Rotor wing tilting angle detection device and control method for transverse double-tilting-rotor aircraft

Abstract

The invention relates to a rotor wing tilting angle detection device and a control method for a transverse double-tilting-rotor aircraft. The mechanical structure part of the detection device is composed of a rotating end gear, a measuring end gear, a rotary transformer and a measuring end installation frame, the tilting angle of the rotor wing tilting shaft is converted to the precise rotary transformer for measurement through the gears, the size of the angle measurement device is reduced, and the measurement precision is improved. The electrical structure part is composed of a transformer, a modem and a controller. The control method is stored in the controller, the control quantity of the tilting angle difference between the left rotor wing and the right rotor wing is added in the tilting control method to serve as control compensation, and the problem that the tilting angles are not synchronous in the tilting process of the rotor wings can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of aircraft, and more particularly, to a detection device and a control method for the tilting angle of the rotors of a tandem dual-rotor tilt-rotor aircraft. Background Art

[0002] A vertical takeoff and landing fixed-wing aircraft is an aircraft that combines the characteristics of a helicopter's vertical takeoff and landing and a fixed-wing aircraft's high-speed cruise, and is a research hotspot in the field of aircraft in recent years. The existing vertical takeoff and landing fixed-wing aircraft mainly include configurations such as quadrotor compound wings, quadrotor tilting, tail-sitting, and tandem dual-rotor tilt-rotors. The tandem dual-rotor tilt-rotor aircraft is a typical representative among them due to its low energy consumption and long range.

[0003] The measurement and control of the tilting angle of the rotors are the key to the full-mode flight control of a tandem dual-rotor tilt-rotor aircraft. However, most of the existing tilting angle detection devices add sensors such as resistors on the rotating shaft, which are large in volume and low in precision. At the same time, since the tilting of the left and right rotors is controlled separately, the changes in load, the influence of interference, and the differences in actuators during the tilting process of the rotors will cause the tilting of the left and right rotors to be asynchronous, thereby affecting the flight quality and performance of the aircraft. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a detection device and a control method for the tilting angle of the rotors of a tandem dual-rotor tilt-rotor aircraft. By converting the tilting angle of the rotor tilting shaft to a precision resolver through a gear for measurement, the volume of the angle measurement device is reduced while the measurement precision is increased, and a control compensation of the tilting angle difference between the left and right rotors is added, which can effectively improve the problem of asynchronous tilting angles during the tilting process of the rotors.

[0005] The technical solution adopted to achieve the above object is as follows:

[0006] A detection device for the tilting angle of the rotors of a tandem dual-rotor tilt-rotor aircraft includes: a rotating-end gear, a measuring-end gear, a resolver, a measuring-end mounting bracket, an amplifier, and a modulation and demodulation module; the rotating-end gear is a ring-shaped hollow structure, sleeved on the rotor tilting shaft, and rotates as the rotor tilting shaft tilts; the measuring-end gear meshes with the rotating-end gear and rotates as the rotor tilting shaft tilts; the measuring-end gear and the resolver are coaxially installed on both sides of the measuring-end mounting bracket; the resolver, the amplifier, and the modulation and demodulation module are electrically connected in sequence.

[0007] The measuring-end mounting bracket includes a fixing bracket and a mounting seat; the mounting seat is connected to the fixing bracket by bolts; the fixing bracket is installed on the aircraft frame.

[0008] The shaft of the measurement end gear is mounted on the mounting seat through bearings; the outer ring of the bearing is fixed to the mounting seat, and the inner ring of the bearing is fixed to the shaft of the measurement end gear.

[0009] The resolver includes a stator and a rotor; the stator is mounted on the mounting seat by bolts, and the rotor is mounted on the output end of the shaft of the measurement end gear.

[0010] A positioning gasket is also mounted on the output end of the shaft of the measurement end gear by bolts; a spacer sleeve is provided between the rotor and the shaft of the measurement end gear.

[0011] There are two rotor tilt angle detection devices, which are respectively arranged at both ends of the left and right rotors of the tandem dual-tilting rotor aircraft, and simultaneously collect the electrical signals of the tilt angles of the nacelles at both ends of the rotors; the modulation and demodulation module is also electrically connected to the controller, and outputs the collected electrical signals of the tilt angles of the nacelles at both ends of the rotors to the controller.

[0012] A method for controlling the tilt of the rotors of a tandem dual-tilting rotor aircraft includes the following steps:

[0013] S1. The controller outputs an instruction to the rotor tilt angle detection device to collect the tilt angle signals θ l 、θ r of the left and right rotor nacelles in real time;

[0014] S2. The controller performs left rotor tilt control, right rotor tilt control, angle difference control, and control compensation values for the left and right tilt actuators according to the desired tilt angle θ d and the tilt angle signals θ l 、θ r of the left and right rotor nacelles;

[0015] S3. The controller outputs an instruction according to the control compensation values of the left and right tilt actuators to simultaneously control the tilts of the left and right rotors.

[0016] The left rotor tilt control adopts proportional-integral-derivative control, and the input is the angle error θ l between the left rotor tilt angle θ d and the desired tilt angle θ le , and the output is the initial control amount of the left tilt actuator. r The right rotor tilt control adopts proportional-integral-derivative control, and the input is the angle error θ d between the right rotor tilt angle θ re and the desired tilt angle θ

[0017] The angle difference control is used to compensate for the error of the tilt angles of the left and right rotors, and adopts proportional-integral control. The input is the left rotor tilt angle βl The angle difference θ r from the tilt angle β of the right rotor diff is output as the compensation control amount δ diff .

[0018] By combining the initial control amount and the compensation control amount, the calculation of the control compensation value of the left and right tilt actuators obtains the final control amounts of the left and right tilt actuators of the system and the right tilt actuator control amount

[0019] Advantages and beneficial effects of the present invention:

[0020] 1. The present invention converts the tilt angle of the rotor tilt axis to a precision resolver through a gear for measurement, reducing the volume of the angle measurement device while increasing the measurement accuracy;

[0021] 2. The present invention adds the control amounts of the left and right rotor tilt angle differences as control compensations in the tilt control, which can effectively improve the load changes, interference effects, and differences in actuators during the rotor tilt process, resulting in asynchronous tilting of the left and right rotors. Description of the drawings

[0022] Figure 1 is the overall structure diagram of the present invention;

[0023] Figure 2 is the exploded structure diagram of the present invention;

[0024] Figure 3 is the electrical structure diagram of the present invention;

[0025] Figure 4 is the control method structure diagram of the present invention;

[0026] Figure 5 is the schematic diagram of a tandem dual tilt-rotor aircraft. Detailed implementation manners

[0027] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following further detailed description of the specific implementation methods of the present invention is provided in conjunction with the drawings. Many specific details are set forth in the following description to fully understand the present invention, but the present invention can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of the invention. Therefore, the present invention is not limited by the specific implementations disclosed below.

[0028] Such as Figure 1As shown in the figure, the detection of the tilting angle of the rotors of a tandem dual-rotor tilting aircraft includes: a rotating-end gear 1, a measuring-end gear 2, a resolver 3, and a measuring-end mounting bracket 4. The rotating-end gear has a hollow structure and is fixed on the rotor tilting shaft, rotating as the rotor tilting shaft tilts. The measuring-end gear meshes with the rotating-end gear and rotates as the rotor tilting shaft tilts. The resolver includes a stator and a rotor. The stator is mounted on a mounting base, and the rotor is adhesively fixed to the measuring-end gear. The measuring-end mounting bracket is used to mount the measuring-end gear and the resolver and is fixed on the aircraft frame.

[0029] As Figure 2 As shown in the figure, the measuring-end mounting bracket includes a fixing bracket 401, a mounting base 402, a bearing 403, a spacer sleeve 404, a positioning gasket 405, and bolts 406 - 408. The mounting base 402 is used to mount the resolver 3. Bolt 406 fixes the outer ring of the bearing 403 to the mounting base 402, and the inner ring of the bearing 403 is shaft-fixed to the measuring-end gear 2. The spacer sleeve 404 and the positioning gasket 405 shaft-fix the rotor of the resolver 3 to the shaft of the measuring-end gear 2. Bolt 408 fixes the stator of the resolver 3 to the mounting base 402, and bolt 408 fixes the mounting base 402 to the fixing bracket 401. The fixing bracket 401 fixes all the parts at the measuring end on the aircraft frame.

[0030] As Figure 3 As shown in the figure, the electrical part of the detection device for the tilting angle of the rotors of a tandem dual-rotor tilting aircraft includes a resolver, an amplifier, a modem, and a controller. The model of the resolver is Tamagawa TS2620N21E11, the model of the amplifier is AD8040, the model of the modem is AD2S1200, and the model of the controller is LPC2368. The modem outputs an AC signal of 3.6Vrms and 10KHZ, which is adjusted to 7Vrms and 10KHZ by the amplifier to provide an excitation voltage for the resolver. The resolver consists of a stator fixed on a mounting base and a rotor fixed on the shaft of the measuring-end gear. When the rotor tilts, relative rotation occurs between the stator and the rotor, generating a sin signal and a cos signal with a 90° phase difference and 10HZ under the action of the excitation voltage and sending them to the modem. The modem demodulates the sin signal and the cos signal and converts them into angle values, which are sent to the controller through the SPI bus interface.

[0031] The electrical part of the detection device for the tilting angle of the rotors of a tandem dual-rotor tilting aircraft according to the present invention includes two groups of transformers, an amplifier, and a modem, which are respectively used to detect the tilting angles of the left rotor and the right rotor and send them to the controller through the same SPI bus.

[0032] As Figure 4 As shown in the figure, the rotor tilting control method is included in the controller, and the input is the expected tilting angle θ of the rotor sent by the aircraft flight control system.d 、The tilt angle θ of the left rotor l and the tilt angle θ of the right rotor r , and the output is the control quantity δ of the left tilt actuator l and the control quantity δ of the right tilt actuator r . The control method includes left rotor tilt control, right rotor tilt control, angle difference control, and control compensation output.

[0033] The left rotor tilt control adopts proportional-integral-differential control, and the input is the tilt angle θ of the left rotor l and the desired tilt angle θ d , and the output is the initial control quantity of the left tilt actuator The angle error is θ le = θ d - θ l , and the proportional, integral, and differential gains are respectively The initial control quantity of the left tilt actuator

[0034] The right rotor tilt control adopts proportional-integral-differential control, and the input is the tilt angle θ of the right rotor r and the desired tilt angle θ d , and the output is the initial control quantity of the right tilt actuator The angle error is θ re = θ d - θ r , and the proportional, integral, and differential gains are respectively The initial control quantity of the left tilt actuator

[0035] The angle difference control is used to compensate for the error of the tilt angles of the left and right rotors. It adopts proportional-integral control, and the input is the tilt angle θ of the left rotor l and the tilt angle θ of the right rotor r , and the output is the balance compensation control quantity δ diff . The angle difference θ diff = θ l - θ r , and the balance compensation control quantity

[0036] The control compensation output combines the initial control quantity and the compensation control quantity to obtain the final control quantity of the left tilt actuator of the system and the control quantity of the right tilt actuator

[0037] As Figure 5 shown is a schematic diagram of a tandem dual-rotor tiltrotor aircraft, where 5 is the left rotor, 6 is the right rotor, 7 is the left rotor tilt angle detection device, 8 is the left tilt actuator, 9 is the right rotor tilt angle detection device, and 10 is the right tilt actuator.

[0038] It should be noted that the present invention is not limited to the embodiments described above. The above specific embodiments are merely illustrative and not restrictive. Without departing from the spirit of the present invention and the scope protected by the claims, those of ordinary skill in the art can make many specific transformations in various forms under the inspiration of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A device for detecting the tilting angle of the rotors of a tandem tilt-rotor aircraft, characterized in that, it comprises: a rotating-end gear (1), a measuring-end gear (2), a resolver (3), a measuring-end mounting bracket (4), an amplifier, and a modulation and demodulation module; the rotating-end gear (1) is a ring-shaped hollow structure, sleeved on the rotor tilting shaft, and rotates as the rotor tilting shaft tilts; the measuring-end gear (2) meshes with the rotating-end gear (1) and rotates as the rotor tilting shaft tilts; the measuring-end gear (2) and the resolver (3) are coaxially installed on both sides of the measuring-end mounting bracket (4); the resolver (3), the amplifier, and the modulation and demodulation module are electrically connected in sequence.

2. The device for detecting the tilting angle of the rotors of a tandem tilt-rotor aircraft according to claim 1, characterized in that, the measuring-end mounting bracket (4) comprises a fixed bracket (401) and a mounting seat (402); the mounting seat (402) is connected to the fixed bracket (401) by bolts; the fixed bracket (401) is installed on the aircraft frame.

3. The device for detecting the tilting angle of the rotors of a tandem tilt-rotor aircraft according to claim 2, characterized in that, the shaft of the measuring-end gear (2) is installed on the mounting seat (402) through a bearing (403); the outer ring of the bearing (403) is fixed to the mounting seat, and the inner ring of the bearing (403) is fixed to the shaft of the measuring-end gear (2).

4. The device for detecting the tilting angle of the rotors of a tandem tilt-rotor aircraft according to claim 2, characterized in that, the resolver (3) comprises a stator (31) and a rotor (32); the stator (31) is installed on the mounting seat (402) by bolts (407), and the rotor (32) is installed at the output end of the shaft of the measuring-end gear (2).

5. The device for detecting the tilting angle of the rotors of a tandem tilt-rotor aircraft according to claim 4, characterized in that, a positioning gasket (405) is also installed at the output end of the shaft of the measuring-end gear (2) by bolts; a spacer sleeve (404) is provided between the rotor (32) and the shaft of the measuring-end gear (2).

6. The device for detecting the tilting angle of the rotors of a tandem tilt-rotor aircraft according to any one of claims 1-5, characterized in that, there are two such devices for detecting the tilting angle of the rotors, which are respectively arranged at the left and right rotor ends of the tandem tilt-rotor aircraft, and simultaneously collect the electrical signals of the tilting angles of the nacelles at both ends of the rotors; the modulation and demodulation module is also electrically connected to the controller, and outputs the collected electrical signals of the tilting angles of the nacelles at both ends of the rotors to the controller.

7. A method for controlling the tilting of the rotors of a tandem tilt-rotor aircraft, characterized in that, it comprises the following steps: S1. The controller outputs instructions to the rotor tilt angle detection device to collect the tilt angle signals θ of the left and right rotor nacelles in real time l , θ r ; S2. The controller, based on the desired tilting angle θ d and the tilting angle signals θ l , θ r of the left and right rotor nacelles, performs left rotor tilting control, right rotor tilting control, angle difference control, and control compensation values for the left and right tilting actuators; S3. The controller outputs instructions according to the control compensation values of the left and right tilting actuators, for simultaneously controlling the tilting of the left and right rotors.

8. The method for controlling the tilting of the rotors of a tandem tilt-rotor aircraft according to claim 7, characterized in that, The left rotor tilt control adopts proportional-integral-derivative control, and the input is the left rotor tilt angle θ l and the desired tilt angle θ d The angle error θ le , and the output is the initial control amount of the left tilt actuator The right rotor tilt control adopts proportional-integral-derivative control, and the input is the right rotor tilt angle θ r and the desired tilt angle θ d The angle error θ re , and the output is the initial control amount of the right tilt actuator 9. The method for controlling the tilting of the rotors of a tandem tilt-rotor aircraft according to claim 7, characterized in that, The angle difference control is used to compensate for the error of the tilting angles of the left and right rotors. A proportional-integral control is adopted, with the input being the tilting angle θ l of the left rotor and the tilting angle θ r of the right rotor, and the angle difference θ diff , and the output being the compensation control quantity δ diff .

10. A method for controlling the tilt of a rotor of a transverse double tilt-rotor aircraft according to claim 7, characterized in that, The calculation of the control compensation value of the left and right tilting actuators combines the initial control amount and the compensation control amount to obtain the final control amount of the left tilting actuator of the system and the control amount of the right tilting actuator

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