Driving and control method for changing twisting shape of wing

Abstract

The invention discloses a driving and control method for changing the torsion shape of a wing, and belongs to the technical field of structural design of morphing airplanes, a hinge point is arranged at a certain spanwise position of a front beam and a rear beam of the wing, a section between a wing root and the hinge point is a fixed section, and a section from the hinge point to a wing tip is a torsion deformation section; the method comprises the following steps: driving a system; the driving system comprises a gear screw, a nut, a stop block, a supporting block, a pull rope displacement sensor and a driving device. The torsional deformation angle of the wing is measured through pull rope displacement sensors arranged on a front beam and a rear beam to obtain the moving distance of a gear screw rod on a deformed wing spar relative to a nut, the deflection angle of the front beam and the rear beam is calculated according to the height of a wing spar web, and the torsional shape of the wing is obtained by combining the chordwise distance between the front beam and the rear beam. The active torsional deformation of the wing is realized, the rolling maneuvering efficiency of an aircraft is effectively improved, the distribution of aerodynamic loads is improved, the root load of the wing is reduced, and the aerodynamic characteristics of the wing are optimized.

Description

Technical Field

[0001] The invention belongs to the technical field of variant aircraft structure design, and in particular relates to a driving and control method for changing the torsion shape of a wing. Background Art

[0002] At present, the research on variant aircraft mainly focuses on changing the wing area, wingspan, wing chord length, wing sweep angle, and wing leading and trailing edge curvature. In order to effectively improve the efficiency of wing roll maneuvers and improve the static aeroelastic effect, researchers have conducted in-depth research on wing torsion deformation technology. Adjusting the torsion shape of the wing can effectively improve the efficiency of the aircraft's roll maneuver, and can also effectively improve the aileron reaction effect and static aeroelastic effect; by changing the distribution of the wing leading edge torsion angle, the wing aerodynamic load distribution can be improved and the wing root load can be reduced, thereby effectively improving the service life of the structure; in addition, the active torsion deformation of the wing combined with the leading and trailing edge deflection increases the deformation combination of the wing. Summary of the invention

[0003] The present invention proposes a driving and control method for changing the torsional shape of a wing, which can realize active torsional deformation of the wing, effectively improve the rolling maneuver efficiency of the aircraft, improve the distribution of aerodynamic loads, reduce the load at the root of the wing, and optimize the aerodynamic characteristics of the wing.

[0004] The present invention is achieved in that:

[0005] A driving and controlling method for changing the torsion shape of a wing, characterized in that a hinge point is set at a certain spanwise position of the front and rear beams of the wing, a section from the wing root to the hinge point is a fixed section, and a section from the hinge point to the wing tip is a torsion deformation section; the driving system comprises a gear screw, a nut, a block, a support block, a pull rope displacement sensor, and a driving device; the control method of the driving system is:

[0006] The first step is to set the relative position of the support block and the nut on the front and rear wing beams when the wing is not twisted to the initial state. At this time, the output value l of the pull rope displacement sensor on the front and rear wing beams is i0 Set to the initial reading, i.e. l 10 = l 20 = 0; set the torsion angle α at the span m of the torsion deformation section, and calculate the value l1 that the sensor should output after torsion deformation by the formula ’ With l2 ’ ;

[0007] The second step is to read the output values ​​of the sensors on the front and rear wing beams in the current state to determine the driving state of the drive device on the wing; if the output value of the front beam sensor is l1 = l1 ’ And the output value of the rear beam sensor l2=l2 ’, the wing does not need to change the flight state; if the front beam sensor output value l1<l1 ’ And the output value of the rear beam sensor is l2>l2 ’ , the wing is driven positively (the front beam deflects upward and the rear beam deflects downward); if the output value of the front beam sensor l1>l1 ’ And the output value of the rear beam sensor is l2<l2 ’ , the wing is negatively driven (the front beam deflects downward and the rear beam deflects upward);

[0008] In the third step, if the driving state needs to be changed, the stepper motors on the front and rear wing beams are started simultaneously through the control system. The driving force is transmitted to the gear screw through the first, second and third stage transmission shafts to drive the front and rear wing beams to deflect simultaneously. When the output values ​​of the pull rope displacement sensors on the front and rear wing beams are equal to l1 ’ With l2 ’ When the wing tip twisting deformation is completed.

[0009] Furthermore, the bottom surface of the pull-wire displacement sensor is adhered to the web of the torsional deformation section wing beam, and the side surface is fixed to the lower edge strip of the torsional deformation section wing beam, and the measuring pull head of the pull-wire displacement sensor is fixed to the side surface of the lower edge strip of the fixed section wing beam; the torsional deformation angle of the wing is measured by the pull-wire displacement sensors arranged on the front and rear beams, and the moving distance of the gear screw on the wing beam relative to the nut after deformation is obtained, the deflection angles of the front and rear beams are calculated according to the height of the wing beam web, and the torsional shape of the wing is obtained based on the chordal distance between the front and rear beams.

[0010] Furthermore, the webs of the fixed section and the torsional deformation section are hinged by single and double ears, and the upper and lower edge strips on the left and right sides of the web are respectively connected by four gear screws, and the thread direction of the gear screw of the upper edge strip is opposite to the thread direction of the gear screw of the lower edge strip; when the gear screw is driven to rotate by the motor, the gear screws of the upper and lower edge strips will generate axial forces in opposite directions, forming a force couple, driving the wing beam of the torsional deformation section to deflect around the hinge point; and the front and rear wing beams of the wing deflect upward and downward respectively around the hinge point, and the skin on the upper and lower surfaces of the wing limits the distance between the front and rear beam edge strips to remain unchanged, so that the wing is torsionally deformed.

[0011] Furthermore, in the driving system: the nut is fixedly connected to the edge strip of the torsional deformation section of the beam, and the bottom surface of the nut is flush with the cross section of the beam; the support block is fixedly connected to the edge strip of the fixed section of the beam, and the bottom surface of the support block is flush with the cross section of the beam; the gear screw passes through the circular through hole of the support block, the circular boss contacts the bottom surface of the support block, and the threaded section is adapted to the nut; the stop block is fixedly connected to the edge strip of the fixed section of the beam, so that the smooth end of the gear screw can extend into the circular recess of the stop block; wherein the nut, the circular through hole on the support block, the gear screw and the circular recess on the stop block are coaxial; when the gear screw rotates, the support block prevents the gear screw from axial displacement, and the stop block prevents the gear screw from axial displacement and radial swing.

[0012] Furthermore, the driving device includes a motor, a primary transmission shaft, a secondary transmission shaft and a tertiary transmission shaft; the motor and each level of transmission shaft are installed on the fixed section wing beam; after the motor is started, the four gear screws are synchronously subjected to the same driving torque through the transmission shaft; the bottom surface of the pull rope displacement sensor is adhered to the web of the torsional deformation section wing beam, and the side surface is fixed to the lower edge bar of the torsional deformation section wing beam, and the measuring pull head is fixed to the lower edge bar of the fixed section wing beam, which is used to measure the movement distance of the gear screws on the front and rear beams relative to the nut.

[0013] Furthermore, driving devices are respectively installed on the front and rear wing spars, and the front and rear spars are driven in coordination. When the driving devices drive the front and rear wing spars to deflect upward and downward around the hinge points respectively, the skin on the upper and lower surfaces of the wing limits the distance between the front and rear spars to remain unchanged, causing the wing to twist and deform.

[0014] Furthermore, the gear screw is divided into six sections; the first section is a threaded section that matches the nut; the second section is a cylindrical section; the third section is a circular boss, the top surface of the circular boss contacts the bottom surface of the support block; the fourth section is a cylindrical section; the fifth section is a gear, which is used to cooperate with the driving device to transmit the force; the sixth section is a cylindrical section, the end of which extends into the circular depression of the stop block.

[0015] Furthermore, the outer contour of the nut is a quadrangular prism, one side is fixedly connected to the upper and lower edge strips of the torsional deformation section of the wing beam, the adjacent side is fixedly connected to the web, the nut is adapted to the threaded section of the gear screw, and the thread directions of the nut at the upper and lower edge strips are opposite.

[0016] Furthermore, the outer contour of the support block is a quadrangular prism, one side of which is fixedly connected to the upper and lower edge strips of the wing beam fixed section, and the adjacent side is fixedly connected to the web; a circular through hole is provided on the bottom surface of the support block, and the gear screw passes through the circular through hole so that the circular boss of the gear screw contacts the bottom surface of the support block.

[0017] Furthermore, the outer contour of the stop block is the same as that of the support block, one side is fixedly connected to the upper and lower edge strips of the wing beam fixed section, and the adjacent side is fixedly connected to the web, and a circular depression is arranged on one of its bottom surfaces so that the smooth end of the gear screw can extend into the depression, thereby preventing the screw from axial displacement and radial swinging.

[0018] The beneficial effects of the present invention compared with the prior art are:

[0019] The present invention proposes a driving and control method for changing the torsion shape of a double-beam wing. The driving and control method for changing the torsion shape of a wing of the present invention is convenient for actively changing the torsion shape of the wing, effectively improving the rolling maneuver efficiency of the aircraft, improving the distribution of aerodynamic loads, reducing the load at the root of the wing, and optimizing the aerodynamic characteristics of the wing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of wing torsion deformation in a driving and control method for changing the torsion shape of a wing according to the present invention;

[0021] Figure 2 A schematic diagram of differential deflection of front and rear beams in a driving and control method for changing the torsion shape of a wing according to the present invention;

[0022] Figure 3 A schematic diagram of the connection between the wing beam fixed section and the torsional deformation section in a driving and control method for changing the torsional shape of a wing according to the present invention;

[0023] Figure 4 It is a schematic diagram of the installation of a pull-rope displacement sensor in a driving and control method for changing the torsion shape of a wing of the present invention;

[0024] Figure 5 A schematic diagram of sensor measurement in a driving and control method for changing the torsion shape of a wing according to the present invention;

[0025] Figure 6 The present invention is a flow chart of a driving and controlling method for changing the twisted shape of a wing. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and effect of the present invention more clear, the present invention is further described in detail by examples below. It should be noted that the specific implementation described here is only used to explain the present invention, and is not used to limit the present invention.

[0027] The present invention proposes a driving and controlling method for changing the torsional shape of a wing, which can realize active torsional deformation of the wing. Figure 1 As shown. A hinge point is set at a certain spanwise position of the front and rear beams of the wing. The section from the wing root to the hinge point is the fixed section, and the section from the hinge point to the wing tip is the torsional deformation section. The webs of the fixed section and the torsional deformation section are hinged by single and double ears. The upper and lower edges on the left and right sides of the web are connected by four gear screws respectively. The thread direction of the upper edge gear screw is opposite to that of the lower edge gear screw. When the gear screw is driven to rotate by a motor, the gear screws of the upper and lower edges will generate axial forces in opposite directions, forming a force couple, driving the wing beam of the torsional deformation section to deflect around the hinge point; while the front and rear spars of the wing deflect upward and downward around the hinge point respectively, and the skin on the upper and lower surfaces of the wing limits the distance between the front and rear beam edges to remain unchanged, causing the wing to torsion deformation, as shown Figure 2 shown.

[0028] The driving system of the present invention is mainly composed of a gear screw, a nut, a stopper, a support block, a pull rope displacement sensor and a driving device. Figure 3As shown. The nut is fixed on the edge strip of the torsional deformation section of the beam, and the bottom surface of the nut is flush with the cross section of the beam; the support block is fixed on the edge strip of the fixed section of the beam, and the bottom surface of the support block is flush with the cross section of the beam; the gear screw passes through the circular through hole of the support block, the circular boss contacts the bottom surface of the support block, and the threaded section is adapted to the nut; the stopper is fixed on the edge strip of the fixed section of the beam, so that the smooth end of the gear screw can extend into the circular depression of the stopper. Among them, the nut, the circular through hole on the support block, the gear screw and the circular depression on the stopper are coaxial. When the gear screw rotates, the support block prevents the gear screw from axial displacement, and the stopper prevents the gear screw from axial displacement and radial swing. The bottom surface of the pull rope displacement sensor is attached to the web of the torsional deformation section wing beam, and the side is fixed to the lower edge strip of the torsional deformation section wing beam. The measuring pull head is fixed to the lower edge strip of the fixed section wing beam, which is used to measure the movement distance of the gear screw on the front and rear beams relative to the nut. The drive device consists of a motor, a primary transmission shaft, a secondary transmission shaft and a tertiary transmission shaft. The motor and the transmission shafts of each level are installed on the fixed section wing beam. After the motor is started, the four gear screws are synchronously subjected to the same driving torque through the transmission shaft.

[0029] The gear screw is divided into six sections. The first section is the threaded section that fits the nut; the second section is the cylindrical section; the third section is the circular boss, the top surface of which contacts the bottom surface of the support block; the fourth section is the cylindrical section; the fifth section is the gear, which is used to cooperate with the driving device to transmit the force; the sixth section is the cylindrical section, the end of which extends into the circular depression of the stopper.

[0030] The outer contour of the nut is a quadrangular prism, one side of which is fixedly connected to the upper and lower edge strips of the torsional deformation section of the wing beam, and the adjacent side is fixedly connected to the web. The nut is adapted to the threaded section of the gear screw, and the thread directions of the nut at the upper and lower edge strips are opposite.

[0031] The outer contour of the support block is a quadrangular prism, one side of which is fixedly connected to the upper and lower edge strips of the wing beam fixed section, and the adjacent side is fixedly connected to the web. A circular through hole is arranged on the bottom surface of the support block, and the gear screw passes through the circular through hole, so that the circular boss of the gear screw contacts the bottom surface of the support block.

[0032] The outer contour of the stopper is the same as that of the support block. One side is fixedly connected to the upper and lower edge strips of the wing beam fixed section, and the adjacent side is fixedly connected to the web. A circular depression is arranged on one of its bottom surfaces so that the smooth end of the gear screw can extend into the depression, thereby preventing the screw from axial displacement and radial swing.

[0033] The driving system includes a gear screw, a nut, a stopper, a support block, a pull-wire displacement sensor, and a driving device. The bottom surface of the pull-wire displacement sensor is adhered to the web of the torsion deformation section spar, and the side surface is fixed to the lower edge bar of the torsion deformation section spar. The measuring pull head of the sensor is fixed to the side surface of the lower edge bar of the fixed section spar. Figure 4The torsional deformation angle of the wing is measured by the pull-rod displacement sensor arranged on the front and rear beams to obtain the moving distance of the gear screw on the wing beam relative to the nut after deformation. The deflection angle of the front and rear beams is calculated according to the height of the wing beam web, and the torsional shape of the wing is obtained by combining the chord distance between the front and rear beams. Figure 5 As shown in the figure, when the wing is horizontal and without deflection, the measuring rope of the pull rope displacement sensor is stretched horizontally, and the sensor value is l i0 ; When the wing is twisted, the output value of the pull rope displacement sensor is l i , the movement value of the gear screw Δl i = l i -l i0 (i=1 represents the data of the front spar; i=2 represents the data of the rear spar). The deflection angles of the front and rear wing beams can be obtained (i=1 represents the data of the front spar; i=2 represents the data of the rear spar), and then the torsion angle at the span m of the torsional deformation section can be calculated. Among them, h is the height of the web of the beam, m is the span of the spar in the torsional deformation section, f is the chord distance between the front and rear spars, and the upward deflection of the spar is the positive direction.

[0034] The front and rear wing beams are respectively equipped with drive devices, which are composed of a motor, a primary transmission shaft, a first-stage transmission shaft, a second-stage transmission shaft, and a third-stage transmission shaft. The motor and the transmission shafts of each stage are installed on the fixed section. After the motor is started, the four gear screws are synchronously subjected to the same driving torque through the transmission shaft. The front and rear beams are driven in coordination. When the drive device drives the front and rear wing beams to deflect upward and downward around the hinge point respectively, the skin on the upper and lower surfaces of the wing limits the distance between the front and rear beam edges to remain unchanged, causing the wing to be torsionally deformed.

[0035] Control process such as Figure 6 As shown: First, the relative position of the support block and the nut on the front and rear wing beams when the wing is not twisted is set to the initial state. At this time, the output value l of the pull rope displacement sensor on the front and rear wing beams is i0 Set to the initial reading, i.e. l 10 = l 20 = 0; set the torsion angle α at the span m of the torsion deformation section, and calculate the value l1 that the sensor should output after torsion deformation by the formula ’ With l2 ’ The second step is to read the output values ​​of the sensors on the front and rear wing beams in the current state to determine the driving state of the drive device on the wing; if the output value of the front beam sensor is l1 = l1 ’ And the output value of the rear beam sensor l2=l2 ’ , the wing does not need to change the flight state; if the front beam sensor output value l1<l1 ’ And the output value of the rear beam sensor is l2>l2 ’, the wing is driven positively (the front beam deflects upward and the rear beam deflects downward); if the output value of the front beam sensor l1>l1 ’ And the output value of the rear beam sensor is l2<l2 ’ , the wing is negatively driven (the front beam deflects downward and the rear beam deflects upward). The third step, if the drive state needs to be changed, the stepper motors on the front and rear beams are started simultaneously through the control system, and the driving force is transmitted to the gear screw through the first, second, and third stage transmission shafts, driving the front and rear beams to deflect simultaneously. The output values ​​of the pull rope displacement sensors on the front and rear beams are respectively equal to l1 ’ With l2 ’ When the wing tip twisting deformation is completed.

[0036] The following is a specific data example of a driving and controlling method for changing the twisted shape of a wing of the present invention.

[0037] In this embodiment, a double-beam wing of airfoil NACA0012 is selected, the relative thickness of the airfoil is 12%, the chord length c=1500mm, the span length is 5000mm, the front beam is arranged at 25% of the chord length of the airfoil, the rear beam is arranged at 65% of the chord length of the airfoil, and a hinge point is set at 3000mm from the wing root in the span direction, so that the wing section l=2000mm outside the hinge point can achieve torsional deformation. The front and rear wing spars are I-beams, the flange thickness is 5mm, the flange width is 84mm, the web thickness is 4mm, and the web height is h=120mm.

[0038] Assume that both the gear screw and the nut are made of alloy steel, the thread lead angle of the thread pair is 2.5°, and the equivalent friction angle is 7°; the outer contour of the nut is a quadrangular prism of 20×36×24mm, 24mm is the length in the height direction of the web, 36mm is the length in the width direction of the flange, 20mm is the length in the direction of the gear screw, the inner hole diameter is 12mm, the distance from the center of the inner hole to the side 1 is x=12mm, and the distance to the side 2 is y=20mm. A trapezoidal tooth profile with a height of 1.5mm, a pitch of 2mm, and 10 thread turns are selected. The diameter of the gear screw is 12mm, the length of the thread section is 50mm, the height is 1.5mm trapezoidal tooth profile, the pitch is 2mm, the number of thread turns is 20, and the distance between the gear screw and the thread section is 50mm. There is a boss with a diameter of 20mm and a thickness of 10mm. 20mm away from the boss is a standard spur gear with a pitch circle diameter of 20mm, a tooth thickness of 10mm, a number of teeth of 20, a module of 1, a length of the rear rod of the gear is 20mm, and the total length of the gear screw is 150mm; the block and support block are both 20×36×24mm four-piece Prism, 24mm is the length in the web height direction, 36mm is the length in the edge strip width direction, 20mm is the length in the gear screw direction, side 1 is fixed to the edge strip, side 2 is fixed to the web, on the bottom surface, with the point at a distance of x=12mm from side 1 and y=20mm from side 2 as the center of the circle, there is a depression with a diameter of 12mm and a depth of 5mm along the axis of the block, and there is a circular through hole with a diameter of 12mm along the axis of the support block; the nut at the upper edge strip of the front and rear beams is provided with positive threads, and the nut at the lower edge strip is provided with reverse threads. Among them, the distance between the nut and the support block is 50mm, that is, the distance between the upper and lower edge strips is 50mm. The fixed section wing beam and the torsional deformation section wing beam are hinged by single and double ears. The web of the fixed section wing beam is a single ear, and the web of the torsional deformation section wing beam is provided with double ears to ensure the transmission of shear force. According to the value of the allowable shear stress, the diameter of the pin at the hinge is determined to be 12mm, and the length is 16mm. The distance between the center of the pin hole on the single ear beam and the end face of the fixed section wing beam is 25mm.

[0039] The IP54 BRT38 pull-wire displacement sensor is selected. The sensor size is 50×50×80mm. The bottom of the pull-wire displacement sensor is fixed on the web of the deformed torsion section wing spar; the side is fixed on the lower edge of the deformed torsion section wing spar, and the axial distance between the outlet on the side and the nut is 100mm; the sensor's measuring pull head is fixed on the side of the lower edge of the fixed section wing spar, and the axial distance from the support block is 0. When the wing has no deflection, the length of the pull rope on the pull-wire displacement sensor is 150mm, which is set to the initial reading, that is, l 10 = l 20 = 0. According to the formula Δl i = l i -l i0It can be seen that the reading of the pull rope displacement sensor after deflection is the movement value of the gear screw. After the wing is deflected, the positive and negative readings of the sensors on the front and rear wing beams can be used to determine the driving direction.

[0040] If the torsion angle α at the torsion deformation section where the span length of the wing beam is m = 1000mm is 20°, then the formula The deflection angles of the front and rear wing beams can be calculated as β1 = 6.22° and β2 = -6.22°, and the output value l1 of the pull rope displacement sensor on the front and rear wing beams can be further calculated. ’ =13.08mm and l2 ’ =-13.08mm. In the current flight state, read the value of the pull rope displacement sensor. Assuming that the sensor value l1 on the front wing beam is 8mm and the sensor value l2 on the rear wing beam is -8mm, the wing is positively driven. The stepper motor drives the gear screw to control the front wing beam to deflect upward and the rear wing beam to deflect downward. The current output value of the sensor on the wing beam is l1 = l1 ’ =13.08mm and the output value of the sensor on the rear wing beam is l2=l2 ’ When =-13.08mm, the front and rear wing spars stop deflecting, and the torsional deformation of the wing is completed.

[0041] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. A driving and controlling method for changing the torsion shape of a wing, characterized in that: A hinge point is set at a certain spanwise position of the front and rear beams of the wing, the section from the wing root to the hinge point is a fixed section, and the section from the hinge point to the wing tip is a torsional deformation section; The driving system includes a gear screw, a nut, a block, a support block, a pull rope displacement sensor, and a driving device; the control method of the driving system is: The first step is to set the relative position of the support block and the nut on the front and rear wing beams when the wing is not twisted to the initial state. At this time, the output value l of the pull rope displacement sensor on the front and rear wing beams is i0 Set to the initial reading, i.e. l 10 = l 20 = 0; set the torsion angle α at the span m of the torsion deformation section, and calculate the value l1 that the sensor should output after torsion deformation by the formula ’ With l2 ’ ; The second step is to read the output values ​​of the sensors on the front and rear wing beams in the current state to determine the driving state of the driving device on the wing; If the output value of the front beam sensor is l1=l1 ’ And the output value of the rear beam sensor l2=l2 ’ , the wing does not need to change the flight state; if the front beam sensor output value l1<l1 ’ And the output value of the rear beam sensor is l2>l2 ’ , the wing is driven positively (the front beam deflects upward and the rear beam deflects downward); if the output value of the front beam sensor l1>l1 ’ And the output value of the rear beam sensor is l2<l2 ’ , the wing is negatively driven (the front beam deflects downward and the rear beam deflects upward); In the third step, if the driving state needs to be changed, the stepper motors on the front and rear wing beams are started simultaneously through the control system. The driving force is transmitted to the gear screw through the first, second and third stage transmission shafts to drive the front and rear wing beams to deflect simultaneously. When the output values ​​of the pull rope displacement sensors on the front and rear wing beams are equal to l1 ’ With l2 ’ When the wing tip twisting deformation is completed.

2. A driving and controlling method for changing the torsion shape of a wing according to claim 1, characterized in that: The bottom surface of the pull-wire displacement sensor is adhered to the web of the torsional deformation section wing beam, and the side surface is fixed to the lower edge strip of the torsional deformation section wing beam. The measuring pull head of the pull-wire displacement sensor is fixed to the side surface of the lower edge strip of the fixed section wing beam; the torsional deformation angle of the wing is measured by the pull-wire displacement sensors arranged on the front and rear beams to obtain the moving distance of the gear screw on the wing beam relative to the nut after deformation, and the deflection angles of the front and rear beams are calculated according to the height of the wing beam web, and the torsional shape of the wing is obtained based on the chordal distance between the front and rear beams.

3. A driving and controlling method for changing the torsion shape of a wing according to claim 1, characterized in that: The webs of the fixed section and the torsion deformation section are hinged by single and double ears, and the upper and lower edge strips on the left and right sides of the web are respectively connected by four gear screws, and the thread direction of the gear screw of the upper edge strip is opposite to the thread direction of the gear screw of the lower edge strip; when the gear screw is driven to rotate by the motor, the gear screws of the upper and lower edge strips will generate axial forces in opposite directions, forming a force couple, driving the wing beam of the torsion deformation section to deflect around the hinge point; and the front and rear wing beams of the wing deflect upward and downward respectively around the hinge point, and the skin on the upper and lower surfaces of the wing limits the distance between the front and rear beam edge strips to remain unchanged, so that the wing is torsionally deformed.

4. A driving and controlling method for changing the torsion shape of a wing according to claim 1, characterized in that: In the driving system described, the nut is fixedly connected to the edge strip of the torsional deformation section of the beam, and the bottom surface of the nut is flush with the cross section of the beam; the support block is fixedly connected to the edge strip of the fixed section of the beam, and the bottom surface of the support block is flush with the cross section of the beam; the gear screw passes through the circular through hole of the support block, the circular boss contacts the bottom surface of the support block, and the threaded section is adapted to the nut; the stop block is fixedly connected to the edge strip of the fixed section of the beam, so that the smooth end of the gear screw can extend into the circular depression of the stop block; wherein the nut, the circular through hole on the support block, the gear screw and the circular depression on the stop block are coaxial; when the gear screw rotates, the support block prevents the gear screw from axial displacement, and the stop block prevents the gear screw from axial displacement and radial swing.

5. A driving and controlling method for changing the torsion shape of a wing according to claim 1, characterized in that: The driving device includes a motor, a primary transmission shaft, a secondary transmission shaft and a tertiary transmission shaft; the motor and the transmission shafts of each level are installed on the fixed section wing beam; after the motor is started, the four gear screws are synchronously subjected to the same driving torque through the transmission shaft; The bottom surface of the pull rope displacement sensor is adhered to the web of the torsional deformation section wing beam, and the side is fixed to the lower edge strip of the torsional deformation section wing beam. The measuring pull head is fixed to the lower edge strip of the fixed section wing beam, which is used to measure the movement distance of the gear screw on the front and rear beams relative to the nut.

6. A driving and controlling method for changing the torsion shape of a wing according to claim 5, characterized in that: The front and rear wing spars are respectively installed with driving devices, and the front and rear spars are driven in coordination. When the driving device drives the front and rear wing spars to deflect upward and downward around the hinge points respectively, the skin on the upper and lower surfaces of the wing limits the distance between the front and rear spars to remain unchanged, causing the wing to twist and deform.

7. A driving and controlling method for changing the torsion shape of a wing according to claim 1, characterized in that: The gear screw is divided into six sections; the first section is a threaded section adapted to the nut; the second section is a cylindrical section; the third section is a circular boss, the top surface of which contacts the bottom surface of the support block; the fourth section is a cylindrical section; the fifth section is a gear, used to cooperate with a driving device to transmit force; the sixth section is a cylindrical section, the end of which extends into the circular depression of the stop block.

8. A driving and controlling method for changing the torsion shape of a wing according to claim 1, characterized in that: The outer contour of the nut is a quadrangular prism, one side of which is fixedly connected to the upper and lower edge strips of the torsional deformation section of the wing beam, and the adjacent side is fixedly connected to the web. The nut is adapted to the threaded section of the gear screw, and the thread directions of the nut at the upper and lower edge strips are opposite.

9. A driving and controlling method for changing the torsion shape of a wing according to claim 1, characterized in that: The outer contour of the support block is a quadrangular prism, one side of which is fixedly connected to the upper and lower edge strips of the wing beam fixed section, and the adjacent side is fixedly connected to the web; a circular through hole is provided on the bottom surface of the support block, and the gear screw passes through the circular through hole so that the circular boss of the gear screw contacts the bottom surface of the support block.

10. A driving and controlling method for changing the torsion shape of a wing according to claim 1, characterized in that: The outer contour of the stopper is the same as that of the support block. One side is fixedly connected to the upper and lower edge strips of the wing beam fixed section, and the adjacent side is fixedly connected to the web. A circular depression is arranged on one bottom surface so that the smooth end of the gear screw can extend into the depression, thereby preventing the screw from axial displacement and radial swing.

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