A tilt-rotor aircraft self-trimming tilting device and control method

Abstract

The application discloses a kind of self-trimming tilting device and control method of tilt-rotor aircraft, belong to aircraft technical field.Self-trimming tilting device of tilt-rotor aircraft, including tilting mechanism, tilting mechanism includes motor, motor is installed on pedestal, the output shaft of motor is provided with paddle, the side of pedestal is provided with the torque output mechanism of adjusting motor rotation angle, the other side of pedestal is provided with the trimming mechanism for offsetting motor gravity moment, and back gap offset mechanism is arranged on the trimming mechanism and torque output mechanism.The self-trimming tilting device and control method of tilt-rotor aircraft of the application can solve the problem of complex trimming process and unstable tilting of current tilting device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft technology, in particular to a self-trimming tilting device and control method of a tilt-rotor aircraft. BACKGROUND

[0002] The tilt-rotor aircraft integrates the flexibility of vertical take-off and hovering of a helicopter and the advantages of high-speed cruising and long-range of a fixed-wing aircraft, and has irreplaceable application value in emergency rescue, material delivery, low-altitude operation and other military and civilian fields, and its core performance depends on the stability and adaptability of the rotor tilting device.

[0003] There are two core technical difficulties in the current rotor tilting device. One is the difficulty in trimming. The combined center of mass of the existing device is easy to deviate from the tilting axis, resulting in a gravity moment that changes with the tilt angle, which requires the configuration of a large torque rudder or a complex reduction group, and the trimming process needs to be re-adapted when replacing different weight motors, which is complicated and has poor universality. The second is the lack of tilting stability. The backlash existing in the gear transmission process will form an angular displacement dead zone at the instant of reversal, and the disturbance of the motor and the blade will also cause repeated collisions of the gear teeth, resulting in high-frequency shaking. After the impact is transmitted to the inertial device through the rigid structure, the attitude error and transition segment oscillation are induced, which leads to poor stability of tilting. SUMMARY

[0004] The purpose of the present application is to provide a self-trimming tilting device and control method of a tilt-rotor aircraft, which solves the problem of complex trimming process and unstable tilting of the current tilting device.

[0005] To achieve the above-mentioned purpose, the present application provides a self-trimming tilting device and control method of a tilt-rotor aircraft, which comprises a tilting mechanism, the tilting mechanism comprising a motor, the motor being installed on a machine base, a propeller being arranged on an output shaft of the motor, a torque output mechanism for adjusting the rotation angle of the motor being arranged on one side of the machine base, and a trimming mechanism for offsetting the gravity moment of the motor being arranged on the other side of the machine base.

[0006] Preferably, the trimming mechanism comprises a first trimming gear and a second trimming gear in meshing, the first trimming gear and the second trimming gear being located between a second inner baffle and a second outer baffle and being rotatably connected with the second inner baffle and the second outer baffle, a third trimming gear being rotatably arranged between the second inner baffle and the second outer baffle, the third trimming gear being in meshing with the second trimming gear, and the third trimming gear being fixedly connected with the machine base; a trimming structure connected with the first trimming gear and the second trimming gear being arranged on the second outer baffle.

[0007] Preferably, the trim structure comprises a first rocker arm and a second rocker arm, one end of the first rocker arm is fixedly connected with a first trim gear, one end of the second rocker arm is fixedly connected with a second trim gear, a connecting assembly is arranged between the first rocker arm and the second rocker arm, the first rocker arm and the second rocker arm are connected with a push rod servo through the connecting assembly, the push rod servo drives the first rocker arm and the second rocker arm to rotate through the connecting assembly, one end of the push rod servo is hingedly connected with the second outer baffle.

[0008] Preferably, the connecting assembly comprises a connecting rod, the other end of the push rod servo is hingedly connected with the connecting rod, a first sliding block is fixedly arranged on the connecting rod, a first sliding groove matched with the first sliding block is arranged on the first rocker arm, the first sliding block is located in the first sliding groove and slides along the first sliding groove, a guide groove is arranged on the connecting rod along the length direction of the connecting rod, a second sliding block is slidably arranged in the guide groove, a second sliding groove matched with the second sliding block is arranged on the second rocker arm, the second sliding block is located in the second sliding groove and slides along the second sliding groove, a connecting spring is arranged between the first sliding block and the second sliding block, and a parallelogram is formed between the top end of the first rocker arm, the second outer baffle, the push rod servo and the connecting rod.

[0009] Preferably, the first trim gear and the second trim gear have the same number of teeth, the second trim gear has more teeth than the third trim gear; a backlash compensation mechanism is arranged between the third trim gear and the second outer baffle, the backlash compensation mechanism comprises a fixed seat fixedly arranged on the second outer baffle, a top rod for exerting a radial force on the third trim gear is arranged on the fixed seat, and the top rod is rotationally connected with the wheel shaft of the third trim gear.

[0010] Preferably, the torque output mechanism comprises a steering engine, a first torque gear and a third torque gear are rotationally arranged between the first inner baffle and the first outer baffle, a second torque gear is fixedly arranged on the rotating shaft of the first torque gear, the second torque gear is engaged with the third torque gear, the third torque gear is fixedly connected with the other end of the machine base, a potentiometer for detecting the tilt angle of the motor is fixedly arranged on the wheel shaft of the third torque gear, the potentiometer and the steering engine are electrically connected with the controller of the aircraft, a power structure for driving the first torque gear to rotate is arranged on the steering engine, and a decoupling structure for connecting or separating the power structure and the first torque gear is arranged on the first outer baffle.

[0011] Preferably, the power structure comprises a driving gear fixedly connected with an output shaft of the steering engine, a gear shaft rotatably arranged on the first inner baffle and engaged with the driving gear, a decoupling shaft slidably arranged on the gear shaft and connected with the gear shaft through a limiting block, the decoupling shaft and the gear shaft being synchronously rotated through the limiting block, an output gear arranged on the decoupling shaft and engaged with the first torque gear, the output gear having the same number of teeth as the second torque gear, the first torque gear having the same number of teeth as the third torque gear, and the first torque gear having more teeth than the second torque gear; and a backlash compensation mechanism arranged between the wheel shaft of the third torque gear and the first outer baffle, the backlash compensation mechanism comprising a fixed seat fixedly arranged on the first outer baffle and provided with a jacking rod for applying a radial force to the third torque gear, the jacking rod being rotatably connected with the wheel shaft of the third torque gear.

[0012] Preferably, the decoupling structure comprises a decoupling disc fixedly arranged on the decoupling shaft, the decoupling shaft being slidably and rotatably connected with the first inner baffle and the first outer baffle, a wedge-shaped slide block slidably arranged on the first outer baffle and having a wedge surface in contact with the decoupling disc, the wedge-shaped slide block being provided at one end with a slide rod, and the decoupling shaft being provided with a fixed plate, the fixed plate and the first inner baffle being provided with a reset spring for resetting.

[0013] A tilting method of a rotor tilting device based on the self-trim tilting rotor aircraft, comprising the following steps:

[0014] S1, the decoupling structure is started, the slide rod drives the wedge-shaped slide block to slide inward, the wedge-shaped slide block pushes the decoupling disc outward through the wedge surface, the decoupling disc drives the decoupling shaft to slide outward, and the decoupling shaft drives the output gear to slide outward and decouple from the first torque gear;

[0015] S2, the push rod server is started, the extension of the push rod server drives the connecting rod to move, the connecting rod drives the first rocker arm and the second rocker arm to synchronously and reversely rotate under the action of the first trimming gear and the second trimming gear through the first slide block and the second slide block, the second trimming gear drives the machine base to rotate through the third trimming gear, the machine base drives the motor and the potentiometer to synchronously rotate, the potentiometer converts the rotation angle of the machine base into an analog voltage, the analog voltage is subjected to hardware RC filtering and continuous oversampling and averaging through an ADC module to obtain a smooth digital angle, and a controller of the aircraft calculates the extension length of the push rod server to trim the tilting device;

[0016] S3, after the leveling is finished, the decoupling structure resets, the decoupling shaft resets under the action of the reset spring, the output gear is engaged with the first torque gear;The controller of the aircraft drives the steering gear according to the motor angle feedback by the potentiometer, the steering gear drives the decoupling shaft to rotate through the driving gear and the gear shaft, the decoupling shaft drives the first torque gear to rotate through the output gear, the first torque gear drives the third torque gear to rotate through the second torque gear, and the third torque gear drives the motor to rotate through the machine base, and the angle of the motor is adjusted.

[0017] Preferably, in S2, the controller of the aircraft calculates the length of the push rod servo through the PID algorithm, and the PID algorithm is as follows:

[0018] ;

[0019] ;

[0020] In the formula, is the tilt angle, is the desired tilt angle, is the angle error, is the proportional gain, is the integral gain, is the differential gain, is the time, is the output control signal, which is used to adjust the push rod servo and change the tilt angle.

[0021] The rotor tilting device of the self-aligning tilt rotor aircraft has the following advantages and positive effects:

[0022] 1、The present application is provided with a trimming mechanism on the machine base, when replacing the motor of different weight, the steering gear or the reduction ratio does not need to be replaced, only the length of the force arm is adjusted in real time through the trimming mechanism, so that the motor gravity moment can be completely balanced, the dependence on the torque of the steering gear is significantly reduced, and the aircraft can be adapted to motors of various models and different weights.

[0023] 2、The present application is provided with a decoupling structure on the torque output mechanism, the trimming mechanism and the torque output mechanism are separated through the decoupling structure, so that the inaccuracy of the detection value caused by the linkage of the gear during the trimming process is avoided, and the accuracy of the trimming is improved.

[0024] 3、The backlash compensation mechanism is arranged in the trimming mechanism and the torque output mechanism, the backlash between the gear sets is eliminated, the impact of the gear rotation on the aircraft is reduced, the attitude oscillation is avoided, and the stability of the tilting process is improved.

[0025] The technical solutions of the present application will be further described in detail through the drawings and examples. DESCRIPTION OF DRAWINGS

[0026] Figure 1 Schematic diagram of the three-dimensional structure of the tilting device according to an embodiment of the present application Figure 1 ;

[0027] Figure 2 Schematic diagram of the three-dimensional structure of the tilting device according to an embodiment of the present application Figure 2 ;

[0028] Figure 3 Schematic diagram of the top view of the tilting device according to an embodiment of the present application

[0029] Figure 4 Schematic diagram of the front view of the tilting device according to an embodiment of the present application

[0030] Figure 5 Schematic diagram of the trim mechanism according to an embodiment of the present application

[0031] Figure 6 Schematic diagram of the torque output mechanism according to an embodiment of the present application

[0032] Figure 7 Schematic diagram of the torque output mechanism according to an embodiment of the present application Figure 1 Schematic diagram of the torque output mechanism according to an embodiment of the present application

[0033] Figure 8 Flowchart of the tilting method of the tilting device according to an embodiment of the present application

[0034] Reference signs

[0035] 1, tilting mechanism; 11, motor; 12, paddle; 13, base; 14, first outer baffle; 15, first inner baffle; 16, second outer baffle; 17, second inner baffle

[0036] 2, trim mechanism; 21, push rod server; 22, first rocker arm; 23, second rocker arm; 24, first trim gear; 25, second trim gear; 26, third trim gear; 27, connecting rod; 28, first sliding groove; 29, first sliding block; 210, second sliding groove; 211, second sliding block; 212, guide groove; 213, connecting spring

[0037] 3, torque output mechanism; 31, steering engine; 32, driving gear; 33, gear shaft; 34, decoupling shaft; 35, output gear; 36, fixed plate; 37, return spring; 38, decoupling disc; 39, wedge-shaped sliding block; 310, sliding rod; 311, first torque gear; 312, second torque gear; 313, third torque gear; 314, rotating shaft; 315, boss; 316, potentiometer

[0038] 4, backlash compensation mechanism; 41, fixed seat; 42, top rod DETAILED DESCRIPTION

[0039] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "provided", "mounted", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] The embodiments of the present application will be described in detail below with reference to the drawings.

[0041] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 A tilt-rotor aircraft self-trimming tilt device, comprising a tilt mechanism 1, the tilt mechanism 1 comprising a motor 11, the motor 11 being fixedly mounted on a machine base 13. A paddle 12 is fixedly arranged on the output shaft of the motor 11. One side of the machine base 13 is provided with a torque output mechanism 3 for adjusting the rotation angle of the motor 11, and the other side of the machine base 13 is provided with a trimming mechanism 2 for offsetting the gravity moment of the motor 11.

[0042] As shown in Figure 5 , the trimming mechanism 2 comprises a meshing first trimming gear 24 and a second trimming gear 25, the first trimming gear 24 and the second trimming gear 25 are located between the second inner baffle 17 and the second outer baffle 16, and the first trimming gear 24 and the second trimming gear 25 are both rotatably connected with the second inner baffle 17 and the second outer baffle 16 through bearings. A third trimming gear 26 is rotatably arranged between the second inner baffle 17 and the second outer baffle 16 through a bearing, and the third trimming gear 26 is engaged with the second trimming gear 25. The third trimming gear 26 is fixedly connected with the machine base 13, and the trimming mechanism 2 drives the machine base 13 and the motor 11 to rotate through the third trimming gear 26, thereby trimming the motor 11. The number of teeth of the first trimming gear 24 is the same as that of the second trimming gear 25, and the number of teeth of the second trimming gear 25 is twice that of the third trimming gear 26.

[0043] The second outer baffle 16 is provided with a trimming structure connected with the first trimming gear 24 and the second trimming gear 25. The trimming structure comprises a first rocker arm 22 and a second rocker arm 23, one end of the first rocker arm 22 is fixedly connected with the first trimming gear 24, and one end of the second rocker arm 23 is fixedly connected with the second trimming gear 25. A connecting assembly is arranged between the first rocker arm 22 and the second rocker arm 23, and the first rocker arm 22 and the second rocker arm 23 are connected with the push rod servo 21 through the connecting assembly. The push rod servo 21 drives the first rocker arm 22 and the second rocker arm 23 to rotate through the connecting assembly. One end of the push rod servo 21 is hingedly connected with the second outer baffle 16.

[0044] The connecting assembly comprises a connecting rod 27, the other end of the push rod servo 21 is hingedly connected with the end head of the connecting rod 27. The connecting rod 27 is fixedly provided with a first sliding block 29, and the first rocker arm 22 is provided with a first sliding groove 28 matched with the first sliding block 29 along the length direction of the first rocker arm 22, the first sliding block 29 is located in the first sliding groove 28 and slides along the first sliding groove 28. The size of the first sliding groove 28 is slightly larger than the size of the first sliding block 29, so that the first sliding block 29 stably slides in the first sliding groove 28. The connecting rod 27 is provided with a guide groove 212 along the length direction of the connecting rod 27, and a second sliding block 211 is slidably arranged in the guide groove 212. The size of the guide groove 212 is slightly larger than the size of the second sliding block 211, so that the second sliding block 211 stably slides in the guide groove 212. The second rocker arm 23 is provided with a second sliding groove 210 matched with the second sliding block 211 along the length direction of the second rocker arm 23, the second sliding block 211 is located in the second sliding groove 210 and slides along the second sliding groove 210. The size of the second sliding groove 210 is slightly larger than the size of the second sliding block 211, so that the second sliding block 211 stably slides in the second sliding groove 210. A connecting spring 213 is arranged between the first sliding block 29 and the second sliding block 211, two ends of the connecting spring 213 are fixedly connected with the first sliding block 29 and the second sliding block 211 respectively, so as to facilitate the second sliding block 211 to slide in the guide groove 212 through the connecting spring 213. The top end of the first rocker arm 22, the second outer baffle 16, the push rod servo 21 and the connecting rod 27 form a parallelogram.

[0045] As Figure 7As shown, the third counterbalance gear 26 and the second outer baffle plate 16 are provided with a backlash compensation mechanism 4. The backlash compensation mechanism 4 includes a fixed seat 41 fixedly arranged on the second outer baffle plate 16. The fixed seat 41 is provided with a top rod 42 for applying a radial thrust to the third counterbalance gear 26, and the top rod 42 is rotationally connected to the wheel shaft of the third counterbalance gear 26. A spring is arranged between the end of the top rod 42 and the fixed seat 41, which applies a clamping force to the top rod, so that one end of the top rod is clamped on the wheel shaft of the third counterbalance gear 26. By applying a radial thrust to the third counterbalance gear 26 through the top rod 42, the gears of the counterbalance mechanism 2 are tightly transmitted, the transmission backlash is eliminated, the impact of transmission on the aircraft is reduced, and the stability of the tilting process is improved.

[0046] As shown in the figure, Figure 6 The torque output mechanism 3 includes a steering gear 31 fixedly arranged on the second inner baffle plate 17. A first torque gear 311 and a third torque gear 313 are rotationally arranged between the first inner baffle plate 15 and the first outer baffle plate 14 through a bearing. A second torque gear 312 is fixedly arranged on the rotating shaft 314 of the first torque gear 311. The second torque gear 312 is engaged with the third torque gear 313. The third torque gear 313 is fixedly connected to the other end of the machine base 13. The third torque gear 313 is rotationally connected to the first inner baffle plate 15 and the first outer baffle plate 14 through a bearing. A potentiometer 316 for detecting the tilting angle of the motor 11 is fixedly arranged on the wheel shaft of the third torque gear 313. The potentiometer 316 and the steering gear 31 are electrically connected to the controller of the aircraft. The second inner baffle plate 17 is provided with a boss 315 for supporting the rotating shaft 314, and the rotating shaft 314 is rotationally connected to the boss 315 through a bearing. The rotating shaft 314 is located between the first inner baffle plate 15 and the second inner baffle plate 17, which improves the stability of the rotating shaft 314.

[0047] The steering gear 31 is provided with a power structure for driving the first torque gear 311 to rotate. The power structure includes a driving gear 32 fixedly connected to the output shaft of the steering gear 31. A gear shaft 33 is rotationally arranged on the second inner baffle plate 17 and engaged with the driving gear 32. A decoupling shaft 34 is slidingly arranged on the gear shaft 33 and coaxially connected to the gear shaft 33 through a limiting block. The decoupling shaft 34 and the gear shaft 33 are synchronously rotated through the limiting block. An output gear 35 engaged with the first torque gear 311 is fixedly arranged on the decoupling shaft 34. The decoupling shaft 34 passes through the first inner baffle plate 15 and the first outer baffle plate 14 and is rotationally and slidingly connected to the first inner baffle plate 15 and the first outer baffle plate 14.

[0048] The output gear 35 has the same number of teeth as the second torque gear 312, and the first torque gear 311 has the same number of teeth as the third torque gear 313. The number of teeth of the first torque gear 311 is twice the number of teeth of the second torque gear 312, so that the servo motor 31 can reduce the speed by a 4:1 ratio, thereby increasing the torque to 4 times.

[0049] A backlash compensation mechanism 4 is also provided between the axle of the third torque gear 313 and the first outer baffle 14. The backlash compensation mechanism 4 includes a fixed base 41, which is fixedly mounted on the first outer baffle 14. A push rod 42 is provided on the fixed base 41 to apply radial thrust to the third torque gear 313. The push rod 42 is rotatably connected to the axle of the third torque gear 313. A spring is provided between the end of the push rod 42 and the fixed base 41. The spring applies a pressing force to the push rod, so that one end of the push rod is pressed against the axle of the third torque gear 313.

[0050] The first outer baffle 14 is provided with a decoupling structure that connects or separates the power structure from the first torque gear 311. The decoupling structure includes a decoupling disk 38, which is fixedly mounted on the decoupling shaft 34. A wedge-shaped slider 39 is slidably mounted on the first outer baffle 14, with its wedge-shaped surface in contact with the decoupling disk 38. The wedge-shaped slider 39 pushes the decoupling disk 38 outward through its wedge-shaped surface. A guide rail that guides the horizontal sliding of the wedge-shaped slider 39 can be provided on the first outer baffle 14. A slide rod 310 is fixedly mounted at one end of the wedge-shaped slider 39, and the slide rod 310 is connected to an external power element to drive the wedge-shaped slider 39 to slide horizontally. A fixing plate 36 is fixedly mounted on the decoupling shaft 34, and a reset spring 37 for resetting is provided between the fixing plate 36 and the first inner baffle 15.

[0051] like Figure 8 As shown, the tilting method based on the rotor tilting device of the self-trimming tilting rotorcraft includes the following steps:

[0052] S1. Start the decoupling structure. The slide bar 310 drives the wedge slider 39 to slide inward. The wedge slider 39 pushes the decoupling disk 38 to slide outward through the wedge surface. The decoupling disk 38 drives the decoupling shaft 34 to slide outward. The decoupling shaft 34 drives the output gear 35 to slide outward and decouple from the first torque gear 311.

[0053] S2, start push rod servo 21, push rod servo 21 elongation drive connecting rod 27, connecting rod 27 through the first slider 29 and the second slider 211 in the first balance gear 24 and the second balance gear 25 drive the first rocker arm 22 and the second rocker arm 23 synchronous reverse rotation; the second balance gear 25 through the third balance gear 26 drive the base 13 rotation, the base 13 drive motor 11 and potentiometer 316 synchronous rotation, potentiometer 316 will be converted into analog voltage rotation angle of base 13, analog voltage through hardware RC filter, ADC module continuous oversampling average, get smooth digital angle, the controller of the aircraft to calculate the elongation length of push rod servo 21, the tilt device for trimming.

[0054] The first rocker arm 22 through the first slider 29 and connecting rod 27 and push rod servo 21 connection, form variable force arm L, by:

[0055] ;

[0056] ;

[0057] Calculate the gravity torque , the output torque of the trimming mechanism 2 , k is the stiffness coefficient of connecting spring 213, is the tilt angle of motor 11, is the mass of motor 11, is the distance from the mass center of motor 11 to the third torque gear 313 tilt axis, is the acceleration of gravity, is the length of the force arm.

[0058] Where: ;( 0 degrees, the spring is in the original length; is the change of one end of the spring, the total change is ).

[0059] ;

[0060] ;

[0061] Adjust the length of push rod servo 21 to make:

[0062] ;

[0063] ;

[0064] Complete the initial trimming.

[0065] When the motor 11 is replaced, the decoupling switch is opened, and the weight change of the new motor 11 can cause the balancing mechanism 2 to be unable to immediately balance the current gravity moment, thereby causing an angle error:

[0066] ; ( Fixed as );

[0067] PID algorithm is:

[0068] ;

[0069] The length correction amount of the push rod servo 21 is calculated, and the push rod servo 21 is driven to extend and retract, so that rapidly converges to nearby, and the fine balancing is completed.

[0070] S3, after the leveling is completed, the decoupling structure is reset, the decoupling shaft 34 is reset under the action of the reset spring 37, and the output gear 35 is engaged with the first torque gear 311. The controller of the aircraft drives the rudder 31 according to the motor 11 angle feedback by the potentiometer 316, the rudder 31 drives the decoupling shaft 34 to rotate through the driving gear 32 and the gear shaft 33, the decoupling shaft 34 drives the first torque gear 311 to rotate through the output gear 35, the first torque gear 311 drives the third torque gear 313 to rotate through the second torque gear 312, and the third torque gear 313 drives the motor 11 to rotate through the machine base 13, thereby adjusting the angle of the motor 11. When the torque is output, the machine base 13 drives the first rocker arm 22 and the second rocker arm 23 to rotate through the third balancing gear 26 and the second balancing gear 25, the first balancing gear 24, the second sliding block 211 slides in the guide groove 212, and the push rod servo 21 rotates synchronously, but the length of the push rod servo 21 does not change.

[0071] Therefore, the tilt-rotor aircraft self-balancing tilt device and control method can solve the problems of complex tilt device balancing process and unstable tilt.

[0072] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit them. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can still be modified or replaced by equivalents, and these modifications or replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A tilt-rotor aircraft self-trimming tilt device characterized by: The tilting mechanism comprises a motor mounted on a base, a paddle provided on an output shaft of the motor, a torque output mechanism provided on one side of the base for adjusting a rotation angle of the motor, and a counterbalance mechanism provided on the other side of the base for counterbalancing a gravity torque of the motor. The counterbalance mechanism comprises a first counterbalance gear and a second counterbalance gear in meshing engagement, the first and second counterbalance gears being rotatably connected to a second inner baffle and a second outer baffle, a third counterbalance gear being rotatably provided between the second inner baffle and the second outer baffle, the third counterbalance gear being in meshing engagement with the second counterbalance gear and fixedly connected to the base, and a counterbalance structure being provided on the second outer baffle and connected to the first and second counterbalance gears. The counterbalance structure comprises a first rocker arm and a second rocker arm, one end of the first rocker arm being fixedly connected to the first counterbalance gear, one end of the second rocker arm being fixedly connected to the second counterbalance gear, a connecting assembly being provided between the first and second rocker arms, the first and second rocker arms being connected to a push rod servo through the connecting assembly, the push rod servo driving the first and second rocker arms to rotate through the connecting assembly, and one end of the push rod servo being hingedly connected to the second outer baffle. The connecting assembly comprises a connecting rod, the other end of the push rod servo being hingedly connected to the connecting rod, a first sliding block being fixedly provided on the connecting rod, a first sliding groove being provided on the first rocker arm and matched with the first sliding block, the first sliding block being located in the first sliding groove and sliding along the first sliding groove, a guide groove being provided on the connecting rod along the length direction of the connecting rod, a second sliding block being slidingly provided in the guide groove, a second sliding groove being provided on the second rocker arm and matched with the second sliding block, the second sliding block being located in the second sliding groove and sliding along the second sliding groove, and a connecting spring being provided between the first and second sliding blocks, the top end of the first rocker arm, the second outer baffle, the push rod servo and the connecting rod forming a parallelogram.

2. A self-trimming tilt apparatus for a tilt rotor aircraft as in claim 1, wherein: The first and second counterbalance gears have the same number of teeth, the second counterbalance gear has more teeth than the third counterbalance gear, a backlash compensation mechanism is provided between the third counterbalance gear and the second outer baffle, and the backlash compensation mechanism comprises a fixed seat fixedly provided on the second outer baffle and a top rod provided on the fixed seat and applying a radial thrust to the third counterbalance gear, the top rod being rotatably connected to the wheel shaft of the third counterbalance gear.

3. A self-trimming tilt apparatus for a tilt rotor aircraft as in claim 2, wherein: The torque output mechanism comprises a rudder, a first torque gear and a third torque gear being rotatably provided between a first inner baffle and a first outer baffle, a second torque gear being fixedly provided on the rotation shaft of the first torque gear, the second torque gear being in meshing engagement with the third torque gear, the third torque gear being fixedly connected to the other end of the base, an electric potential meter being fixedly provided on the wheel shaft of the third torque gear for detecting the tilting angle of the motor, the electric potential meter and the rudder being electrically connected to the controller of the aircraft, a power structure being provided on the rudder and driving the first torque gear to rotate, and a decoupling structure being provided on the first outer baffle and connecting or separating the power structure and the first torque gear.

4. A self-trimming tilt apparatus for a tilt rotor aircraft as in claim 3, wherein: The power structure comprises a driving gear fixedly connected with an output shaft of a rudder, a gear shaft rotatably arranged on the first inner baffle and engaged with the driving gear, a decoupling shaft slidably arranged on the gear shaft and connected with the gear shaft through a limiting block, the decoupling shaft and the gear shaft being synchronously rotated through the limiting block, an output gear arranged on the decoupling shaft and engaged with the first torque gear, the output gear having the same number of teeth as the second torque gear, the first torque gear having the same number of teeth as the third torque gear, and the first torque gear having more teeth than the second torque gear. A backlash compensation mechanism is arranged between the wheel shaft of the third torque gear and the first outer baffle, and the backlash compensation mechanism comprises a fixed seat fixedly arranged on the first outer baffle and a top rod arranged on the fixed seat and applying a radial force to the third torque gear.

5. A self-trimming tilt apparatus for a tilt rotor aircraft as in claim 4, wherein: The decoupling structure comprises a decoupling disc fixedly arranged on the decoupling shaft, the decoupling shaft being slidably and rotatably connected with the first inner baffle and the first outer baffle, a wedge-shaped sliding block slidably arranged on the first outer baffle, a wedge surface of the wedge-shaped sliding block being in contact with the decoupling disc, a slide rod arranged at one end of the wedge-shaped sliding block, and a fixed plate arranged on the decoupling shaft and provided with a reset spring between the fixed plate and the first inner baffle.

6. A tilt control method for a self-trimming tilt apparatus of a tilt rotor aircraft based on the tilt apparatus of claim 5, characterized in that, The method comprises the following steps: S1, the decoupling structure is started, the slide rod drives the wedge-shaped sliding block to slide inward, the wedge-shaped sliding block pushes the decoupling disc outward through the wedge surface, the decoupling disc drives the decoupling shaft to slide outward, and the decoupling shaft drives the output gear to slide outward and decouple from the first torque gear; S2, the push rod server is started, the extension of the push rod server drives the connecting rod to move, the connecting rod drives the first rocker arm and the second rocker arm to synchronously and reversely rotate under the action of the first balancing gear and the second balancing gear, the second balancing gear drives the machine base to rotate through the third balancing gear, the machine base drives the motor and the potentiometer to synchronously rotate, the potentiometer converts the rotation angle of the machine base into an analog voltage, the analog voltage is filtered by hardware RC, continuously oversampled by an ADC module, and averaged to obtain a smooth digital angle, and a controller of the aircraft calculates the extension length of the push rod server to balance the tilting device; S3, after the leveling is completed, the decoupling structure is reset, the decoupling shaft is reset under the action of the reset spring, and the output gear is engaged with the first torque gear; The controller of the aircraft drives the rudder according to the motor angle fed back by the potentiometer, the rudder drives the decoupling shaft to rotate through the driving gear and the gear shaft, the decoupling shaft drives the first torque gear to rotate through the output gear, the first torque gear drives the third torque gear to rotate through the second torque gear, and the third torque gear drives the motor to rotate through the machine base to adjust the angle of the motor.

7. The tilt control method of a self-trimming tilt device of a tilt rotor aircraft according to claim 6, wherein: In S2, the controller of the aircraft calculates the length of the push rod server through a PID algorithm, and the PID algorithm is: ； ； wherein is a tilt angle, is a desired tilt angle, is an angle error, is a proportional gain, is an integral gain, is a derivative gain, is a time, is an output control signal for adjusting a push rod servo, thereby changing the tilt angle.

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