternating current makes the hub drive the blades to deflect, and there is no need to fix the actuating mechanism on the fuselage of the small unmanned helicopter, which simplifies the rotor structure of the small unmanned helicopter and reduces the structural weight and air resistance of the small unmanned helicopter; moreover, the induced current generated by the power transmission device can be used to make the hub drive the blades to deflect, and there is no need to use contact devices such as electric slip rings as power relay equipment to complete the power transmission device to supply power to the hub, thereby realizing the monitoring and control of rotating parts, and greatly improving the reliability and service life of the small unmanned helicopter.

[0126] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A wirelessly powered helicopter rotor structure, characterized in that: include: rotors, powertrains, power transmission units, airframes, power supplies, and flight control systems; The rotor comprises: a rotor shaft, a hub, blades and a rotor control module; The power transmission device comprises: a stator, a rotor and an input-end transformer; wherein the stator is a ring-shaped structure; One end of the rotor shaft passes through the power transmission device and the fuselage and is connected to the output end of the power system, and the other end of the rotor shaft is connected to the hub; the rotor control module is fixed on the rotor shaft, close to the end of the rotor shaft connected to the output end of the power system, and is connected to the rotor through a cable; The two ends of the hub are respectively fixedly connected to different blades; The stator is fixed on the fuselage, the rotor is arranged inside the stator and is coaxially installed with the rotor shaft; the input-end transformer is fixed on the fuselage; The power supply is fixed to the fuselage and connected to the input-end transformer via a cable; The flight control system is fixed to the fuselage and is in communication connection with the rotor control module; The rotor shaft rotates under the drive of the power system, and drives the hub and the blades to rotate; the power supply outputs direct current to the input-end transformer, and the input-end transformer converts the input direct current into alternating current. After the alternating current is transmitted to the stator, the stator generates an alternating electric field, and the rotor arranged inside the stator generates an induced current under the action of the alternating electric field. The generated induced current is output to the hub, so that the hub drives the blades to deflect; The flight control system is used to obtain the flight parameters of the helicopter where the helicopter rotor structure is located and the expected flight direction of the helicopter; based on the flight parameters of the helicopter and the expected flight direction, obtain the control instructions of the blades; send the obtained control instructions of the blades to the rotor control module, and adjust the deflection angle of the deflection generated by the blades through the rotor control module.

2. The wirelessly powered helicopter rotor structure according to claim 1, characterized in that: The stator comprises: a stator core and a stator coil wound on the stator core; the stator core is fixed on the fuselage; The rotor comprises: a rotor core and a rotor coil wound on the rotor core; the rotor core is coaxially mounted with the rotor shaft; The input transformer converts the input direct current into alternating current and transmits it to the stator coil, so that the stator core generates an alternating magnetic field under the electromagnetic induction of the alternating current in the stator coil, and the rotor coil of the rotor generates an induced current under the action of the alternating magnetic field.

3. The wirelessly powered helicopter rotor structure according to claim 2, characterized in that: Also includes: Voltage stabilizer; The voltage stabilizer is fixed on the rotor shaft and connected to the rotor coil and the hub through cables; The voltage stabilizer converts the alternating current output by the rotor coil into direct current, and then outputs the direct current to the hub via a cable.

4. The wirelessly powered helicopter rotor structure according to claim 3, characterized in that: The propeller hub comprises: a propeller hub base, an actuating motor, a propeller clamp seat, an actuating motor end cover and a propeller clamp; The propeller hub base is fixedly mounted on the rotor shaft, the actuating motor is fixed on the propeller hub base, the actuating motor end cover is mounted on the outer side of the rotor of the actuating motor and is fixedly connected to the propeller hub base, one end of the propeller clamp seat is coaxially mounted with the output shaft of the actuating motor, the other end of the propeller clamp seat is connected to the propeller clamp, and the propeller clamp is connected to the propeller blade; The hub base rotates synchronously with the rotor shaft, the actuating motor can drive the propeller clamp seat to rotate around the length axis direction of the blade, and the actuating motor end cover can withstand the centrifugal force generated when the propeller clamp seat rotates around the length axis direction of the blade and the centrifugal force generated when the blade rotates around the rotor shaft.

5. The wirelessly powered helicopter rotor structure according to claim 1, characterized in that: The flight parameters include: blade rotation azimuth, rotor thrust, blade length, blade width, number of blades, blade airfoil, flight speed, rotor speed, atmospheric density and flight acceleration; The flight control system is used to obtain a control instruction for the blade based on the flight parameters of the helicopter and the expected flight direction, and includes: Determining the pitch angle variation amplitude corresponding to the flight acceleration from the corresponding relationship between the flight acceleration and the pitch angle variation amplitude; The rotor solidity is calculated using the following formula: s = R × b × n ÷ πR 2 ； in, s Indicates rotor solidity; b Indicates blade width; R Indicates the blade length; n Indicates the number of blades; determining a lift line slope corresponding to the blade airfoil; The induced speed of the helicopter's rotor is calculated by the following formula: T = 2ρ(πR 2 )v i 2 ； in, T Indicates rotor pull; ρ represents the atmospheric density; v i represents the induced speed of the rotor; Calculating an average value of the pitch angle during the rotation of the blade according to the rotor thrust, the rotor solidity, the lift line slope corresponding to the blade airfoil, the flight speed, the rotor rotation speed, the blade length, the induced speed of the rotor, and the atmospheric density; Determining the direction angle of the desired flight direction; Calculated by the following formula ψ 1: ψ 1=180°- φ 0； in, ψ 1 represents the azimuth angle of the blade when the blade rotates to an angle corresponding to the average value of the pitch angle during the rotation process; φ 0 represents the direction angle of the desired flight direction; The control command of the blade is obtained by the following formula: θ = A 0+ A 1×sin( φ + ψ 1); in, θ represents the pitch angle of the blade; A 0 represents the average value of the pitch angle during the rotation of the blade; A 1 represents the pitch angle variation amplitude corresponding to the flight acceleration; φ Indicates the azimuth of the blade rotation.

6. The wirelessly powered helicopter rotor structure according to claim 5, characterized in that: The flight control system is used to calculate the average value of the pitch angle during the rotation of the blade according to the rotor thrust, the rotor solidity, the lift line slope corresponding to the blade airfoil, the flight speed, the rotor rotation speed, the blade length, the induced speed of the rotor, and the atmospheric density, including: The average value of the pitch angle during the rotation of the blade is calculated by the following formula: T = s [0.33× A 0×(1+3( V / ( NR )) 2 / 2)-0.5 v i / ( NR )]×(0.5× ρ ×( NR ) 2 )； in, a represents the lift line slope corresponding to the blade airfoil; V represents the said flight speed; N Indicates the rotor speed.

7. A method for controlling a helicopter rotor structure, characterized in that: The method is used to perform the function of the flight control system in the wirelessly powered helicopter rotor structure according to claim 5 or 6, and comprises: Acquiring flight parameters of the helicopter in which the helicopter rotor structure is located and a desired flight direction of the helicopter; Based on the flight parameters of the helicopter and the desired flight direction, obtaining a control instruction for the blades; The obtained control instruction of the blade is sent to the rotor control module, and the deflection angle of the deflection generated by the blade is adjusted by the rotor control module.

8. The method according to claim 7, characterized in that The obtaining of the control instruction of the blade based on the flight parameter of the helicopter and the expected flight direction comprises: Determining the pitch angle variation amplitude corresponding to the flight acceleration from the corresponding relationship between the flight acceleration and the pitch angle variation amplitude; The rotor solidity is calculated using the following formula: s = R × b × n ÷ πR 2 ； in, s Indicates rotor solidity; b Indicates blade width; R Indicates the blade length; n Indicates the number of blades; determining a lift line slope corresponding to the blade airfoil; The induced speed of the helicopter's rotor is calculated by the following formula: T = 2ρ(πR 2 )v i 2 ； in, T Indicates rotor pull; ρ represents the atmospheric density; v i represents the induced speed of the rotor; Calculating an average value of the pitch angle during the rotation of the blade according to the rotor thrust, the rotor solidity, the lift line slope corresponding to the blade airfoil, the flight speed, the rotor rotation speed, the blade length, the induced speed of the rotor, and the atmospheric density; Determining the direction angle of the desired flight direction; Calculated by the following formula ψ 1: ψ 1=180°- φ 0； in, ψ 1 represents the azimuth angle of the blade when the blade rotates to an angle corresponding to the average value of the pitch angle during the rotation process; φ 0 represents the direction angle of the desired flight direction; The control command of the blade is obtained by the following formula: θ = A 0+ A 1×sin( φ + ψ 1); in, θ represents the pitch angle of the blade; A 0 represents the average value of the pitch angle during the rotation of the blade; A 1 represents the pitch angle variation amplitude corresponding to the flight acceleration; φ Indicates the azimuth of the blade rotation.

9. The method according to claim 8, characterized in that The calculating, according to the rotor thrust, the rotor solidity, the lift line slope corresponding to the blade airfoil, the flight speed, the rotor rotation speed, the blade length, the induced speed of the rotor, and the atmospheric density, an average value of the pitch angle during the rotation of the blade comprises: The average value of the pitch angle during the rotation of the blade is calculated by the following formula: T = s [0.33× A 0×(1+3( V / ( NR )) 2 / 2)-0.5 v i / ( NR )]×(0.5× ρ ×( NR ) 2 )； in, a represents the lift line slope corresponding to the blade airfoil; V represents the said flight speed; N Indicates the rotor speed.

10. A control device for a helicopter rotor structure, characterized in that: include: An acquisition module, used to acquire flight parameters of the helicopter where the helicopter rotor structure is located and a desired flight direction of the helicopter; A processing module, configured to obtain a control instruction for a blade based on the flight parameters of the helicopter and the desired flight direction; The execution module is used to send the obtained control instruction of the blade to the rotor control module, and adjust the deflection angle of the deflection generated by the blade through the rotor control module.

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