Built-in compact rotor control system for control

Abstract

The invention belongs to the field of rotor systems of electric vertical take-off and landing aircrafts, and particularly relates to a compact rotor control system with built-in control. Comprising a rotor subsystem, a control mechanism, an integrated servo steering engine, a steering engine torsion preventing mechanism and a driving motor, and a propeller hub input shaft of the rotor subsystem is connected with the driving motor; the control mechanism and the integrated servo steering engine are both located in a propeller hub shell of the rotor wing subsystem, and one end of the control mechanism is connected with a variable pitch rocker arm of the rotor wing subsystem. The other end of the control mechanism is connected with a steering engine integrated rotor of the integrated servo steering engine; the integrated servo steering engine is located below the control mechanism, and the upper end of the integrated servo steering engine is connected with a propeller hub shell of the rotor wing subsystem through a double-row angular contact ball bearing. The steering engine torsion preventing mechanism is located in an inner hole of a driving shaft of the driving motor. The upper end of the steering engine torsion preventing mechanism is connected with a steering engine end cover at the lower end of the integrated servo steering engine, and the lower end of the steering engine torsion preventing mechanism is connected with a motor lower end cover of the driving motor.

Description

Technical Field

[0001] This invention belongs to the field of rotor systems for electric vertical takeoff and landing aircraft, and specifically relates to a compact rotor control system with built-in controls. Background Technology

[0002] eVTOL is an aircraft that uses electricity as its power source and has vertical takeoff and landing capabilities. It features vertical takeoff and landing, intelligent operation, rapid maneuverability, low cost, low noise, zero emissions, and ease of maintenance, and has broad application prospects in both military and civilian fields. Compared to traditional helicopter rotors, the eVTOL rotor system design eliminates the complex automatic swashplate and hub flapping / arraying hinge structures, allowing for collective pitch control of the blades. This rotor configuration significantly improves structural compactness, reliability, and maintainability, and is widely used in various eVTOL rotor systems.

[0003] In conventional eVTOLs, the rotor system is usually directly connected to the motor. To meet the rotor system's blade pitch requirements, a reciprocating servo mechanism is typically mounted at the tail of the motor. While this satisfies the functional requirements, as eVTOL designs gradually increase in tonnage, higher demands are placed on the integration of the electric propulsion system. This servo mounting at the tail of the motor has also exposed more problems, such as occupying the axial dimension of the entire electric propulsion system, mutual interference between the servo and the motor's electrical control space, electromagnetic interference issues with the servo, and incomplete utilization of space within the servo motor and rotor system. Summary of the Invention

[0004] Purpose of the invention: To provide a compact rotor control system with built-in controls, achieving a high degree of integration between the control system and the rotor system.

[0005] Technical solution: A compact rotor control system with built-in actuators includes: a rotor subsystem 100, a control mechanism 200, an integrated servo motor 300, a servo anti-torsion mechanism 400, and a drive motor 500. The rotor subsystem 100's hub input shaft 110 is connected to the drive motor 500. Both the control mechanism 200 and the integrated servo motor 300 are located inside the rotor hub housing 103 of the rotor subsystem 100. One end of the control mechanism 200 is connected to a pitch control arm 107 of the rotor subsystem 100; the other end of the control mechanism 200 is connected to the integrated servo motor 500. The servo servo 300 is connected to the integrated servo rotor 301; the integrated servo servo 300 is located below the control mechanism 200, and the upper end of the integrated servo servo 300 is connected to the rotor hub housing 103 of the rotor subsystem 100 through a double-row angular contact ball bearing 305; the servo anti-torsion mechanism 400 is located in the inner hole of the drive shaft of the drive motor 500; the upper end of the servo anti-torsion mechanism 400 is connected to the servo end cover 310 at the lower end of the integrated servo servo 300, and the lower end of the servo anti-torsion mechanism 400 is connected to the lower end cover 504 of the drive motor 500.

[0006] Furthermore, the input shaft 110 of the rotor subsystem 100 is connected to the motor output shaft via a spline or to the drive motor 500 via a reducer.

[0007] Furthermore, the rotor subsystem 100 includes: a fairing 101, a hub cover 102, a hub housing 103, a first support arm bearing 104, a second support arm bearing 105, a blade 106, a pitch control rocker arm 107, a servo plate 108, a servo plate fixing bolt 109, and a hub input shaft 110. The blade 106 is connected to the hub housing 103 via the first support arm bearing 104 and the second support arm bearing 105; the pitch control rocker arm 107 is fixed to the root of the blade 106; the hub input shaft 110 is integrally formed with or connected to the hub housing 103; the hub cover 102 is fixed above the hub housing 103; the fairing 101 is fixed to the hub housing 103 and the hub cover 102; and an integrated servo servo 300 is fixed to the hub housing 103 via the servo plate 108 and the servo plate fixing bolt 109.

[0008] Furthermore, the operating mechanism 200 includes: a control lever 201, a locking nut 202 on the control lever, a bearing clamping nut 203, a double-row angular contact ball bearing 204, an upper joint bearing 205 on the variable pitch tie rod, a tie rod body 206, a fork-shaped member 207, and a lower joint bearing 208 on the variable pitch tie rod. The control lever 201 clamps the inner ring of the double-row angular contact ball bearing 204 via a boss on the lever and the locking nut 202 on the control lever, and clamps the double-row angular contact ball bearing 204 via a boss on the fork-shaped member 207 and the bearing clamping nut 203. The outer ring of bearing 204, the fork-shaped part 207 is connected to the rotor hub cover plate 102 of the rotor system 100 through splines or keyways, and the fork-shaped part 207 and the control stick 201 are rotated and moved up and down through the double row angular contact ball bearing 204; the upper joint bearing 205 of the pitch control rod is fixed to the fork-shaped part 207 by bolts, and the lower joint bearing 208 of the pitch control rod is fixed to the pitch control rocker arm 107 by bolts. The two rod bodies 206 are connected to the upper joint bearing 205 and the lower joint bearing 208 of the pitch control rod respectively through threads.

[0009] Furthermore, the integrated servo servo 300 includes: an integrated servo rotor 301, a servo bearing clamping nut 302, a servo housing 303, a bidirectional thrust bearing 304, a servo double-row angular contact ball bearing 305, a servo winding 307, a ball screw assembly 308, a servo support bearing 309, and a servo end cover 310. The outer ring of the double-row angular contact ball bearing 305 surrounding the integrated servo servo 300 is fixed using a servo pressure plate 108 and servo pressure plate fixing bolts 109, and the inner ring of the double-row angular contact ball bearing 305 is fixed using the servo bearing clamping nut 302. The integrated servo servo 300 highly integrates the servo motor and the ball screw structure together. The internal structure is supported by a pair of bidirectional thrust bearings 304 and a pair of deep groove ball bearings 309. The servo winding 307 fixed on the servo housing 303 and the servo integrated rotor (301) containing magnets convert the electrical energy transmitted from the servo cable 505 connected to the servo end cover 310 into the rotational mechanical energy of the servo integrated rotor (301). The inner wall of the servo integrated rotor (301) is threaded and engages with the roller thread of the roller screw assembly 308, thereby driving the roller screw assembly 308 to rotate. The control stick 201 is connected to the roller screw assembly 308 and has an anti-rotation structure in the axial direction, so the rotational motion is converted into up and down movement, thereby driving the control stick 201 to move up and down.

[0010] Furthermore, a bearing bushing 306 is provided between the servo motor double-row angular contact ball bearing 305 and the propeller hub housing 103.

[0011] Furthermore, the servo anti-torsion mechanism 400 includes: anti-torsion rod bolt 401, servo anti-torsion rod 402, internal spline anti-torsion plate 403, and anti-torsion plate fixing bolt 404. The integrated servo servo 300 is fixed to the bolt hole of the servo end cover 310 at the tail end and the upper flange hole of the servo anti-torsion rod 402 by the anti-torsion rod bolt 401. The lower part of the servo anti-torsion rod 402 has an external spline shape that matches the internal spline of the internal spline anti-torsion plate 403. The internal spline anti-torsion plate 403 is fixed to the lower end cover 504 of the power source motor by the anti-torsion plate fixing bolt 404, thereby realizing the anti-rotation function of the integrated servo servo 300.

[0012] Furthermore, the drive motor 500 includes: a first hub support bearing 501, a second hub support bearing 502, a motor housing 503, and a lower end cover 504. The hub input shaft 110 of the rotor subsystem 100 is connected to the motor housing 503 via the first hub support bearing 501 and the second hub support bearing 502. The lower end cover 504 is connected to the motor housing 503. The anti-torsion plate fixing bolt 404 fixes the inner spline anti-torsion plate 403 to the lower end cover 504 of the power source motor.

[0013] Furthermore, the cylindrical hole in the lower end cover 504 of the motor serves as a winding box for holding the servo cable 505.

[0014] Beneficial effects: 1. Compared to conventional servos mounted on a fixed support at the tail of the power motor, the servo is directly installed inside the rotor shaft. This greatly utilizes the internal space of the bearings supporting both the rotor hub shaft and the motor connection shaft of the rotor system, improving system integration. 2. The electric drive system eliminates the need to allocate movement space for the servo motor at the tail, making it convenient to arrange the tilting mechanism at the tail of the motor, and eliminating the interference problem between the design of the servo motor and the tilting mechanism.

[0015] 3. Mounting the servo motor on top of the motor can greatly reduce its exposure to strong electromagnetic interference, thus improving its reliability.

[0016] 4. The servo adopts a compact integrated servo servo mechanism, which allows the servo to be arranged in the internal space of the bearings supporting both the rotor hub shaft and the motor connection shaft of the rotor system.

[0017] 5. The internal drive structure of the servo adopts a planetary roller screw configuration, which provides a large servo control force within a very small servo space. The roller nut assembly is directly connected to the control lever, which drives the fork-shaped pitch mechanism or pitch shift sleeve to move up and down. The control requirements can be realized in the compact space of the propeller hub shaft, which greatly improves the system integration. 6. The simple flange at the tail of the servo motor, combined with the spline quick-release anti-torsion structure, directly connects to the tail end cap of the hollow motor via the anti-torsion rod at the tail, achieving anti-torsion when the servo motor is stationary.

[0018] 7. The simple flange at the tail of the servo motor, combined with a splined quick-release anti-torsion structure, enables cable-based power supply and communication. It also facilitates quick disassembly of the entire rotor unit should a separate rotor design be adopted in the future, improving maintainability. 8. When disassembling the control servo alone, simply remove the flange bolts around the top of the servo, pull out the servo, and disconnect the avionics plug to complete the disassembly, which greatly improves the maintainability of the system; 9. The servo control and drive cables are connected via hollow anti-torsion bars and are designed with a winding structure necessary for manual disassembly of the servo after it is pulled out, allowing the servo to be disassembled without disconnecting the entire power supply cable. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 It is a three-dimensional schematic diagram of the various subsystems of the built-in compact rotor control configuration; Figure 2 This is a three-dimensional schematic diagram of the built-in compact rotor system. Figure 3 This is a cross-sectional view of the variable pitch control mechanism; Figure 4 This is a schematic diagram of an integrated servo motor; Figure 5 This is a schematic diagram of the installation and anti-torsion mechanism of an integrated servo motor and servo drive. Figure 6 This is a schematic diagram of the external motor and servo cable of an integrated servo motor.

[0021] Figure 1 In the middle: 100, rotor subsystem; 200, control mechanism; 300, integrated servo servo; 400, servo anti-torsion mechanism; 500, drive motor.

[0022] Figure 2 In the middle: 101, fairing; 102, hub cover; 103, hub housing; 104, first support arm bearing; 105, second support arm bearing; 106, blade; 107, pitch control arm; 108, servo plate; 109, servo plate fixing bolt; 110, hub input shaft.

[0023] Figure 3 In the middle: 201, control lever; 202, locking nut on control lever; 203, bearing clamping nut; 204, double row angular contact ball bearing; 205, upper joint bearing of variable pitch lever; 206, lever body; 207, fork-shaped part; 208, lower joint bearing of variable pitch lever.

[0024] Figure 4 In the middle: 301, integrated servo rotor; 302, servo bearing clamping nut; 303, servo housing; 304, double-direction thrust bearing; 305, servo double-row angular contact ball bearing; 306, bearing bushing; 307, servo winding; 308, roller screw assembly; 309, servo support bearing; 310, servo end cover.

[0025] Figure 5 In the middle: 401, anti-torsion bar bolts; 402, servo anti-torsion bar; 403, internal spline anti-torsion plate; 404, anti-torsion plate fixing bolts.

[0026] Figure 6 In the middle: 501, first propeller hub support bearing; 502, second propeller hub support bearing; 503, motor housing; 504, lower end cover of the motor; 505, servo cable. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0029] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing and simplifying the invention, and should not be construed as limiting the invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is for distinguishing objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, encompassing both direct connection and indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0031] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0033] like Figure 1-4 The present invention provides a compact rotor control system with built-in control. The servo adopts a compact, integrated servo servo mechanism. The internal drive structure uses a planetary roller screw configuration, with the roller nut assembly directly connected to the control stick for vertical movement. This provides significant axial control force while minimizing the axial space occupied by the servo, facilitating its placement within the rotor control shaft and improving system integration. The servo achieves dynamic-to-static transitions between the servo and the rotor system housing via a double-row angular contact bearing. The servo extension rod then pulls the pitch control mechanism (pitch shift sleeve, fork-shaped component, etc.) via a double-row angular contact ball bearing, thereby actuating the blade pitch and achieving pitch control. The servo and control mechanism are directly housed within the rotor shaft. The servo anti-torsion structure is directly connected to the tail end cap of the hollow motor via an anti-torsion bar at the rear. This anti-torsion mechanism allows for direct removal of the servo, facilitating later overall rotor disassembly and improving maintainability. The servo control and drive cables are connected via the hollow anti-torsion bar and feature a winding structure necessary for manual disassembly after the servo is pulled out, meeting the requirement of disassembling the control servo without disconnecting the entire power cable.

[0034] This rotor configuration mainly consists of five system parts, including the rotor subsystem 100, the control mechanism 200, the integrated servo motor 300, the servo motor anti-torsion mechanism 400, and the drive motor 500 connection part. Its working principle is as follows: The drive motor 500 serves as a power source, directly driving or via a reducer to rotate the rotor subsystem 100. The rotor subsystem 100 is connected to the power source (through bolted flange connection or other connection methods), providing torque output. The input shaft 110 of the rotor subsystem 100 is directly connected to the motor output shaft or the reducer output shaft via a spline or other connection method. The hub input shaft 100110 is radially and axially constrained by two support bearings 501 and 502 on the reducer or motor.

[0035] The integrated servo servo 300 drives the control mechanism 200 to move up and down, thereby enabling the rotor blades 106 of the rotating rotor subsystem 100 to simultaneously perform pitch-changing motion. The outer ring of the servo double-row angular contact ball bearing 305 surrounding the integrated servo servo 300 can be fixed using the servo plate 108 and the servo plate fixing bolts 109, and the inner ring of the servo double-row angular contact ball bearing 305 surrounding the integrated servo servo 300 can be fixed using the servo bearing clamping nut 302, thereby realizing the dynamic-to-static conversion between the integrated servo servo 300 and the rotor subsystem 100. The integrated servo motor 300 highly integrates the servo motor and the ball screw structure. It is supported internally by a pair of bidirectional thrust bearings 304 and a pair of deep groove ball bearings 309. The servo motor winding 307, which is fixed on the servo motor housing 303, and the integrated servo motor rotor 301 containing magnets convert the electrical energy transmitted from the servo motor cable 505 connected to the servo motor end cover 310 into the rotational mechanical energy of the integrated servo motor rotor 301. The inner wall of the integrated servo motor rotor 301 is threaded, which engages with the roller threads of the ball screw assembly 308, thereby driving the ball screw assembly 308 to rotate. The joystick 201 is connected to the ball screw assembly 308 and has an axial anti-rotation structure, so the rotational motion is converted into up and down movement, thereby driving the joystick 201 to move up and down. The control lever 201 can press the inner ring of the double-row angular contact ball bearing 204 through the boss on the lever and the locking nut 202 on the control lever. The outer ring of the double-row angular contact ball bearing 204 can be pressed through the boss on the fork-shaped member 207 and the bearing clamping nut 203. The fork-shaped member is connected to the rotor hub cover plate 102 of the rotor system 1000 via splines or keyways, thus ensuring that the fork-shaped member can rotate with the rotor hub while simultaneously being connected to the control lever 201, which moves up and down but does not rotate, via the double-row angular contact ball bearing 204. The switching between static and dynamic states allows the control stick 201 to move up and down along with the rotating fork-shaped component 207. The end of the fork-shaped component is connected to the upper joint bearing 205, which is connected to the lower joint bearing 208 via the pull rod 206. The lower joint bearing 208 is connected to the pitch control arm 107 of the rotor subsystem 100. The pitch control arm is locked to the blade 106, which is supported by the first support arm bearing 104 of the support arm bearing 1 and the second support arm bearing 105 of the support arm bearing 2, and can only rotate. Ultimately, the integrated servo motor 300 can drive the control mechanism 200 to move up and down, thereby enabling the rotor blade 106 of the rotating rotor subsystem 100 to simultaneously perform pitch control motion around the blade axis. Note that the diagram only illustrates the control structure configuration of the pitch control lever. In actual use, it is not limited to this. An integrated paddle sleeve can also be used, with a double-row angular contact ball bearing fixed inside for dynamic-static conversion. Through multiple sliding grooves, the bushing of the pitch control rocker arm 107 is pulled up and down to achieve pitch change.

[0036] The integrated servo servo 300 is prevented from rotating by a hollow anti-torsion rod 402, and power supply and communication can be achieved through the inner hole of the rod. The integrated servo servo 300 is fixed to the bolt hole of the servo end cover 310 at the tail end by bolts 401 on the anti-torsion rod, which is connected to the upper flange hole of the servo anti-torsion rod 402. The lower part of the servo anti-torsion rod 402 is externally splined, which can mate with the internal spline of the internal spline anti-torsion plate 403. The internal spline anti-torsion plate 403 is fixed to the lower end cover 504 of the power source motor by anti-torsion plate fixing bolts 404, thereby realizing the anti-rotation function of the integrated servo servo 300. At the same time, the cylindrical hole of the servo cable 505 and the lower end cover 504 of the motor can serve as a cable box, which can conveniently store some spare servo cable, and facilitate the disconnection of the servo cable and the servo connector when the servo is removed from the top.

[0037] This structure has the following characteristics: The connection between the rotor subsystem 100 and the power source is flexible and diverse. It can be connected by bolts and flanges, designed as a detachable split design, or directly connected to the power input. 2. The servo motor adopts a compact integrated servo servo mechanism. The internal drive structure of the servo motor adopts a planetary roller screw configuration. The roller nut assembly is directly connected to the control stick and moves up and down to shorten the axial space. The outer ring of the servo motor double row angular contact ball bearing 305 on the periphery of the integrated servo servo motor 300 can be fixed by using the servo motor pressure plate 108 and the servo motor pressure plate fixing bolt 109. Then, the inner ring of the servo motor double row angular contact ball bearing 305 on the periphery of the integrated servo servo motor 300 can be fixed by using the servo motor bearing clamping nut 302, thereby realizing the dynamic and static conversion between the integrated servo servo motor 300 and the rotor subsystem 100. 3. The control lever 201 can press the inner ring of the double row angular contact ball bearing 204 through the boss on the lever and the locking nut 202 on the control lever. The outer ring of the double row angular contact ball bearing 204 can be pressed through the boss on the fork-shaped part 207 and the bearing clamping nut 203. The fork-shaped part is connected to the rotor hub cover plate 102 of the rotor system 1000 through splines or keyways, thereby ensuring that the fork-shaped part can rotate with the rotor hub and switch between dynamic and static modes through the double row angular contact ball bearing 204 and the control lever 201, which does not rotate but only moves up and down. 4. The outer ring of the double-row angular contact ball bearing 204 can be pressed by the boss on the fork-shaped part 207 and 203 and the bearing clamping nut. The fork-shaped part is connected to the rotor hub cover plate 102 of the rotor system 1000 by splines or keyways, thereby ensuring that the fork-shaped part can rotate with the rotor hub and switch between dynamic and static movement through the double-row angular contact ball bearing 204 and the control lever 201 that does not rotate but only moves up and down. Alternatively, an integrated paddle sleeve can be used to internally fix the double-row angular contact ball bearing for dynamic and static switching. Through multiple sliding grooves, the bushing of the pitch rocker arm 107 is pulled up and down to achieve pitch change. The integrated servo servo 300 is fixed to the upper flange hole of the servo end cover 310 at the tail end by bolts 401 on the anti-torsion rod. The lower part of the servo anti-torsion rod 402 has an external spline shape, which can mate with the internal spline of the internal spline anti-torsion plate 403. The internal spline anti-torsion plate 403 is fixed to the lower end cover 504 of the power source motor by anti-torsion plate fixing bolts 404, thereby realizing the anti-rotation function of the integrated servo servo 300. The cylindrical hole in the lower end cover 504 of the motor can serve as a winding box to store some spare servo cables. This allows for quick disconnection of the servo cable from the servo connector when the servo is removed from the top, enabling rapid disassembly of the servo or the entire rotor system and servo.

[0038] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A compact rotor control system with built-in controls, characterized in that, include: The system includes a rotor subsystem, a control mechanism, an integrated servo servo, a servo anti-torsion mechanism, and a drive motor. The rotor hub input shaft of the rotor subsystem is connected to the drive motor. Both the control mechanism and the integrated servo servo are located inside the rotor hub housing of the rotor subsystem. One end of the control mechanism is connected to the pitch control arm of the rotor subsystem, and the other end is connected to the integrated rotor rotor of the integrated servo servo. The integrated servo servo is located below the control mechanism, and its upper end is connected to the rotor hub housing of the rotor subsystem via a double-row angular contact ball bearing. The servo anti-torsion mechanism is located in the inner hole of the drive shaft of the drive motor. The upper end of the servo anti-torsion mechanism is connected to the servo end cap at the lower end of the integrated servo servo, and the lower end of the servo anti-torsion mechanism is connected to the lower end cap of the drive motor.

2. The compact rotor control system according to claim 1, characterized in that, The input shaft of the rotor subsystem is directly connected to the motor output shaft via a spline or to the drive motor via a reducer.

3. The compact rotor control system according to claim 2, characterized in that, The rotor subsystem includes: a fairing, a hub cover, a hub housing, a first support arm bearing, a second support arm bearing, a blade, a pitch control rocker arm, a servo plate, servo plate fixing bolts, and a hub input shaft. The blade is connected to the hub housing via the first and second support arm bearings; the pitch control rocker arm is fixed to the blade root; the hub input shaft is integrally formed with or connected to the hub housing; the hub cover is fixed above the hub housing; the fairing is fixed to the hub housing and the hub cover; and an integrated servo servo is fixed to the hub housing via a servo plate and servo plate fixing bolts.

4. The compact rotor control system according to claim 3, characterized in that, The control mechanism includes: a control stick, a locking nut on the control stick, a bearing clamping nut, a double-row angular contact ball bearing, an upper joint bearing on the pitch control rod, a rod body, a fork-shaped component, and a lower joint bearing on the pitch control rod. The control stick, through a boss on the stick and the locking nut, clamps the inner ring of the double-row angular contact ball bearing. The fork-shaped component, through a boss on the fork and the bearing clamping nut, clamps the outer ring of the double-row angular contact ball bearing. The fork-shaped component is connected to the rotor hub cover plate of the rotor system via splines or keyways. The double-row angular contact ball bearing allows the fork-shaped component and the control stick to rotate and move up and down. The upper joint bearing on the pitch control rod is bolted to the fork-shaped component, and the lower joint bearing on the pitch control rod is bolted to the pitch control rocker arm. The two rod bodies are threaded to the upper and lower joint bearings of the pitch control rod, respectively.

5. The compact rotor control system according to claim 4, characterized in that, The integrated servo motor includes: an integrated servo rotor, a servo bearing clamping nut, a servo housing, a two-way thrust bearing, a servo double-row angular contact ball bearing, servo windings, a ball screw assembly, a servo support bearing, and a servo end cover. The outer ring of the double-row angular contact ball bearing is secured to the integrated servo motor using a servo clamping plate and servo clamping bolts, while the inner ring is secured using the servo bearing clamping nut. The integrated servo motor highly integrates the servo motor and the ball screw structure, and its internal components... A pair of double-direction thrust bearings and a pair of deep groove ball bearings provide support. The servo windings fixed on the servo housing and the integrated servo rotor containing magnets convert the electrical energy transmitted from the servo cable connected to the servo end cover into the rotational mechanical energy of the integrated servo rotor. The inner wall of the integrated servo rotor is threaded, which engages with the roller threads of the roller screw assembly, thereby driving the roller screw assembly to rotate. The control stick is connected to the roller screw assembly and has an axial anti-rotation structure, thus converting the rotational motion into up-and-down movement, thereby driving the control stick to move up and down.

6. The compact rotor control system according to claim 5, characterized in that, A bearing bushing is provided between the double-row angular contact ball bearing of the servo motor and the propeller hub housing.

7. The compact rotor control system according to claim 6, characterized in that, The servo anti-torsion mechanism includes: anti-torsion rod bolts, servo anti-torsion rod, internal spline anti-torsion plate, and anti-torsion plate fixing bolts. The integrated servo servo uses the anti-torsion rod bolts to fix the bolt holes of the servo end cap at the tail end to the upper flange hole of the servo anti-torsion rod. The lower part of the servo anti-torsion rod has an external spline shape that matches the internal spline of the internal spline anti-torsion plate. The internal spline anti-torsion plate is fixed to the lower end cap of the power source motor by the anti-torsion plate fixing bolts, thereby realizing the anti-rotation function of the integrated servo servo.

8. The compact rotor control system according to claim 7, characterized in that, The drive motor includes: a first rotor hub support bearing, a second rotor hub support bearing, a motor housing, and a lower motor cover. The rotor hub input shaft of the rotor subsystem is connected to the motor housing via the first rotor hub support bearing and the second rotor hub support bearing. The lower motor cover is connected to the motor housing. Anti-torsion plate fixing bolts fix the internal spline anti-torsion plate to the lower cover of the power source motor.

9. The compact rotor control system according to claim 8, characterized in that, The cylindrical hole in the lower end cover of the motor serves as a winding box for holding the servo cable.

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