Rotorcraft and control method therefor
By using blades with different lift coefficients and changing the rotor hub speed in a rotorcraft, the problems of complex and costly adjustment mechanisms in existing technologies are solved, and simple and effective flight status control is achieved.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- CHUNG OI YAN
- Filing Date
- 2025-01-23
- Publication Date
- 2026-07-30
AI Technical Summary
Existing rotorcraft control mechanisms are complex and costly, making it difficult to effectively change flight status.
By using blades with different lift coefficients and controlling the drive device to periodically change the rotor hub speed, unbalanced lift is generated, thereby changing the flight state.
It reduces the structural complexity and cost of rotorcraft while enabling rich control over flight status.
Smart Images
Figure CN2025074337_30072026_PF_FP_ABST
Abstract
Description
A rotorcraft and its control method Technical Field
[0001] This invention relates to a rotorcraft and its control method. Background Technology
[0002] A rotorcraft is a machine that achieves flight through a rotor; helicopters and small drones are examples of rotorcraft. A rotorcraft consists of a fuselage and a rotor mounted to the fuselage. The rotor includes a hub and blades connected to the hub. When the rotor rotates, the blades cut through the air and are subjected to a reaction force from the air, thus enabling flight.
[0003] For single-rotor aircraft, the rotation of the rotor causes the fuselage to rotate in the opposite direction, which is called reverse twisting. Therefore, single-rotor aircraft usually need to be equipped with a tail rotor to reduce or counteract the reverse twisting of the fuselage.
[0004] A twin-rotor aircraft consists of two rotors that rotate coaxially in opposite directions, thus canceling out the torsional forces exerted by the two rotors on the fuselage. Therefore, a twin-rotor aircraft does not need a tail rotor.
[0005] Existing rotorcraft typically use complex adjustment mechanisms, such as swivel discs, to change the rotor's axis of rotation, thereby altering its flight state, such as forward, backward, left turn, right turn, and tilt. For example, when the rotor plane is horizontal, the aircraft can ascend or descend; tilting the rotor plane forward, backward, left, or right changes the aircraft's flight direction accordingly. A drawback of existing technologies is the high complexity and cost of these adjustment mechanisms. Therefore, an improved solution is urgently needed. Summary of the Invention
[0006] One objective of this application is to reduce the complexity of rotorcraft.
[0007] A first aspect of this application provides a rotorcraft, comprising a main body, a drive device disposed on the main body, a first rotor, and a control device, wherein: the first rotor can be driven to rotate by the drive device, the first rotor includes a first hub, a first blade and a second blade connected to the first hub, and the lift generated by the first blade is greater than the lift generated by the second blade at the same rotational speed; the control device is used to control the drive device to make the first rotor have a varying rotational speed within a preset period, thereby changing the lift center of the first rotor within the preset period, thereby changing the flight state of the rotorcraft.
[0008] In one embodiment of this application, the first blade and the second blade differ in at least one of the following aspects, such that the lift generated by the first blade is greater than that generated by the second blade at the same rotational speed: blade chord length, blade twist angle, blade profile, blade span, and blade angle of attack.
[0009] In one embodiment of this application, the number of the first blades is one or more; the number of the second blades is one or more; and both the first blade and the second blade are located on one side of the plane passing through the rotation axis of the first rotor.
[0010] In one embodiment of this application, during the preset period, the speed at which the first blade rotates through the first preset area is greater than the speed at which the second blade rotates through the first preset area, causing the lift center of the first rotor to approach or fall into the first preset area during the preset period, while the first preset area deviates from the rotation center of the first rotor.
[0011] In one embodiment of this application, a second rotor that can be driven to rotate by the drive device is further included. The rotation axis of the second rotor is substantially coincident with the rotation axis of the first rotor, and the rotation direction of the second rotor is opposite to that of the first rotor, in order to reduce or counteract the torsional force generated on the main body when the first rotor rotates.
[0012] In one embodiment of this application, the second rotor includes a second hub, a third blade and a fourth blade connected to the second hub; at the same rotational speed, the lift generated by the third blade is greater than the lift generated by the fourth blade; the control device is further configured to control the drive device to make the second rotor have a varying rotational speed during the preset period, thereby changing the total lift center of the first rotor and the second rotor during the preset period, thereby changing the flight state of the rotorcraft.
[0013] In one embodiment of this application, the third blade and the fourth blade differ in at least one of the following aspects, such that the lift generated by the third blade at the same rotational speed is greater than that generated by the fourth blade: blade chord length, blade twist angle, blade profile, blade span, and blade angle of attack.
[0014] In one embodiment of this application, the number of the third blades is one or more; the number of the fourth blades is one or more; and both the third blade and the fourth blade are located on one side of the plane passing through the rotation axis of the second rotor.
[0015] In one embodiment of this application, the shape and size of the first blade are the same as those of the third blade, the shape and size of the second blade are the same as those of the fourth blade, and the shape and size of the second rotor are the same as those of the first rotor.
[0016] In one embodiment of this application, the driving device includes a first driver and a second driver, and the control module includes a first controller and a second controller; the first driver is used to drive the first rotor, and the second driver is used to drive the second rotor; the first controller is used to control the first driver, and the second controller is used to control the second driver.
[0017] In one embodiment of this application, a sensing device is further included, which is used to detect the real-time status of the rotorcraft, the real-time rotational speed and rotational position of the first rotor; the control device controls the drive device according to the detection results of the sensing device.
[0018] In one embodiment of this application, a sensing device is further included, which is used to detect the real-time state of the rotorcraft, the real-time rotational speed and rotational position of the first rotor, and the real-time rotational speed and rotation of the second rotor; the control device controls the drive device according to the detection results of the sensing device.
[0019] A second aspect of this application provides a control method for a rotorcraft, comprising: driving a first rotor: driving the first rotor of the rotorcraft via a drive device, the first rotor including a first hub, a first blade and a second blade connected to the first hub, and the lift generated by the first blade at the same rotational speed being greater than the lift generated by the second blade; adjusting the lift center: controlling the drive device via a control device to make the first rotor have a varying rotational speed within a preset period, thereby changing the lift center of the first rotor within the preset period, thereby changing the flight state of the rotorcraft.
[0020] In one embodiment of this application, the number of the first blades is one or more; the number of the second blades is one or more; and both the first blade and the second blade are located on one side of the plane passing through the rotation axis of the first rotor.
[0021] In one embodiment of this application, adjusting the lift center includes: controlling the drive device through a control device to make the speed at which the first blade rotates through the first preset area greater than the speed at which the second blade rotates through the first preset area, so that the lift center of the first rotor during the preset period approaches or falls into the first preset area, and the first preset area deviates from the rotation center of the first rotor.
[0022] In one embodiment of this application, adjusting the lift center includes: controlling the drive device through a control device to make the speed at which the first blade rotates through the first preset area during a first preset period greater than the speed at which the second blade rotates through the first preset area, and the speed at which the first blade rotates through the second preset area during a second preset period greater than the speed at which the second blade rotates through the second preset area, so that the lift center of the first rotor shifts from the first preset area to the second preset area, wherein the first preset area and the second preset area are different and both deviate from the rotation center of the first rotor.
[0023] In one embodiment of this application, a second rotor is driven by the driving device, the rotation axis of the second rotor being substantially coincident with the rotation axis of the first rotor, and the rotation direction of the second rotor being opposite to that of the first rotor, in order to reduce or counteract the torsional force generated on the main body when the first rotor rotates.
[0024] In one embodiment of this application, the second rotor includes a second hub, a third blade and a fourth blade connected to the second hub; at the same rotational speed, the lift generated by the third blade is greater than the lift generated by the fourth blade; the step of adjusting the lift center further includes controlling the drive device through the control device to make the second rotor have a varying rotational speed during the preset period, thereby changing the total lift center of the first rotor and the second rotor during the preset period, thereby changing the flight state of the rotorcraft.
[0025] In one embodiment of this application, the shape and size of the first blade are the same as those of the third blade, and the shape and size of the second blade are the same as those of the fourth blade; the shape and size of the second rotor are the same as those of the first rotor; the adjustment of the lift center includes: controlling the drive device through a control device to make the first blade and the third blade rotate through a first preset region and a second preset region respectively at a first higher speed during a first preset period, so that the total lift center of the first rotor and the second rotor during the first preset period falls into or is close to the first preset region and the second preset region respectively; and the first blade and the third blade rotate through a third preset region and a fourth preset region respectively at a second higher speed during a second preset period, so that the total lift center of the first rotor and the second rotor during the second preset period falls into or is close to the third preset region and the fourth region respectively; the first preset region, the second preset region, the third preset region and the fourth preset region are all offset from the rotation center of the first rotor.
[0026] In one embodiment of this application, a sensing device is further included, which is used to detect the real-time state of the rotorcraft, the real-time rotational speed and rotational position of the first rotor, and the real-time rotational speed and rotation of the second rotor; the control device controls the drive device according to the detection results of the sensing device.
[0027] This invention uses a rotor hub with blades having different lift coefficients. By periodically changing the rotational speed of the rotor hub, unbalanced lift is generated, thereby changing the flight state of the rotorcraft, reducing structural complexity and cost. Attached Figure Description
[0028] To further reveal the specific technical content of this case, please first refer to the accompanying drawings, in which:
[0029] Figure 1 is a schematic diagram of the rotorcraft provided in the first embodiment of the present invention;
[0030] Figure 2 is a schematic diagram of the first rotor of the rotorcraft shown in Figure 1;
[0031] Figure 3 is a schematic diagram of the rotorcraft provided in the second embodiment of the present invention;
[0032] Figure 4 is a schematic diagram of the frame of the rotorcraft shown in Figure 3;
[0033] Figure 5 is a schematic diagram of the rotorcraft provided in the third embodiment of the present invention;
[0034] Figure 6 is a flowchart illustrating the control method for a rotorcraft provided in the fourth embodiment of the present invention;
[0035] Figure 7 is a flowchart illustrating the control method for a rotorcraft provided in the fifth embodiment of the present invention. Detailed Implementation
[0036] Example 1
[0037] Please refer to Figure 1. The rotorcraft 100 provided in the first embodiment of the present invention includes a main body 20, a drive device 30 disposed on the main body 20, a first rotor 40 and a control device 70.
[0038] The first rotor 40 can be driven to rotate by the drive device 30, thereby providing power to the rotorcraft 100. The first rotor 40 includes a first hub 42, a first blade 44 connected to the first hub 42, and a second blade 46. At the same rotational speed, the lift generated by the first blade 44 is greater than the lift generated by the second blade 46. In this embodiment, the blade chord length of the first blade 44 at its radially outer end is longer, thus generating a greater lift than the second blade 46 at the same rotational speed. Understandably, various means can be used to achieve a greater lift generated by the first blade 44 than the second blade 46 at the same rotational speed. For example, the first blade 44 may differ from the second blade 46 in one or more factors such as blade chord length, blade twist angle, blade profile, blade span, and blade angle of attack, all of which can make the lift generated by the first blade 44 greater than that generated by the second blade 46 at the same rotational speed.
[0039] Referring to Figure 2, it can be understood that when the first rotor 40 rotates at a constant speed, for example, along the direction R1 shown in Figure 2, although the lift generated by the first blade 44 at the same rotational speed is greater than the lift generated by the second blade 46, within one rotation cycle (e.g., one revolution), the center of lift generated by the first blade 44 coincides with its rotation center O, and the center of lift generated by the second blade 46 also coincides with its rotation center O. Therefore, the center of lift L1 of the first rotor 40 within this rotation cycle coincides with its rotation center O. In this case, the rotorcraft 100 can move vertically, for example, rising smoothly, stabilizing in the air, or descending slowly.
[0040] A simplified calculation formula can be used to explain why the lift center L1 of the first rotor 40 coincides with its rotation center O when it rotates at a constant speed. Taking a first rotor 40 with one first blade 44 and one second blade 46 as an example, assuming the fluid density is ρ, the rotational speeds of the first blade 44 and the second blade 46 are both V, and the lift coefficient C of the first blade 44 is... L+ The lift coefficient C is greater than that of the second blade 46. L- The first rotor 40 is rotated one full circle, divided into left and right halves for observation, as shown in Table 1 below:
[0041] Table 1: Lift output of the first rotor during one revolution at a constant speed (40°).
[0042] As shown in the simplified calculation results in Table 1, when the first rotor rotates at a constant speed of 40° for one revolution, the total lift in the left half-rotation is 1 / 2*ρV. 2 *(C L+ +C L- The total lift of the right half of the rotation is equal to 1 / 2 * ρV. 2 *(C L+ +C L-Therefore, the lift center L1 of the first rotor 40 coincides with its rotation center O.
[0043] Understandably, since the rotorcraft 100 in this embodiment is a single-rotor aircraft, when the first rotor 40 rotates, it will generate a torsional torque on the main body 20 in the opposite direction. Therefore, preferably, the fuselage 20 is also provided with a tail rotor 22 to reduce or eliminate the torsional torque generated by the rotorcraft 100 on the main body 20, thereby ensuring the stability of the main body 20 and preventing the main body 20 from rotating in the opposite direction to direction R1.
[0044] As shown in Figure 2, the first preset region A is offset from the rotation center O. If, within one rotation cycle (e.g., one revolution), the speed at which the first blade 44 rotates through the first preset region A is greater than the rotation speed at which the first blade 44 rotates through other regions, then, correspondingly, the speed at which the second blade 46 rotates through the first preset region A is less than its rotation speed at other regions, and also less than the rotation speed at which the first blade 44 rotates through the first preset region A offset from the rotation center O, then the lift center O1 generated by the first blade 44 in this rotation cycle will fall into or approach the first preset region A, that is, it will deviate from the rotation center O; the lift center O2 generated by the second blade 46 in this rotation cycle will also deviate from the rotation center O, and the lift centers O1 and O2 are located on opposite sides of the rotation center O. Understandably, because the lift generated by the first blade 44 is greater than the lift generated by the second blade 46 at the same rotation speed, therefore, in this rotation cycle, the total lift center L2 of the first blade 44 and the second blade 46 will fall into or approach the first preset region A, thereby changing the flight state of the rotorcraft 100. For example, as shown in direction R1 of Figure 2, taking the counterclockwise rotation of the first rotor 40 as an example, if the first preset area A is located in front of the rotorcraft 100, the lift center L2 of the first rotor 40 falls into or is close to the front of the rotorcraft 100. Under the action of the gyroscopic effect, the effect of the lift center L2 is manifested at 90 degrees in the rotation direction, thereby causing the rotorcraft 100 to tilt to the right and move to the right. Similarly, if the first preset area A is located behind the rotorcraft 100, the lift center of the first rotor 40 falls into or is close to the rear of the rotorcraft 100, causing the rotorcraft 100 to tilt to the left and move to the left. If the first preset area A is located on the left side of the rotorcraft 100, the lift center of the first rotor 40 falls into or is close to the left side of the rotorcraft 100, causing the rotorcraft 100 to tilt forward and move forward. If the first preset area A is located on the right side of the rotorcraft 100, the lift center of the first rotor 40 falls into or is close to the right side of the rotorcraft 100, causing the rotorcraft 100 to tilt backward and move backward.
[0045] A simplified calculation formula can be used to explain why, when the speed of the first blade 44 as it passes through the first preset region A (which is offset from the rotation center O) is greater than the rotation speed of the first blade 44 as it passes through other regions (correspondingly, the speed of the second blade 46 as it passes through the first preset region A is less than its rotation speed as it passes through other regions), the lift center of the first rotor 40 falls into or is close to the first preset region A. Again, taking a first rotor 40 with one first blade 44 and one second blade 46 as an example, let's divide one rotation of the first rotor 40 into left and right halves for observation. Assume the left half is the first preset region A, the fluid density is ρ, the average rotation speed is V, the rotation speed of the first blade 44 in the left half (V+ΔV) is ΔV greater than the average rotation speed V, the rotation speed of the second blade 46 in the left half (V-ΔV) is ΔV less than the average rotation speed V, and the lift coefficient of the first blade is C. L+ The lift coefficient C is greater than that of the second blade 46. L- As shown in Table 2 below:
[0046] Table 2: Lift performance of the first blade 44 when its rotational speed is faster in the left half-circle
[0047] As can be seen from the simplified calculation results in Table 2, the lift coefficient C of the first blade 44 is... L+ The lift coefficient C is greater than that of the second blade 46. L- At that time, namely C L+ -C L- When >0, 2ρV*ΔV(C) L+ -C L- If the speed of the first blade 44 passing through the first preset area A (which is deviated from the rotation center O) is greater than the rotation speed of the first blade 44 passing through other areas (correspondingly, the speed of the second blade 46 passing through the first preset area A is less than its rotation speed passing through other areas, and also less than the speed of the first blade 44 passing through the first preset area A), the lift of the left half of the rotation is greater. Therefore, the lift center of the first rotor 40 falls into or is close to the left half of the rotation (equivalent to the first preset area A).
[0048] The drive device 30 can be controlled by the control device 70 to make the first rotor 40 have a varying rotational speed within a preset period (e.g., one rotation cycle or multiple rotation cycles), thereby changing the lift center of the first rotor 40 within the preset period and thus changing the flight state of the rotorcraft.
[0049] By implementing this invention, the flight state of the rotorcraft 100 can be controlled by controlling the rotational speed of the first rotor 40, without the need for traditional, complex and expensive adjustment mechanisms, thus reducing the complexity and cost of the rotorcraft 100.
[0050] Referring to Figure 2, it can be understood that by changing the rotational speed of the first rotor 40, the lift center of the first rotor 40 can be shifted from the first preset region A to the second preset region B within one or more rotational cycles, thereby achieving richer control over the rotorcraft 100.
[0051] In this embodiment, there is one first blade 44 and two second blades 46. However, the invention is not limited to this configuration. In alternative embodiments, there can be one or more first blades 44, and there can also be one or more second blades 46. Preferably, all first blades 44 are located on one side of the plane passing through the rotation axis of the first rotor 40, or all second blades 46 are located on one side of the plane passing through the rotation axis of the first rotor 40.
[0052] Preferably, the rotorcraft 100 includes a sensing device 80 (refer to FIG4), which is used to detect the real-time status of the rotorcraft 100, the real-time rotational speed and rotational position of the first rotor 40, etc.; the control device 70 controls the drive device 30 according to the detection results of the sensing device 80.
[0053] Example 2
[0054] Referring to Figure 3, one difference between the second embodiment and the first embodiment is the addition of a second rotor 50. The rotation axis of the second rotor 50 is substantially coincident with the rotation axis of the first rotor 40, and the rotation direction of the second rotor 50 is opposite to that of the first rotor 40. For example, the first rotor 40 and the second rotor 50 rotate in directions R1 and R2 respectively to reduce or counteract the torsional force generated on the main body 20 when the first rotor 40 rotates. Therefore, the second embodiment does not require a tail rotor.
[0055] In this embodiment, the second rotor 50 includes a second hub 52, a third blade 54 connected to the second hub 52, and a fourth blade 56. The lift generated by the third blade 54 at the same rotational speed is greater than the lift generated by the fourth blade 56.
[0056] Understandably, the control device 70, by controlling the drive device 30, can cause the first rotor 40 and the second rotor 50 to have varying rotational speeds within a preset period, thereby changing the overall center of lift of the first rotor 40 and the second rotor 50 within the preset period, thus altering the flight state of the rotorcraft. As described above, when the first rotor 40 and the second rotor 50 rotate at a constant speed, the overall center of lift L1 overlaps with the center of rotation O, and the rotorcraft 100 moves vertically, for example, ascending, descending, or hovering in the air. If the rotation of the first rotor 40 and the second rotor 50 changes, and the overall center of lift L2 falls into or approaches the first preset region A, the flight state of the rotorcraft 100 will change; if the overall center of lift L2 of the first rotor 40 and the second rotor 50 changes from falling into or approaching the first preset region A to falling into or approaching the second preset region B, the flight state of the rotorcraft 100 will be subject to more sophisticated control.
[0057] Understandably, the third blade 54 and the fourth blade 56 differ in at least one of the following aspects, such that the lift generated by the third blade 54 at the same rotational speed is greater than that generated by the fourth blade 56: blade chord length, blade twist angle, blade profile, blade span, and blade angle of attack.
[0058] Understandably, the number of third blades 54 is one or more; the number of fourth blades 56 is one or more. Preferably, all third blades 54 are located on one side of the plane passing through the rotation axis of the second rotor 50, or all fourth blades 56 are located on one side of the plane passing through the rotation axis of the second rotor 50.
[0059] In this embodiment, the shape and size of the first blade 44 are the same as those of the third blade 54, and the shape and size of the second blade 46 are the same as those of the fourth blade 56; the shape and size of the second rotor 50 are the same as those of the first rotor 40. The main body 20 is located directly below the first rotor 40 and the second rotor 50, and the lower end of the main body 20 is a support 24 to facilitate the take-off and landing of the rotorcraft 100.
[0060] Referring to Figure 4, the drive device 30 may include a first driver 31 and a second driver 35, and the control module 70 may include a first controller 71 and a second controller 75. Preferably, the first driver 31 drives the first rotor 40, and the second driver 35 drives the second rotor 50. The first controller 71 is used to control the first driver 31, and the second controller 75 is used to control the second driver 35. Understandably, the first controller 71 and the second controller 75 are merely descriptions of suitability, and in specific implementations, they can be combined into a whole. Similarly, the first driver 31 and the second driver 35 can also be combined into a whole, as long as it can ensure that the first rotor 40 and the second rotor 50 rotate in opposite directions and that their rotational speeds are easily controlled.
[0061] Preferably, the rotorcraft 100 further includes a sensing device 80, which is used to detect the real-time status of the rotorcraft 100, the real-time rotational speed and rotational position of the first rotor 40, and the real-time rotational speed and rotation of the second rotor 50. The control device 70 controls the drive device 30 based on the detection results of the sensing device 80.
[0062] Example 3
[0063] Please refer to Figure 5. The main difference between the rotorcraft 100 provided in the third embodiment of the present invention and the second embodiment is that, in the third embodiment, the second rotor 50 and the first rotor 40 are located at the upper and lower ends of the main body 20, respectively. There are no other substantial differences, so they will not be described in detail.
[0064] Example 4
[0065] Please refer to Figure 6. The control method provided by the present invention based on the rotorcraft shown in Figure 1 includes:
[0066] Step S11, drive the first rotor: drive the first rotor 40 of the rotorcraft through the drive device 30. The first rotor 40 includes a first hub 42, a first blade 44 connected to the first hub 42 and a second blade 46, and the lift generated by the first blade 44 is greater than the lift generated by the second blade 46 at the same rotation speed.
[0067] Step S13, Adjust the lift center: Control the drive device 30 through the control device 70 to make the first rotor 40 have a variable rotation speed within a preset period, thereby changing the lift center of the first rotor 40 within the preset period, thus changing the flight state of the rotorcraft.
[0068] As described above, the number of first blades 44 may be one or more; the number of second blades 46 may be one or more. Preferably, the first blade 44 or the second blade 46 is located on one side of the plane passing through the rotation axis of the first rotor 40.
[0069] In one embodiment, the step of adjusting the lift center is as follows: the control device 70 controls the drive device 30 so that the first blade 44 rotates through the first preset area A at a speed greater than the speed of the second blade 46 rotating through the first preset area A, so that the lift center of the first rotor 40 is close to the first preset area A during a preset period, and the first preset area is deviated from the rotation center of the first rotor 40.
[0070] In one embodiment, the step of adjusting the lift center is as follows: the control device 70 controls the drive device 30 so that the speed at which the first blade 44 rotates through the first preset region A during a first preset period is greater than the speed at which the second blade 46 rotates through the first preset region A, and the speed at which the first blade 44 rotates through the second preset region B during a second preset period is greater than the speed at which the second blade 46 rotates through the second preset region B, thereby shifting the lift center of the first rotor 40 from the first preset region A to the second preset region B. The first preset region A and the second preset region B are different and both are offset from the rotation center O of the first rotor 40.
[0071] Example 5
[0072] Please refer to Figure 7. The control method provided by the present invention based on the rotorcraft shown in Figure 3 includes:
[0073] Step S11, drive the first rotor and the second rotor: drive the first rotor 40 and the second rotor 50 of the rotorcraft through the drive device 30; the rotation axis of the second rotor 50 is substantially coincident with the rotation axis of the first rotor 40, and the rotation direction of the second rotor 50 is opposite to that of the first rotor 40; the first rotor 40 includes a first hub 42, a first blade 44 and a second blade 46 connected to the first hub 42, and the lift generated by the first blade 44 at the same rotation speed is greater than the lift generated by the second blade 46; the second rotor 50 includes a second hub 52, a third blade 54 and a fourth blade 56 connected to the second hub 52; the lift generated by the third blade 54 at the same rotation speed is greater than the lift generated by the fourth blade 56.
[0074] Step S13, Adjusting the Lift Center: The control device 70 controls the drive device 30 to change the rotational speed of the first rotor 40 and the second rotor 50 within a preset period, thereby changing the overall lift center of the first rotor 40 and the second rotor 50 within the preset period, thus altering the flight state of the rotorcraft.
[0075] As described above, preferably, the shape and size of the first blade 44 are the same as those of the third blade 54, the shape and size of the second blade 46 are the same as those of the fourth blade 56, and the shape and size of the second rotor 50 are the same as those of the first rotor 40.
[0076] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A rotary-wing aircraft, comprising a main body (20), a driving device (30) arranged to the main body (20), a first rotary wing (40) and a control device (70), characterized in that: the first rotary wing (40) is rotatable by the driving device (30), the first rotary wing (40) comprises a first hub (42), a first blade (44) and a second blade (46) connected to the first hub (42), the first blade (44) generates a greater lift than the second blade (46) at the same rotational speed; the control device (70) is used to control the driving device (30) so that the first rotary wing (40) has a variable rotational speed in a preset period, thereby changing the center of lift of the first rotary wing (40) in the preset period, and changing the flight state of the rotary-wing aircraft.
2. The rotary wing aircraft of claim 1, wherein, the first blade (44) and the second blade (46) differ in at least one of the following aspects: blade chord length, blade twist angle, blade profile type, blade span length, blade angle of attack, so that the first blade (44) generates a greater lift than the second blade (46) at the identical rotational speed; 3. The rotary wing aircraft of claim 1, wherein, the number of the first blades (44) is one or more than one; the number of the second blades (46) is one or more than one; the first blade (44) or the second blade (46) is located on one side of the plane passing through the rotational axis of the first rotary wing (40).
4. The rotary wing aircraft of claim 1, wherein, in the preset period, the first blade (44) rotates through a first preset area at a greater speed than the second blade (46), so that the center of lift of the first rotary wing (40) in the preset period is close to or falls into the first preset area, and the first preset area deviates from the rotational center of the first rotary wing (40).
5. The rotary wing aircraft of claim 1, wherein, a second rotary wing (50) rotatable by the driving device (30) is further included, the rotational axis of the second rotary wing (50) substantially coincides with the rotational axis of the first rotary wing (40), and the rotational direction of the second rotary wing (50) is opposite to that of the first rotary wing (40), so as to reduce or offset the torsional force generated by the rotation of the first rotary wing (40) on the main body (20).
6. The rotary-wing aircraft according to claim 5, characterized in that: the second rotary wing (50) comprises a second hub (52), a third blade (54) and a fourth blade (56) connected to the second hub (52); the third blade (54) generates a greater lift than the fourth blade (56) at the same rotational speed; the control device (70) is further used to control the driving device (30) so that the second rotary wing (50) has a variable rotational speed in the preset period, thereby changing the total center of lift of the first rotary wing (40) and the second rotary wing (50) in the preset period, and changing the flight state of the rotary-wing aircraft.
7. The rotary wing aircraft of claim 6, wherein: The third blade (54) and the fourth blade (56) are different in at least one of the following aspects: chord length, twist angle, airfoil shape, span length, angle of attack, so that the third blade (54) generates more lift than the fourth blade (56) at the same rotational speed.
8. The rotary wing aircraft of claim 6, wherein, The number of the third blade (54) is one or more than one; the number of the fourth blade (56) is one or more than one; the third blade (54) or the fourth blade (56) is located on one side of the plane passing through the rotational axis of the second rotor (50).
9. The rotorcraft of claim 6, wherein: The first blade (44) has the same shape and size as the third blade (54), and the second blade (46) has the same shape and size as the fourth blade (56); the second rotor (50) has the same shape and size as the first rotor (40).
10. The rotary wing aircraft of claim 6, wherein, The driving device (30) comprises a first driver (31) and a second driver (35), and the control module (70) comprises a first controller (71) and a second controller (75); the first driver (31) is used to drive the first rotor (40), and the second driver (35) is used to drive the second rotor (50); the first controller (71) is used to control the first driver (31), and the second controller (75) is used to control the second driver (35).
11. The rotary wing aircraft as in claim 1, wherein, Further comprising a sensing device (80) for detecting the real-time state of the rotorcraft, the real-time rotational speed and rotational position of the first rotor (40); the control device (70) controls the driving device (30) according to the detection result of the sensing device (80).
12. The rotary wing aircraft of claim 6, wherein, Further comprising a sensing device (80) for detecting the real-time state of the rotorcraft and the real-time rotational speed and rotational position of the first rotor (40) and the second rotor (50); the control device (70) controls the driving device (30) according to the detection result.
13. A control method of a rotary-wing aircraft, characterized by, Comprising: Driving the first rotor: driving the first rotor (40) of the rotorcraft by the driving device (30), the first rotor (40) comprising a first hub (42), a first blade (44) and a second blade (46) connected to the first hub (42), and the first blade (44) generating more lift than the second blade (46) at the same rotational speed; Adjusting the center of lift: controlling the driving device (30) by the control device (70) to make the first rotor (40) have varying rotational speed during a preset period, so that the center of lift of the first rotor (40) changes during the preset period, thereby changing the flight state of the rotorcraft.
14. The control method according to claim 13, characterized by, The number of the first blades (44) is one or more; the number of the second blades (46) is one or more; the first blades (44) or the second blades (46) are located on one side of the plane passing through the rotation axis of the first rotor (40).
15. The control method according to claim 13, characterized by, The step of adjusting the center of lift includes: controlling the driving device (30) by the control device (70) to make the speed of the first blades (44) rotating through a first preset area greater than the speed of the second blades (46) rotating through the first preset area, so that the center of lift of the first rotor (40) during the preset period is close to or falls into the first preset area, and the first preset area deviates from the rotation center of the first rotor (40).
16. The control method according to claim 13, characterized by The step of adjusting the center of lift includes: controlling the first blades (44) and the second blades (46) by the control device (70) to make the speed of the first blades (44) in a first preset period rotating through a first preset area greater than the speed of the second blades (46) rotating through a second preset area, and the speed of the first blades (44) in a second preset period rotating through the second preset area greater than the speed of the second blades (46) rotating through the second preset area, so that the center of lift of the first rotor (40) is transferred from the first preset area to the second preset area, and the first preset area and the second preset area are different and deviate from the rotation center of the first rotor (40).
17. The control method according to claim 13, characterized by, Further comprising driving a second rotor (50) by the driving device (30), the rotation axis of the second rotor (50) is substantially coincided with the rotation axis of the first rotor (40), and the rotation direction of the second rotor (50) is opposite to the first rotor (40), for reducing or offsetting the torsional force generated by the first rotor (40) rotating on the main body (20).
18. The control method of claim 17, wherein: The second rotor (50) comprises a second hub (52), a third blade (54) and a fourth blade (56) connected to the second hub (52); the third blade (54) generates greater lift than the fourth blade (56) at the same rotation speed; The step of adjusting the center of lift further comprises: controlling the driving device (30) by the control device (70) to make the second rotor (50) have a variable rotation speed during the preset period, so that the total center of lift of the first rotor (40) and the second rotor (50) during the preset period is changed, thereby changing the flight state of the rotorcraft.
19. The control method of claim 18, wherein: The shape and size of the first blades (44) are the same as the third blades (54), and the shape and size of the second blades (46) are the same as the fourth blades (56); the shape and size of the second rotor (50) are the same as the first rotor (40); The adjusting of the center of lift includes: controlling the driving device (30) by the control device (70), so that the first paddle (44) and the third paddle (54) rotate through the first preset area and the second preset area respectively at a first higher speed in a first preset period, so that the total center of lift of the first rotor (40) and the second rotor (50) in the first preset period falls into or is close to the first preset area and the second preset area respectively; and the first paddle (44) and the third paddle (54) rotate through the third preset area and the fourth preset area respectively at a second higher speed in a second preset period, so that the total center of lift of the first rotor (40) and the rotor (50) in the second preset period falls into or is close to the third preset area and the fourth area respectively; the first preset area, the second preset area, the third preset area and the fourth preset area are all deviated from the rotation center of the first rotor (40).
20. The control method of claim 17, wherein Further comprising a sensing device (80) for detecting the real-time state of the rotor aircraft, the real-time rotating speed and rotating position of the first rotor (40), and the real-time rotating speed and rotating of the second rotor (50); the control device (70) controls the driving device (30) according to the detection result of the sensing device (80).