Pitching and heading control device for star-shaped propeller

Abstract

According to the star-shaped propeller pitching and heading control device, a lower star arm connecting lug, a left oblique star arm connecting lug and a right oblique star arm connecting lug which are vertically downward are arranged outside a machine arm base of a star arm machine arm connecting base, and the included angle between every two adjacent star arm connecting lugs is 120 degrees; a lower star arm, a lower motor mounting seat, a lower motor and a lower propeller are sequentially connected to a lower star arm connecting lug, a left oblique star arm, a left oblique motor mounting seat, a left oblique motor and a left oblique propeller are sequentially connected to a left oblique star arm connecting lug, and a right oblique star arm, a right oblique motor mounting seat, a right oblique motor and a right oblique propeller are sequentially connected to a right oblique star arm connecting lug. The device is used for controlling the pitching and course of the aircraft, the pitching is controlled by differential motion of the lifting force of the lower propeller and component force of the left inclined propeller and the right inclined propeller in the vertical direction, the course is controlled by differential motion of component force of the left inclined propeller and the right inclined propeller in the horizontal direction, the course is controlled by adopting torque, and the angle between the lifting force of the lower propeller and the included angle between the lifting force of every two adjacent propellers is 120 degrees. And the capability is higher than that of controlling the course by adopting reaction torque.

Description

Technical Field

[0001] The invention relates to a pitch and heading control device for a multi-propeller aircraft, in particular to a star-shaped propeller pitch and heading control device for manipulating the pitch and heading of the aircraft by utilizing the lift changes of three star-shaped tail propellers. Background Art

[0002] Currently known multi-propeller aircraft, such as quad-propeller aircraft, utilize the lift differential between the front two propellers and the rear two propellers to control pitch, the lift differential between the right two propellers and the left two propellers to control roll, and the lift differential between two propellers at one angle and two propellers at another angle to control heading. The roll and pitch of the aircraft are controlled by the torque differential generated by the propeller lift differential, and the heading of the aircraft is controlled by the anti-torque differential generated by the propeller lift differential. Since the torque is larger than the anti-torque, the ability to control the heading of the aircraft is poorer than the ability to control the roll and pitch of the aircraft. As the load of the multi-propeller aircraft increases, the aircraft's moment of inertia increases, and the ability to control the aircraft's heading by relying on the propeller's anti-torque is relatively reduced. In particular, for a vertical take-off and landing aircraft that is a composite of a multi-propeller aircraft and a fixed wing, the moment of inertia increases more due to the increase in the weight and width of the wing, and the propeller's anti-torque decreases relative to the increase in the moment of inertia, so the ability to control the aircraft's heading by relying on the propeller's anti-torque is relatively reduced. Summary of the invention

[0003] In order to solve the problem that the heading control capability of existing multi-propeller aircraft decreases due to the increase of the aircraft's rotational inertia, the present invention provides a star-shaped propeller pitch and heading control device, which uses the torque change generated by the propeller's lift change to control the pitch and heading, thereby improving the ability to control the aircraft's heading.

[0004] The technical solution adopted by the present invention to solve its technical problem is: the center of the star arm machine arm connecting seat is the machine arm seat connected to the tail machine arm of the aircraft, and outside the machine arm seat of the star arm machine arm connecting seat are three star arm connecting ears, and the three star arm connecting ears are arranged in rotation around the machine arm seat axis of the star arm machine arm connecting seat, and they are a lower star arm connecting ear vertically downward, a left oblique star arm connecting ear inclined toward the upper left, and a right oblique star arm connecting ear inclined toward the upper right, and the angle between two adjacent star arm connecting ears is 120°.

[0005] The vertically downward lower star arm connecting ear of the star arm machine arm connecting seat is connected to the lower star arm, the lower star arm is vertically downward, the lower end of the lower star arm is connected to the lower motor mounting seat, the lower motor mounting seat is connected to the lower motor, the motor output shaft of the lower motor is vertically downward, the lower motor is connected to the lower propeller, the rotating surface of the lower propeller is horizontal, and the lift of the lower propeller is vertically downward.

[0006] The left oblique star arm connecting ear of the star arm machine arm connecting seat inclined toward the upper left is connected to the left oblique star arm, the left oblique star arm is inclined toward the upper left, the upper left end of the left oblique star arm is connected to the left oblique motor mounting seat, the upper left of the left oblique motor mounting seat is connected to the left oblique motor, the motor output shaft of the left oblique motor faces the upper left, and the angle between the motor output shaft and the lower motor output shaft is 120°, the left oblique motor is connected to the left oblique propeller, the lift of the left oblique propeller faces the upper left, and the angle between the lift of the left oblique propeller and the lift of the lower propeller is 120°.

[0007] The right oblique star arm connecting ear of the star arm arm connecting seat inclined to the upper right is connected to the right oblique star arm, the right oblique star arm is inclined to the upper right, the upper right end of the right oblique star arm is connected to the right oblique motor mounting seat, the upper right side of the right oblique motor mounting seat is connected to the right oblique motor, the motor output shaft of the right oblique motor faces the upper right, and the angle between the motor output shaft and the lower motor output shaft is 120°, the right oblique motor is connected to the right oblique propeller, the lift of the right oblique propeller faces the upper right, and the angle between the lift of the right oblique propeller and the lift of the lower propeller is 120°.

[0008] This constitutes the star propeller pitch and heading control device.

[0009] Since the lift of the left-slanted propeller is directed to the upper left, the horizontal component of the lift of the left-slanted propeller is directed to the left, the lift of the right-slanted propeller is directed to the upper right, and the horizontal component of the lift of the right-slanted propeller is directed to the right. The directions of these two horizontal components are opposite. When the star-shaped propeller pitch and heading control device is connected to the tail of the aircraft away from the center of gravity, the torque generated by these two horizontal components in opposite directions can control the heading of the aircraft. When the two horizontal components in opposite directions are equal, the heading of the aircraft remains in its original state. When the lift of the left-slanted propeller and the lift of the right-slanted propeller are differential, the two horizontal components in opposite directions are also differential. For example, if the lift of the left-slanted propeller is greater than that of the right-slanted propeller, the horizontal component of the lift of the left-slanted propeller to the left is greater than the horizontal component of the lift of the right-slanted propeller to the right. The torque generated by the difference between these two components causes the aircraft to turn right, and vice versa.

[0010] Since the lift of the left-slanted propeller is directed to the upper left, the vertical component of the lift of the left-slanted propeller is vertically upward, and the lift of the right-slanted propeller is directed to the upper right, the vertical component of the lift of the right-slanted propeller is vertically upward. These two vertical upward components are opposite to the vertical downward lift of the lower propeller. When the star-shaped propeller pitch and heading control device is connected to the tail of the aircraft away from the center of gravity, the two vertical upward components are differential with the vertical downward lift of the lower propeller, and the torque generated can control the pitch of the aircraft. When these two vertical upward components are opposite to the vertical downward lift of the lower propeller, the pitch and heading control device of the star-shaped propeller are opposite to the vertical downward lift of the lower propeller. When the vertical downward lift is equal, the pitch of the aircraft remains in its original state. When the lift of the left-slanted propeller, the lift of the right-slanted propeller and the lift of the lower propeller are differential, the vertical upward force of the left-slanted propeller and the right-slanted propeller and the vertical downward lift of the lower propeller are also differential. If the sum of the vertical upward force of the left-slanted propeller and the right-slanted propeller is greater than the lift of the lower propeller, the torque generated by this force difference causes the aircraft to pitch forward. If the sum of the vertical upward force of the left-slanted propeller and the right-slanted propeller is less than the lift of the lower propeller, the torque generated by this force difference causes the aircraft to pitch backward.

[0011] The technical solution of the present invention controls the heading of the aircraft by setting up three propellers in a star shape, and utilizing the torque generated by the horizontal force difference caused by the lift difference of the left-slanted propeller with lift toward the upper left and the right-slanted propeller with lift toward the upper right. This can be applied to multi-propeller aircraft to improve the heading control capability of the aircraft.

[0012] At the same time, the pitch of the aircraft is controlled by utilizing the torque generated by the difference between the vertical upward components of the lift of the left and right slant propellers and the vertical downward lift of the lower propeller. The star-shaped propeller pitch and heading control device has the ability to control the pitch and heading of the aircraft.

[0013] The star-shaped propeller pitch and heading control device has the advantages of compact structure and easy manufacture. It is connected to the tail of a multi-propeller aircraft so that the multi-propeller aircraft does not need to use anti-torque to control the heading, but uses torque to control the heading, thereby improving the heading control capability of the multi-propeller aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0015] Figure 1 The present invention is a schematic diagram of the structure of the star propeller pitch and heading control device.

[0016] Figure 2 It is a schematic diagram of the working principle of the star propeller pitch and heading control device of the present invention.

[0017] Figure 3 It is a connection schematic diagram of the star-shaped propeller pitch and heading control device of the present invention.

[0018] Figure 4 The invention is a schematic structural diagram of a star-shaped propeller pitch and heading control device applied to a multi-propeller aircraft.

[0019] Figure 5 The invention is a schematic diagram of the structure of a star-shaped propeller pitch and heading control device applied to a multi-propeller and fixed-wing composite aircraft.

[0020] Figure 6 The invention is a schematic diagram of the structure of a star-shaped propeller pitch and heading control device applied to a multi-propeller and autorotating rotor composite aircraft.

[0021] Figure 7 It is a schematic diagram of the structure of a seesaw type autorotating rotor assembly.

[0022] Figure 8 It is a schematic structural diagram of an integrated star-shaped three-motor mounting seat of a star-shaped propeller pitch and heading control device of the present invention.

[0023] In the figure, 1. lower propeller, 2. left oblique propeller, 3. right oblique propeller, 4. right large propeller, 5. left large propeller, 6. right end propeller, 7. left end propeller, 8. front end propeller, 11. lower motor, 12. left oblique motor, 13. right oblique motor, 14. right large motor, 15. left large motor, 16. right end motor, 17. left end motor, 18. front end motor, 21. lower motor mounting seat, 22. left oblique motor mounting seat, 23. right oblique motor mounting seat, 24. right large motor mounting seat, 25. left large motor mounting seat, 26. right end motor mounting seat, 27. left end motor mounting seat, 28. front end box motor mounting seat, 31. lower star arm, 32. left oblique star arm, 33. right oblique star arm, 41. star arm machine arm connecting seat, 42. The arm seat of the star arm connecting seat connecting the tail of the aircraft, 43. The contraction seam of the arm seat of the star arm connecting seat connecting the tail of the aircraft, 44-1. The lower star arm connecting ear of the star arm connecting seat, 44-2. The left oblique star arm connecting ear of the star arm connecting seat, 44-3. The right oblique star arm connecting ear of the star arm connecting seat, 45. The connecting ear of the star arm of the lower motor mounting seat, 46. The motor shaft avoidance hole of the lower motor mounting seat, 51. Screws, 52. Rivets, 61. Tail arm, 62. Right horizontal arm, 63. Left horizontal arm, 64. Vertical tail, 66. Fuselage body, 71. The right wing of the fixed wing, 72. The left wing of the fixed wing, 80. Integrated star-shaped three-motor seat, 81. Upper bearing seat hole, 82. Lower bearing seat hole, 83. Bearing seat inner ring, 84. Hairpin pin, 85. Nut, 86. Locating retaining ring, 87. Locating screw, 88. Articulation hole, 89. Seesaw autogyro hinge ear, 90. Seesaw autogyro assembly, 91. Autogyro column, 91-1. Autogyro column top shaft, 92. Seesaw autogyro, 93. Seesaw autogyro hinge shaft, 94. Bushing, 95. Lower plane pressure bearing, 95-1. Upper plane pressure bearing, 96. Lower bearing, 96-1. Upper bearing, 97. Locating retaining ring, 98. U-shaped seesaw frame, 99. Locating hole, 100. Star propeller pitch and heading control device, F1. Lift of lower propeller, F2. Lift of left oblique propeller, F3. Lift of right oblique propeller, F2x. The vertical component of the lift of the left skew propeller, F3x. The vertical component of the lift of the right skew propeller, F2y. The horizontal component of the lift of the left skew propeller, F3y. The horizontal component of the lift of the right skew propeller, X. Vertical line, Y. Horizontal line, M1. Rotational plane of the lower propeller, M2. Rotational plane of the left skew propeller, M3. Rotational plane of the right skew propeller, Q. Center of the pitch and heading control device of the star propeller. Implementation

[0024] Figure 1 The present invention is a schematic diagram of the structure of the star propeller pitch and heading control device.

[0025] Figure 1 (see Figure 2 ), the center of the star arm arm connecting seat 41 is the arm seat 42 connected to the tail arm of the aircraft, and outside the arm seat 42 of the star arm arm connecting seat 41 are three star arm connecting ears, and the three star arm connecting ears are rotated and arranged around the axis of the arm seat 42 of the star arm arm connecting seat 41, namely, a lower star arm connecting ear 44-1 pointing vertically downward, a left oblique star arm connecting ear 44-2 inclined toward the upper left, and a right oblique star arm connecting ear 44-3 inclined toward the upper right, and the angle between two adjacent star arm connecting ears is 120°.

[0026] The vertically downward lower star arm connecting ear 44-1 of the star arm arm connecting seat 41 is connected to the lower star arm 31, the lower star arm 31 is vertically downward, the lower end of the lower star arm 31 is connected to the lower motor mounting seat 21, the lower motor mounting seat 21 is connected to the lower motor 11 below, the motor output shaft of the lower motor 11 is vertically downward, the lower motor 11 is connected to the lower propeller 1 below, the rotating surface of the lower propeller 1 is horizontal, and the lift F1 of the lower propeller is vertically downward.

[0027] The left oblique star arm connecting ear 44-2 of the star arm arm connecting seat 41, which is inclined toward the upper left, is connected to the left oblique star arm 32. The left oblique star arm 32 is inclined toward the upper left. The upper left end of the left oblique star arm 32 is connected to the left oblique motor mounting seat 22. The upper left of the left oblique motor mounting seat 22 is connected to the left oblique motor 12. The motor output shaft of the left oblique motor 12 faces the upper left, and the angle with the output shaft of the lower motor 11 is 120°. The left oblique motor 12 is connected to the left oblique propeller 2, and the angle between the rotating surface M2 of the left oblique propeller and the horizontal plane is 60°. The lift of the left oblique propeller 2 is toward the upper left, and the angle between the lift F2 of the left oblique propeller and the lift F1 of the lower propeller is 120°.

[0028] The right oblique star arm connecting ear 44-3 of the star arm arm connecting seat 41, which is inclined toward the upper right, is connected to the right oblique star arm 33. The right oblique star arm 33 is inclined toward the upper right. The upper right end of the right oblique star arm 33 is connected to the right oblique motor mounting seat 23. The upper right side of the right oblique motor mounting seat 23 is connected to the right oblique motor 13. The motor output shaft of the right oblique motor 13 faces the upper right, and the angle with the output shaft of the lower motor 11 is 120°. The right oblique motor 13 is connected to the right oblique propeller 3. The angle between the rotating surface M3 of the right oblique propeller and the horizontal plane is 60°. The lift of the right oblique propeller 3 is toward the upper right, and the angle between the lift F3 of the right oblique propeller and the lift F1 of the lower propeller is 120°.

[0029] The included angle between two adjacent star arm connecting ears is 120°, and the included angle between two adjacent star arms is 120°.

[0030] This constitutes the star-shaped propeller pitch and heading control device 100. The center of the star-arm machine arm connecting seat 41 is also the center of the entire star-shaped propeller pitch and heading control device 100. The working principle is shown in FIG. Figure 2 .

[0031] Figure 2 It is a schematic diagram of the working principle of the star propeller pitch and heading control device 100 of the present invention.

[0032] Figure 2 (see Figure 1 ), X represents a vertical line, Y represents a horizontal line, Q represents a center point of the star propeller pitch and heading control device 100, and this center point is set at the intersection of the X vertical line and the Y horizontal line. It is assumed that the star propeller pitch and heading control device 100 is applied to an aircraft, and the distance from this center Q to the center of gravity of the aircraft is dp; the rotation surface M1 of the lower propeller, the rotation surface M2 of the left oblique propeller, and the rotation surface M3 of the right oblique propeller are equal to the center point Q.

[0033] Assume that the sizes of the lower propeller 1, the left-slanted propeller 2, and the right-slanted propeller 3 are the same, the parameters of the lower motor 11, the left-slanted motor 12, and the right-slanted motor 13 are the same, and when the throttle is the same, the lift of the lower propeller 1, the left-slanted propeller 2, and the right-slanted propeller 3 are the same, the rotation directions of the left-slanted propeller 2 and the right-slanted propeller 3 are the same, and the rotation directions of the lower propeller 1 and the left-slanted propeller 2 are opposite (the rotation directions of these three propellers are set to be the same for at most two propellers, and the three propellers have multiple rotation direction combinations).

[0034] Three ESCs are connected to three motors, and a flight controller is connected to the three ESCs. The aircraft controls the voltage changes of the three ESCs to change the rotation speeds of the three motors, thereby driving the lift of the three propellers to change, so that the lift of the three propellers produces different combinations of changes.

[0035] The lift F1 of the lower propeller is directed vertically downward, the lift F2 of the left slant propeller is directed upward to the left, and the angle between it and the lift F1 of the lower propeller is 120°, the angle between it and the vertical line X is 60°, and the angle between it and the horizontal line Y is 30° (see the small picture in the lower left corner); the lift F3 of the right slant propeller is directed upward to the right, and the angle between it and the lift F1 of the lower propeller is 120°, the angle between it and the vertical line X is 60°, and the angle between it and the horizontal line Y is 30° (see the small picture in the lower right corner).

[0036] The vertical component F2x of the lift F2 of the left slant propeller is directed vertically upward, and the vertical component F3x of the lift F3 of the right slant propeller is directed vertically upward.

[0037] The moment when the star propeller pitch and heading control device 100 is applied in an aircraft to make the aircraft pitch forward is: F2x*dp+F3x*dp = F2*cos(60)*dp+F3*cos(60)*dp The moment that causes the aircraft to pitch backward is: F1*dp The equation for pitch balancing the aircraft is: F1*dp= F2*cos(60)*dp+F3*cos(60)*dp Since cos(60)=0.5, the above equation becomes: F1*dp = 0.5*F2*dp+0.5*F3* dp………………(1).

[0038] When the throttle is the same, the lift of the lower propeller 1, the left slant propeller 2, and the right slant propeller 3 is the same. When the throttle is the same, both sides of equation (1) are equal. When the lift of the lower propeller 1, the left slant propeller 2, and the right slant propeller 3 is equal, the pitch of the aircraft is balanced.

[0039] When the lift of the lower propeller 1 is differential with the lift of the left slanted propeller 2 and the right slanted propeller 3, control the pitch: The lift of the lower propeller 1 increases by df, and the lift of the left-slanted propeller 2 and the right-slanted propeller 3 decreases by df at the same time. Equation (1) becomes: (F1+df)*dp>0.5* (F2-df)*dp+0.5*(F3-df)* dp………………(1-1).

[0040] Equation (1-1) indicates that the moment that causes the aircraft to pitch backward is greater than the moment that causes the aircraft to pitch forward, so the aircraft pitches backward.

[0041] The lift of the lower propeller 1 decreases by df, and the lift of the left-slanted propeller 2 and the right-slanted propeller 3 increases by df at the same time. Equation (1) becomes: (F1-df)*dp<0.5* (F2+df)*dp+0.5*(F3+df)* dp………………(1-2).

[0042] Equation (1-2) indicates that the moment that causes the aircraft to pitch backward is smaller than the moment that causes the aircraft to pitch forward, so the aircraft pitches forward.

[0043] The component F2y of the lift F2 of the left slant propeller in the horizontal direction is directed to the left, and the component F3y of the lift F3 of the right slant propeller in the horizontal direction is directed to the right.

[0044] The torque that turns the aircraft to the left is: F3y*dp =F3*sin(60)*dp =0.866*F3*dp The torque that turns the aircraft to the right is: F2y*dp =F2*sin(60) =0.866*F2*dp The equation for balancing the heading of the aircraft is: 0.866*F3*dp= 0.866*F2*dp………………(2).

[0045] When the throttle is the same, the lift of the left slant propeller 2 and the right slant propeller 3 is the same. When the throttle is the same, both sides of equation (2) are equal. When the lift of the left slant propeller 2 and the right slant propeller 3 is equal, the heading of the aircraft is balanced.

[0046] When the lift of the left slant propeller 2 is differential with the lift of the right slant propeller 3, control the heading: The lift of the left-slanted propeller 2 increases by df, and the lift of the right-slanted propeller 3 decreases by df. Equation (2) becomes: 0.866*(F3-df)*dp<0.866*(F2+df)*dp………………(2-1).

[0047] Equation (2-1) indicates that the torque that turns the aircraft to the left is smaller than the torque that turns the aircraft to the right, so the aircraft turns to the right.

[0048] The lift of the left-slanted propeller 2 decreases by df, and the lift of the right-slanted propeller 3 increases by df. Equation (2) becomes: 0.866*(F3+df)*dp>0.866*(F2-df)*dp………………(2-2).

[0049] Equation (2-1) indicates that the torque that turns the aircraft to the left is greater than the torque that turns the aircraft to the right, and the aircraft turns to the left.

[0050] From equations (1) and (2), it can be seen that when the throttle is the same, the lift of the lower propeller 1, the left slanted propeller 2, and the right slanted propeller 3 is the same, and the pitch and heading of the aircraft are balanced.

[0051] From equations (1-1) and (1-2), it can be seen that when the lift of the lower propeller 1 is differential with the lift of the left slant propeller 2 and the right slant propeller 3, the pitch is controlled.

[0052] It can be seen from equations (2-1) and (2-2) that the heading is controlled when the lift of the left-slanted propeller 2 is differential with the lift of the right-slanted propeller 3.

[0053] During the pitch control process, the lift of the lower propeller 1 increases by df, while the lift of the left-slanted propeller 2 and the right-slanted propeller 3 decreases by df at the same time. Substituting into the left side of (2): =0.866*(F3-df)*dp.

[0054] Substituting into the right side of (2): = 0.866*(F2-df)*dp.

[0055] (2) still holds true, and the aircraft's heading remains balanced.

[0056] During the forward pitch control process: the lift of the lower propeller 1 decreases by df, and the lift of the left-slanted propeller 2 and the right-slanted propeller 3 increases by df at the same time. Substituting into the left side of (2): =0.866*(F3+df)*dp.

[0057] Substituting into the right side of (2): = 0.866*(F2+df)*dp.

[0058] (2) is still true. The heading of the aircraft remains balanced. It can be seen that during the process of manipulating the pitch of the aircraft, the heading of the aircraft remains balanced. That is, during the process of manipulating the pitch of the aircraft, the heading stability of the aircraft is not affected.

[0059] During the left turn, the lift of the left-slanted propeller 2 decreases by df, and the lift of the right-slanted propeller 3 increases by df. Substituting into the right side of (1): =0.5*(F2-df)*dp+0.5*(F3+df)*dp.

[0060] =0.5*F2*dp - df*dp +0.5*F3* dp +df*dp =0.5*F2*dp+0.5*F3*dp (1) still holds true, and the aircraft pitches and maintains balance.

[0061] During the right turn, the lift of the left-slanted propeller 2 increases by df, and the lift of the right-slanted propeller 3 decreases by df. Substituting into the right side of (1): =0.5*(F2+df)*dp+0.5*(F3-df)*dp.

[0062] =0.5*F2*dp + df*dp +0.5*F3* dp - df*dp =0.5*F2*dp+0.5*F3*dp (1) still holds true, and the aircraft pitches and maintains balance.

[0063] It can be seen that in the process of manipulating the heading of the aircraft, the pitch of the aircraft remains balanced, that is, in the process of manipulating the heading of the aircraft, the pitch stability of the aircraft is not affected.

[0064] The star propeller pitch and heading control device 100 is applied in an aircraft and can use torque to manipulate the pitch and heading of the aircraft. The pitch of the aircraft is manipulated without affecting the heading stability of the aircraft, and the heading of the aircraft is manipulated without affecting the pitch stability of the aircraft.

[0065] Figure 3 1 is a connection exploded view of the lower propeller 1 of the star-shaped propeller pitch and heading control device 100 of the present invention. Figure 3 In the figure, the screw 51 connects the lower propeller 1 to the lower motor 11, the screw 51 connects the lower motor 11 to the lower motor mounting seat 21 (the lower motor mounting seat 21 is a T-shaped motor mounting seat made of aluminum alloy, with a motor shaft avoidance hole 46 on one side and a connecting ear 45 for connecting the star arm, a mounting hole, etc. on the other side), the rivet 52 connects the connecting ear 45 of the lower motor mounting seat 21 to one end of the lower star arm 31 (the lower star arm 31 is composed of two carbon fiber plates, and the carbon fiber plates are provided with mounting holes, etc.), and the rivet 52 connects the other end of the lower star arm 31 to the lower star arm connecting ear 44-1 of the star arm machine arm connecting seat 41.

[0066] The connection method of the left slant propeller 2 and the connection method of the right slant propeller 3 are the same as the connection method of the lower propeller 1 .

[0067] The star-arm arm connecting seat 41 is connected to the tail arm seat 42 of the aircraft, and the contraction seam 43 of the tail arm seat 42 of the aircraft is fastened by screws 51 to fasten the star-shaped propeller pitch and heading control device 100 to the tail of the aircraft (see Figure 4 , Figure 5 , Figure 6 ).

[0068] Figure 4 It is a schematic diagram of the structure of the star propeller pitch and heading control device 100 of the present invention applied to a multi-propeller aircraft.

[0069] Figure 4 In the figure, the fuselage and the landing gear constitute a fuselage body 66, and a crossbeam is arranged above the middle of the fuselage body 66. The crossbeam consists of a right arm 62 connected to the right side of the middle of the fuselage body 66 and a left arm 63 connected to the left side of the middle of the fuselage body 66.

[0070] The middle section of the right arm 62 is connected to the right large motor mounting seat 24, the right large motor 14 is connected to the right large motor mounting seat 24, the right large motor 14 is connected to the right large propeller 4, and the lift of the right large propeller 4 is vertically upward; the right end of the right arm 62 is connected to the right end motor mounting seat 26, the right end motor mounting seat 26 is connected to the right end motor 16, the right end motor 16 is connected to the right end propeller 6, and the lift of the right end propeller 6 is vertically upward.

[0071] The middle section of the left arm 63 is connected to the left large motor mounting seat 25, the left large motor 15 is connected to the left large motor mounting seat 25, the left large motor 15 is connected to the left large propeller 5, and the lift of the left large propeller 5 is vertically upward; the left end of the left arm 63 is connected to the left end motor mounting seat 27, the left end motor mounting seat 27 is connected to the left end motor 17, the left end motor 17 is connected to the left end propeller 7, and the lift of the left end propeller 7 is vertically upward.

[0072] A tail arm 61 is arranged above the tail of the fuselage body 66, and the end of the tail arm 61 is connected to the star propeller pitch and heading control device 100 (see Figure 3 ), the rotation plane of the lower propeller 1 of the star-shaped propeller pitch and heading control device 100 is horizontal, the lift of the lower propeller 1 is vertically downward, the lift of the left-slanted propeller 2 is upward to the left, and the angle between the lift of the left-slanted propeller 2 and the lift of the lower propeller 1 is 120°, the lift of the right-slanted propeller 3 is upward to the right, and the angle between the lift of the right-slanted propeller 3 and the lift of the lower propeller 1 is 120°.

[0073] Seven ESCs are connected to seven motors respectively, and a flight controller is connected to the seven ESCs. The flight controller controls the voltage changes of the seven ESCs, changes the rotation speed of the motors, drives the lift changes of the propellers, and realizes the flight of the aircraft. This constitutes a multi-propeller aircraft with four propellers connected to a crossbeam. The center of gravity of this aircraft is set on the crossbeam or close to the crossbeam.

[0074] When the throttles are the same, the lifts of the lower propeller 1, the left oblique propeller 2 and the right oblique propeller 3 are the same, the lifts of the right end propeller 6 and the left end propeller 7 are the same, and the lifts of the right large propeller 4 and the left large propeller 5 are the same; when the throttles are the same, the lift of the right large propeller 4 is greater than the lift of the right end propeller 6, and the lift of the right end propeller 6 is greater than or equal to the lift of the lower propeller 1.

[0075] This multi-propeller aircraft is controlled in pitch and heading by a star-shaped propeller pitch and heading control device 100, and in roll by the lift differential of the right-end propeller 6 and the left-end propeller 7; the lift of the right large propeller 4 and the left large propeller 5 does not participate in controlling the pitch, heading and roll of the aircraft, and the lift of the right large propeller 4 and the left large propeller 5 remain the same during the entire flight, and the rotation directions of the right large propeller 4 and the left large propeller 5 are opposite, and the lift of the right large propeller 4 and the left large propeller 5 only participate in the control of vertical lift. Since the lift of the right large propeller 4 and the left large propeller 5 does not participate in controlling the pitch, heading and roll of the aircraft, the sensitivity of the speed change of the right large propeller 4 and the left large propeller 5 is not required to be high, the diameters of the right large propeller 4 and the left large propeller 5 can be selected to be larger to increase the load capacity of the aircraft, and the drive motors of the right large propeller 4 and the left large propeller 5 can also be driven by fuel engines to construct a hybrid aircraft.

[0076] The multi-propeller aircraft composed of the star-shaped propeller pitch and heading control device 100 adopts moment control for roll, pitch and heading, has strong attitude control capability, and is suitable for constructing a multi-propeller aircraft with a large load capacity.

[0077] Figure 5 It is a schematic diagram of the structure of the star propeller pitch and heading control device 100 of the present invention applied to a multi-propeller and fixed-wing composite aircraft.

[0078] Figure 5 In the figure, the fuselage and the landing gear constitute a fuselage body 66, and a crossbeam is arranged above the middle of the fuselage body 66. The crossbeam consists of a right arm 62 connected to the right side of the middle of the fuselage body 66 and a left arm 63 connected to the left side of the middle of the fuselage body 66.

[0079] The right arm 62 near the right side of the fuselage main body 66 is connected to the right wing 71 of the fixed wing, the right arm 62 at the right end of the right wing 71 is downwardly connected to the right large motor mounting seat 24, the right large motor 14 is downwardly connected to the right large motor 14, the right large motor 14 is connected to the right large propeller 4, the lift of the right large propeller 4 is vertically upward, the right end of the right arm 62 is connected to the right end motor mounting seat 26, the right end motor mounting seat 26 is connected to the right end motor 16, the right end motor 16 is connected to the right end propeller 6, and the lift of the right end propeller 6 is vertically upward.

[0080] The left arm 63 near the left side of the fuselage body 66 is connected to the left wing 72 of the fixed wing, the left arm 63 at the left end of the left wing 72 is downwardly connected to the left large motor mounting seat 25, the left large motor 15 is downwardly connected to the left large motor 15, the left large motor 15 is connected to the left large propeller 5, the lift of the left large propeller 5 is vertically upward, the left end of the left arm 63 is connected to the left end motor mounting seat 27, the left end motor mounting seat 27 is connected to the left end motor 17, the left end motor 17 is connected to the left end propeller 7, and the lift of the left end propeller 7 is vertically upward.

[0081] The front part of the fuselage body 66 is connected to the front box motor mounting seat 28 , the front part of the front box motor mounting seat 28 is connected to the front motor 18 , and the front part of the front motor 18 is connected to the front propeller 8 .

[0082] A tail arm 61 is arranged above the tail of the fuselage body 66, and the end of the tail arm 61 is connected to the star propeller pitch and heading control device 100 (see Figure 3), the rotation plane of the lower propeller 1 of the star-shaped propeller pitch and heading control device 100 is horizontal, the lift of the lower propeller 1 is vertically downward, the lift of the left-slanted propeller 2 is upward to the left, and the angle between the lift of the left-slanted propeller 2 and the lift of the lower propeller 1 is 120°, the lift of the right-slanted propeller 3 is upward to the right, and the angle between the lift of the right-slanted propeller 3 and the lift of the lower propeller 1 is 120°.

[0083] Eight ESCs are connected to eight motors respectively, and a flight controller is connected to the eight ESCs. The flight controller controls the voltage changes of the eight ESCs, changes the rotation speed of the motors, drives the lift changes of the propellers, and realizes the flight of the aircraft. This constitutes a multi-propeller and fixed-wing composite aircraft. The center of gravity of this aircraft is set on the crossbeam or close to the crossbeam.

[0084] When the throttles are the same, the lifts of the lower propeller 1, the left oblique propeller 2 and the right oblique propeller 3 are the same, the lifts of the right end propeller 6 and the left end propeller 7 are the same, and the lifts of the right large propeller 4 and the left large propeller 5 are the same; when the throttles are the same, the lift of the right large propeller 4 is greater than the lift of the right end propeller 6, and the lift of the right end propeller 6 is greater than or equal to the lift of the lower propeller 1.

[0085] The pitch and heading of the multi-propeller and fixed-wing composite aircraft are controlled by a star-shaped propeller pitch and heading control device 100, and the roll is controlled by the lift differential of the right end propeller 6 and the left end propeller 7; the lift of the right large propeller 4 and the left large propeller 5 does not participate in controlling the pitch, heading and roll of the aircraft, and the lift of the right large propeller 4 and the left large propeller 5 remain the same during the entire flight process, and the rotation directions of the right large propeller 4 and the left large propeller 5 are opposite, and the lift of the right large propeller 4 and the left large propeller 5 only Participating in the vertical take-off and landing control, since the lift of the right large propeller 4 and the left large propeller 5 does not participate in controlling the pitch, heading and roll of the aircraft, the sensitivity of the speed change of the right large propeller 4 and the left large propeller 5 is not high, the diameter of the right large propeller 4 and the left large propeller 5 can be selected to be larger to increase the load-bearing capacity of the aircraft, and the driving motors of the front propeller 8, the right large propeller 4 and the left large propeller 5 can also be driven by a fuel engine to construct a hybrid aircraft to increase the flight time.

[0086] When the multi-propeller and fixed-wing composite aircraft rises into the air in multi-propeller flight mode, the flight controller starts the front motor 18 to make the front propeller 8 generate lift to drive the aircraft forward. As the forward flight speed increases, the right wing 71 and the left wing 72 of the fixed wing generate lift, and the aircraft flies upward and forward. When the required height is reached, the lift of the right large propeller 4 and the left large propeller 5 is reduced to make the aircraft fly horizontally. Since the efficiency of the fixed wing in generating lift is higher than that of the right large propeller 4 and the left large propeller 5, the flight mode in which the front propeller 8 generates lift to drive the aircraft forward reduces power consumption and extends the flight time.

[0087] The aircraft turns off the front motor 18 so that the front propeller 8 no longer generates lift, increases the lift of the right large propeller 4 and the left large propeller 5, and the aircraft returns to the multi-propeller flight mode.

[0088] During the entire flight process, the star propeller pitch and heading control device 100 controls the pitch and heading, and the lift differential of the right propeller 6 and the left propeller 7 controls the roll. The multi-propeller and fixed-wing compound aircraft composed of the star propeller pitch and heading control device 100 adopts torque control for roll, pitch and heading, has strong attitude control capability, and can smoothly switch between the fixed-wing flight mode and the multi-propeller flight mode, and is suitable for constructing a large-load multi-propeller and fixed-wing compound aircraft.

[0089] The right large motor 14, the right large propeller 4, the left large motor 15, and the left large propeller 5 can be connected through a tilt mechanism, and the front motor and the front propeller 8 can be omitted. The tilt mechanism simultaneously drives the right large motor 14, the right large propeller 4, the left large motor 15, and the left large propeller 5 to tilt backward to obtain forward flight power.

[0090] Figure 6 It is a schematic diagram of the structure of the star propeller pitch and heading control device 100 of the present invention applied to an aircraft with multiple propellers and autorotating rotors.

[0091] Figure 6 In the figure, the fuselage and the landing gear constitute a fuselage body 66, and a crossbeam is arranged above the middle of the fuselage body 66. The crossbeam consists of a right arm 62 connected to the right side of the middle of the fuselage body 66 and a left arm 63 connected to the left side of the middle of the fuselage body 66.

[0092] An autorotating rotor column 91 is arranged above the middle center of the fuselage body 66, and the top of the autorotating rotor column 91 is connected to a seesaw autorotating rotor assembly 90. The rotating surface of the rotor 92 of the seesaw autorotating rotor assembly 90 is provided with an angle of attack.

[0093] The middle section of the right arm 62 is connected to the right large motor mounting seat 24, the right large motor 14 is connected to the right large motor mounting seat 24, the right large motor 14 is connected to the right large propeller 4, and the lift of the right large propeller 4 is vertically upward; the right end of the right arm 62 is connected to the right end motor mounting seat 26, the right end motor mounting seat 26 is connected to the right end motor 16, the right end motor 16 is connected to the right end propeller 6, and the lift of the right end propeller 6 is vertically upward.

[0094] The middle section of the left arm 63 is connected to the left large motor mounting seat 25, the left large motor 15 is connected to the left large motor mounting seat 25, the left large motor 15 is connected to the left large propeller 5, and the lift of the left large propeller 5 is vertically upward; the left end of the left arm 63 is connected to the left end motor mounting seat 27, the left end motor mounting seat 27 is connected to the left end motor 17, the left end motor 17 is connected to the left end propeller 7, and the lift of the left end propeller 7 is vertically upward.

[0095] The front part of the fuselage body 66 is connected to the front box motor mounting seat 28 , the front part of the front box motor mounting seat 28 is connected to the front motor 18 , and the front part of the front motor 18 is connected to the front propeller 8 .

[0096] A tail arm 61 is arranged above the tail of the fuselage body 66, and the end of the tail arm 61 is connected to the star propeller pitch and heading control device 100 (see Figure 3 ), the rotation plane of the lower propeller 1 of the star-shaped propeller pitch and heading control device 100 is horizontal, the lift of the lower propeller 1 is vertically downward, the lift of the left-slanted propeller 2 is upward to the left, and the angle between the lift of the left-slanted propeller 2 and the lift of the lower propeller 1 is 120°, the lift of the right-slanted propeller 3 is upward to the right, and the angle between the lift of the right-slanted propeller 3 and the lift of the lower propeller 1 is 120°.

[0097] A vertical tail 64 is connected to the tail arm 61 in front of the star-shaped propeller pitch and heading control device 100 .

[0098] Eight ESCs are connected to eight motors respectively, and a flight controller is connected to the eight ESCs. The flight controller controls the voltage changes of the eight ESCs, changes the rotation speed of the motors, drives the lift changes of the propellers, and realizes the flight control of the aircraft. This constitutes a multi-propeller and autorotating rotor composite aircraft.

[0099] When the throttles are the same, the lifts of the lower propeller 1, the left oblique propeller 2 and the right oblique propeller 3 are the same, the lifts of the right end propeller 6 and the left end propeller 7 are the same, and the lifts of the right large propeller 4 and the left large propeller 5 are the same; when the throttles are the same, the lift of the right large propeller 4 is greater than the lift of the right end propeller 6, and the lift of the right end propeller 6 is greater than or equal to the lift of the lower propeller 1.

[0100] The multi-propeller and autogyro composite aircraft is controlled in pitch and heading by a star-shaped propeller pitch and heading control device 100, and in roll by the lift differential of the right end propeller 6 and the left end propeller 7; the lift of the right large propeller 4 and the left large propeller 5 does not participate in controlling the pitch, heading and roll of the aircraft, and the lift of the right large propeller 4 and the left large propeller 5 remain the same during the entire flight, and the rotation directions of the right large propeller 4 and the left large propeller 5 are opposite, and the lift of the right large propeller 4 and the left large propeller 5 only participate in the control of vertical lift. Since the lift of the right large propeller 4 and the left large propeller 5 does not participate in controlling the pitch, heading and roll of the aircraft, the sensitivity of the speed change of the right large propeller 4 and the left large propeller 5 is not high, and the diameters of the right large propeller 4 and the left large propeller 5 can be selected to be larger to increase the load capacity of the aircraft.

[0101] When the multi-propeller and autogyro composite aircraft rises into the air in the multi-propeller flight mode, the flight controller starts the front motor 18 to make the front propeller 8 generate lift to drive the aircraft to fly forward. The incoming air causes the rotor 92 of the seesaw autogyro assembly 90 to rotate to generate lift, and the aircraft flies upward and forward. As the forward flight speed increases, the lift of the rotor 92 of the seesaw autogyro assembly 90 increases. When the required height is reached, the lift of the right large propeller 4 and the left large propeller 5 is reduced to make the aircraft fly horizontally. Since the diameter of the rotor 92 of the seesaw autogyro 90 is larger than that of the right large propeller 4, the efficiency of generating lift is higher than the lift generated by the right large propeller 4 and the left large propeller 5. The flight mode in which the front propeller 8 generates lift to drive the aircraft to fly forward reduces power consumption and extends the flight time.

[0102] The aircraft turns off the front motor 18 so that the front propeller 8 no longer generates lift, the forward flight speed of the aircraft decreases, the rotation speed of the rotor 92 of the seesaw autogyro 90 decreases, the lift generated decreases, the lift of the right large propeller 4 and the left large propeller 5 is increased, and the aircraft returns to the multi-propeller flight mode.

[0103] During the entire flight process, the star propeller pitch and heading control device 100 controls the pitch and heading, and the lift differential of the right-end propeller 6 and the left-end propeller 7 controls the roll. The multi-propeller and autogyro composite aircraft composed of the star propeller pitch and heading control device 100 adopts torque control for roll, pitch and heading, has strong attitude control capability, and can smoothly switch between the multi-propeller flight mode and the autogyro flight mode, and is suitable for constructing a multi-propeller and autogyro composite aircraft with a large load.

[0104] The right large motor 14, the right large propeller 4, the left large motor 15, and the left large propeller 5 can be connected through a tilt mechanism, and the front motor and the front propeller 8 can be omitted. The tilt mechanism simultaneously drives the right large motor 14, the right large propeller 4, the left large motor 15, and the left large propeller 5 to tilt forward to obtain forward flight power.

[0105] When the multi-propeller and autogyro composite aircraft is flying in the air and the propeller loses power, the rotor 92 of the seesaw autogyro 90 enters a spinning state. The rotor 92 of the seesaw autogyro 90 gains lift by losing altitude to make an emergency landing, thereby improving the safety of the aircraft.

[0106] Figure 4 , Figure 5 and Figure 6 The aircraft shown uses a star propeller pitch and heading control device 100 to control the pitch and heading of the aircraft. Since the star propeller pitch and heading control device 100 can control the pitch of the aircraft, the center of gravity of the aircraft can be set on the beam and allowed to move forward and backward on the beam.

[0107] Figure 4 , Figure 5 and Figure 6 When the star-shaped propeller pitch and heading control device 100 shown is connected to the tail of an aircraft, the installation method is to make the lift of the lower propeller vertically downward. Since the propellers of the star-shaped propeller pitch and heading control device 100 generate lift in the vertical and horizontal directions, in the application of other embodiments, when installing the star-shaped propeller pitch and heading control device 100, it can be installed by rotating 90° clockwise on the basis of making the lift of the lower propeller vertically downward, or by rotating 180° clockwise or 270° clockwise.

[0108] Figure 7 It is a schematic diagram of the structure of the seesaw type autorotating rotor assembly 90.

[0109] Figure 7 In the figure (see the small picture on the left), a lower bearing seat hole 82 is arranged at the bottom of the U-shaped seesaw frame 98, a bearing seat inner ring 83 is arranged above the lower bearing seat hole 82, an upper bearing seat hole 81 is arranged above the bearing seat inner ring 83, a lower bearing 96 is connected in the lower bearing seat hole 82, a lower plane pressure bearing 95 is connected under the lower bearing 96; an upper bearing 96-1 is connected in the upper bearing seat hole 81, and an upper plane pressure bearing 95-1 is connected above the upper bearing 96-1.

[0110] The shaft sleeve 94 passes through the upper plane pressure bearing 95-1, the upper bearing 96-1, the lower bearing 96, the lower plane pressure bearing 95, and the positioning retaining ring 97 from top to bottom; the positioning screw 87 passes through the positioning hole 99 of the positioning retaining ring 97, the positioning hole 99 of the shaft sleeve 94, the positioning hole 99 of the autorotor column top shaft 91-1 and the nut 85 to fasten the shaft sleeve 94 to the autorotor column top shaft 91-1 of the autorotor column 91, and the hairpin pin 84 is inserted into the positioning screw 87 to prevent the nut 85 from loosening, and the U-shaped seesaw frame 98 can rotate freely on the shaft sleeve 94 (see Figure 6 ).

[0111] The seesaw autorotating wing hinge shaft 93 passes through the hinge hole 88 of the U-shaped seesaw frame 98, the hinge hole 88 of the seesaw autorotating wing hinge ear 89 on the right side of the positioning retaining ring 86, and the left positioning retaining ring 86 from right to left to hinge the seesaw autorotating wing 92 on the U-shaped seesaw frame 98, the nut 85 is tightened, and the hairpin pin 84 is inserted into the autorotating wing hinge shaft 93 to prevent the nut 85 from loosening, so that the seesaw autorotating wing 92 can swing up and down around the seesaw autorotating wing hinge shaft 93.

[0112] This completes the connection of the seesaw autorotating rotor assembly 90 (see Figure 6 ).

[0113] Figures 1 to 6 The three motor mounting seats of the star propeller pitch and heading control device 100 shown in the figure are connected by parts such as a star arm and a star arm machine arm connecting seat. In order to reduce the number of parts, aluminum alloy die-casting, 3D printing, or plastic injection molding are used to manufacture the motor mounting seat, the star arm, the star arm machine arm connecting seat, etc. into one part, such as Figure 8 shown.

[0114] Figure 8 It is a schematic diagram of the structure of the integrated star-shaped three-motor mounting base 80 of the star-shaped propeller pitch and heading control device 100 of the present invention.

[0115] Figure 8 (see Figure 1 , Figure 2 , Figure 3 ), the three connecting ears (lower star arm connecting ear 44-1, left oblique star arm connecting ear 44-2, right oblique star arm connecting ear 44-3) of the star arm machine arm connecting seat 41 are extended to the three motor seats (lower motor mounting seat 21, left oblique motor mounting seat 22, right oblique motor mounting seat 23), so that the three motor seats and the star arm machine arm connecting seat 41 are connected into a whole, and the extended star arm is provided with a weight reduction hole 78, a pipeline connecting ear 79, etc.

[0116] Three motor mounting seats, three star arms, and a star-arm-arm connecting seat connected together form an integrated star-shaped three-motor mounting seat 80. Three star arms are formed by extending three star arm connecting ears. The angle between two adjacent star arms is 120°. The installation planes of the three motor mounting seats are equidistant from the center of the star-arm-arm connecting seat 41. The three motor seats of the star-shaped three-motor mounting seat 80 are respectively connected to three motors and three propellers to form a star-shaped propeller pitch and heading control device 100.

Claims

1. A star propeller pitch and heading control device, wherein the star arm arm connecting seat has three star arm connecting ears outside the arm seat, and the three star arm connecting ears are arranged in rotation around the arm seat axis of the star arm arm connecting seat, and are respectively a lower star arm connecting ear vertically downward, a left oblique star arm connecting ear inclined to the upper left, and a right oblique star arm connecting ear inclined to the upper right, the angle between two adjacent star arm connecting ears is 120°, and the angle between two adjacent star arms is 120°; the lower star arm, the lower motor mounting seat, the lower motor, and the lower propeller are sequentially connected to the lower star arm connecting ear, the left oblique star arm, the left oblique motor mounting seat, the left oblique motor, and the left oblique propeller are sequentially connected to the left oblique star arm connecting ear, and the right oblique star arm, the right oblique motor mounting seat, the right oblique motor, and the right oblique propeller are sequentially connected to the right oblique star arm connecting ear, forming a star propeller pitch and heading control device, characterized in that: The distances between the rotating surfaces of the lower propeller, the left-slanted propeller, and the right-slanted propeller and the center of the arm seat of the star-arm arm connecting seat are equal, the sizes of the lower propeller, the left-slanted propeller, and the right-slanted propeller are the same, the parameters of the lower motor, the left-slanted motor, and the right-slanted motor are the same, and under the same throttle, the lift of the lower propeller, the left-slanted propeller, and the right-slanted propeller are the same; the rotating surface of the lower propeller is horizontal, and the lift of the lower propeller is vertically downward, the angle between the rotating surface of the left-slanted propeller and the horizontal plane is 60°, the lift of the left-slanted propeller is upward to the left, and the angle between the lift of the left-slanted propeller and the lift of the lower propeller is 120°, the angle between the rotating surface of the right-slanted propeller and the horizontal plane is 60°, the lift of the right-slanted propeller is upward to the right, and the angle between the lift of the right-slanted propeller and the lift of the lower propeller is 120°; the lift of the left-slanted propeller is decomposed into a vertically upward component and a horizontally left component, and the lift of the right-slanted propeller is decomposed into a vertically upward component The vertical upward force of the left skew propeller, the vertical upward force of the right skew propeller and the vertical downward lift of the lower propeller constitute a pair of vertical forces in opposite directions. When the star-type propeller pitch and heading control device is applied to the aircraft, this vertical force pair controls the pitch, that is, the vertical upward force of the left skew propeller, the vertical upward force of the right skew propeller and the vertical downward lift of the lower propeller differentially control the pitch of the aircraft, and the horizontal left component of the left skew propeller and the horizontal right component of the right skew propeller constitute a pair of horizontal forces in opposite directions. When the star-type propeller pitch and heading control device is applied to the aircraft, this horizontal force pair controls the heading, that is, the horizontal left component of the left skew propeller and the horizontal right component of the right skew propeller differentially control the heading of the aircraft. The star-type propeller pitch and heading control device uses torque to control the pitch and heading of the aircraft.

2. The star propeller pitch and heading control device according to claim 1, characterized in that: The star-shaped propeller pitch and heading control device is connected to the tail arm end of the tail of the multi-propeller aircraft, on which a left large propeller and a left end propeller are arranged on the left arm of the crossbeam, and a right large propeller and a right end propeller are arranged on the right arm of the crossbeam. The pitch and heading of the multi-propeller aircraft are controlled, and the lift differential of the left end propeller and the right end propeller controls the roll of the aircraft.

3. The star propeller pitch and heading control device according to claim 1, characterized in that: The star-shaped propeller pitch and heading control device is connected to the left arm of the crossbeam and is provided with the left wing, left large propeller and left end propeller of the fixed wing; the right wing, right large propeller and right end propeller of the fixed wing are provided on the right arm of the crossbeam; the multi-propeller of the front propeller and the end of the tail arm at the tail of the fixed-wing compound aircraft are provided at the front end of the fuselage body to control the pitch and heading of the multi-propeller and fixed-wing compound aircraft; the lift differential of the left end propeller and the right end propeller controls the roll of the aircraft.

4. The star propeller pitch and heading control device according to claim 1, characterized in that: The star-shaped propeller pitch and heading control device is connected to the left arm of the crossbeam, and a left large propeller and a left end propeller are arranged on the right arm of the crossbeam. A front propeller is arranged at the front end of the fuselage body, and the multi-propeller of the seesaw autogyro assembly and the tail arm end of the tail of the autogyro composite aircraft are arranged in the middle of the fuselage body to control the pitch and heading of the multi-propeller and autogyro composite aircraft, and the lift differential of the left end propeller and the right end propeller controls the roll of the aircraft.

5. The star propeller pitch and heading control device according to claim 1, characterized in that: The star arm machine arm connecting seat, the machine arm seat, three star arm connecting ears, three star arms, and three motor mounting seats are manufactured into one part to form an integrated star-shaped three-motor mounting seat. The integrated star-shaped three-motor mounting seat is respectively connected to three motors and three propellers to form a star-shaped propeller pitch and heading control device.

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