37 results about "Rigid rotor" patented technology

The invention provides a multi-configuration helicopter quality evaluation simulator and a flight simulation method, and belongs to the field of flight simulators, the flight simulator comprises: a hardware system, including a six-degree-of-freedom motion platform, a joystick system, a plurality of computers and a display; and the software system comprises a flight simulation system, a comprehensive simulation management platform, a virtual central control console, a visual display system and a flight quality evaluation system. The simulator provided by the invention covers a traditional single-rotor helicopter with a tail rotor to an innovative coaxial rigid rotor helicopter, a tilt rotor aircraft, a tandem helicopter, an X-3 combined high-speed helicopter and the like, and supports two modes of offline and human in-loop to realize rapid flight simulation of various flight missions; flight quality evaluation can be completed by using simulation data in time, and reference suggestions are provided for flight quality specification formulation and flight task setting of the newly-developed configuration helicopter.

The invention discloses a labyrinth seal robustness test platform in a non-rigid rotor system, and relates to the technical field of gas turbine engines. Comprising an axial displacement mechanism, a variable stiffness system and a labyrinth element test section, the variable stiffness system is installed at the top of the axial displacement mechanism, and the labyrinth element test section is connected with the axial displacement mechanism through a main shaft connection installation plate. According to the invention, axial position adjustment and axial displacement deviation injection are realized through the axial displacement mechanism, continuous variable stiffness adjustment is realized through the variable stiffness system, the test section is used for carrying out principle tests of different comb tooth configurations, and injection of comb tooth gap deviation is realized by installing the electric heating sheet on the surface of the comb tooth disc. A test system is formed by the axial displacement, the radial clearance and the aerodynamic force, so that the test bed can be used for researching the influence of axial displacement-radial clearance-aerodynamic force coupling on the sealing performance of the labyrinth in a non-rigid rotor system and researching the response rule of axial displacement or radial clearance deviation on a sealing system.

The invention discloses a coaxial rigid rotor model wind tunnel test blade spacing measurement method, and belongs to the technical field of aviation aerodynamic force wind tunnel tests. The problem that in the prior art, it is difficult to monitor the overlapping azimuth angle of the coaxial rigid rotor helicopter through a traditional blade distance measuring method is solved. The method comprises the following steps: determining a blade waving measurement path, arranging a grating fiber sensor, building a grating fiber measurement system, calculating a data position corresponding to a coincidence phase according to the coincidence phase of upper and lower blades and the number of data acquisition points of one circle of rotation of a rotor, and performing data acquisition and correlation filtering on a low-rotation-speed state and a test state; the initial central wavelength and the central wavelength offset of the grating fiber at the overlapped position of the upper and lower blades are obtained, and deformation reconstruction is performed on the upper and lower rotor blades by adopting a coordinate transformation method of plane points to obtain the distance between the tips of the upper and lower blades in the vertical direction. The method effectively avoids the limitation of measurement of a specific azimuth angle, and can be applied to a coaxial rigid rotor wind tunnel test.

A rotor assembly for a rotary wing aircraft includes a rotor hub, a rotor blade coupling coupled to the rotor hub, a hub extender coupled to the rotor hub, and a first bearing assembly. The first bearing assembly includes a clevis coupled to the hub extender and including two arms, each arm including a clevis opening, two cylindrical bearings, each cylindrical bearing extending through one of the clevis openings, a spherical bearing positioned between the two arms and coupled to the rotor blade coupling, and a first pin extending through the two cylindrical bearings and the spherical bearing.

A dynamic-balance test method for a rigid rotor includes: acquiring a counterweight influence coefficient library, initial vibration swing data and an initial vibration vector; determining an initial test weight mass and an initial test weight phase according to the initial vibration swing data and the counterweight influence coefficient library, and triggering a speed increase test according to the initial test weight mass and the initial test weight phase to obtain a target vibration vector; determining a target configuration influence coefficient according to the initial vibration vector, the target vibration vector and the initial test weight mass; calculating a residual vibration swing value; and determining a target test weight adjustment scheme according to the residual vibration swing value, a rotor operation vibration standard, a target test weight mass and a target test weight phase.

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a tandem rigid rotor heavy-load unmanned aerial vehicle and a control method thereof. The tandem rigid rotor heavy-load unmanned aerial vehicle comprises a vehicle body, horizontal attitude control small propellers are installed at the two ends of the front portion and the two ends of the rear portion of the vehicle body respectively and used for roll control and pitching fine adjustment, a front main rotor is installed on the front side of the top of the vehicle body, and a rear main rotor is installed on the rear side of the top of the vehicle body. The front main rotor and the rear main rotor are used for generating lift force and adjusting pitching moment, and a plurality of vertical yaw control small paddles are installed at the bottom of the aircraft body and used for generating yaw control moment; driving systems are mounted on the small horizontal attitude control propellers, the front main rotor, the rear main rotor and the small vertical yaw control propellers, a controller system is further mounted at the top of the aircraft body and used for constructing a closed-loop feedback control framework, and the controller system is connected with the driving systems; according to the invention, the heavy load requirement can be met, and the cost benefit and the good flight control performance are realized.

The utility model provides a semi-rigid rotor head, which relates to the technical field of aircrafts and comprises a motor and a connecting propeller hub, a connecting block is arranged on the surface of the connecting propeller hub, a flapping propeller hub is arranged on the side surface of the connecting block, flapping bearings are arranged on two sides of the flapping propeller hub, a flapping shaft is arranged in the two flapping bearings, and a propeller clamp is arranged on the side surface of the flapping propeller hub. By adopting the flapping propeller hub, the flapping bearing and the flapping shaft, the rotor plane of the semi-rigid rotor head can flexibly flapping up and down by taking the flapping shaft as a shaft, so that the resistance to external wind disturbance is increased, lateral acting force on a motor main shaft is effectively avoided, the wind resistance of the whole machine under complex wind conditions is greatly improved, and the service life of the whole machine is prolonged. And in the structural layout, a complex and space-occupying connecting rod structure of a traditional rotor head is abandoned, and through the combination of the connecting block, the waving bearing, the waving shaft and other components, the overall size is remarkably reduced, the longitudinal proportion is reduced, a large amount of space is saved, and favorable conditions are created for reasonable layout of other components in the aircraft.

The present invention discloses a method for measuring blade spacing in a coaxial rigid rotor model wind tunnel test, and belongs to the technical field of aerodynamic wind tunnel test. The present invention solves the problem that the conventional blade spacing measurement method in the prior art is difficult to monitor the overlapping azimuth angle of a coaxial rigid rotor helicopter; the present invention determines the blade flapping measurement path and arranges a grating fiber sensor, builds a grating fiber measurement system, calculates the data position corresponding to the overlapping phase according to the upper and lower blade overlap phase and the number of data collection points for one rotation of the rotor, and obtains the initial center wavelength and center wavelength offset of the grating fiber at the upper and lower blade overlap position after data collection and related filtering for the low speed state and the test state, and reconstructs the deformation of the upper and lower rotor blades respectively using the coordinate transformation method of the plane point, and obtains the distance between the upper and lower blade tips in the vertical direction. The present invention effectively avoids the limitation of measuring a specific azimuth angle, and can be applied to the coaxial rigid rotor wind tunnel test.

The application belongs to the technical field of planetary gear mechanism, and particularly discloses a method, an evaluation method and a system for determining unbalanced force of a planetary gear train containing multiple non-fixed rotary bodies, which is based on basic parameters of clutches in the non-fixed rotary body assembly, calculates eccentricity of an equivalent rotating disc of the clutch oil cylinder and total eccentricity of the equivalent rotating disc of the clutch, and further calculates eccentricity of an equivalent rotating disc of a planetary gear train frame; according to the determined eccentricity of each planetary gear train frame caused by positioning error, mass deviation, tooth side gap between the inner gear ring and the planetary gear, and support error of the frame of the planetary gear train, total eccentricity of the planetary gear train frame is calculated; according to the total eccentricity of the clutch and the total eccentricity of the planetary gear train frame, dynamic unbalanced force and dynamic unbalanced torque corresponding to each equivalent rotating disc of the planetary gear mechanism are calculated. With the technical scheme, eccentricity and deflection of each rotary body of the gear mechanism under the influence of multiple factors are fully considered, and accurate dynamic unbalanced force evaluation is realized.

The application discloses a labyrinth seal robustness test platform in a non-rigid rotor system and relates to the technical field of gas turbine engines. The platform comprises an axial displacement mechanism, a variable stiffness system and a labyrinth element test section. The variable stiffness system is installed on the top of the axial displacement mechanism, and the labyrinth element test section is connected with the axial displacement mechanism through a main shaft connecting plate. The axial displacement mechanism is used for realizing axial position adjustment and axial displacement deviation injection. The variable stiffness system is used for realizing continuous variable stiffness adjustment. The test section is used for developing principle tests of different labyrinth configurations. The injection of labyrinth gap deviation is realized by installing electric heating sheets on the surface of the labyrinth disc. The test system composed of the three parts enables the test platform to study the influence of the axial displacement-radial gap-pneumatic force coupling on the labyrinth seal performance in the non-rigid rotor system and the response law of the seal system to the axial displacement or the radial gap deviation.

The application discloses a kind of rotor dynamic balance test system based on magnetic suspension bearing, including the drive motor of connecting the rotor to be measured, the inductive copper sleeve being arranged in the shaft extension end of the rotor to be measured and the two magnetic suspension bearings as rotor supporting unit, still including drive motor frequency converter, magnetic suspension bearing controller, rotational speed sensor and multiple eddy current displacement sensors;Its test method is also disclosed, drive magnetic suspension bearing controller controls the suspension and drop of magnetic suspension bearing, sends rotational frequency instruction to motor frequency converter to drive rotor rotation, the radial amplitude of rotor is collected and saved by data acquisition instrument in the process of rotor rotation, according to rigid rotor dynamic balance calculation model, the size and phase of correction mass are analyzed and calculated to vibration data.The application can directly complete the calculation of the dynamic balance precision of rotor by the industrial computer of control system, and the reverse suppression current applied to the rotor by the magnetic suspension bearing can reduce the vibration amplitude of the rotor, so that the rotor system is more stable.

The present invention discloses a design method for a radial decoupling and axial PID controller of an AMBs-rigid rotor system, constructs a radial decoupling PID controller, and gives a preliminary selection range for the parameters of the radial decoupling PID controller by using the requirements for the system stability and stiffness-damping characteristics; then, gives the tuning principles for each parameter of the radial decoupling PID controller, in particular, determines the tuning method for the proportional and derivative coefficients according to the variation relationship between the radial unbalanced vibration response and the unbalanced control current response of the system with respect to the proportional and derivative coefficients; finally, analyzes the dynamic characteristics of the axial motion and gives the parameter tuning basis and tuning method for the axial PID controller. The designed radial decoupling and axial PID controller of the present invention can not only quickly and stably levitate the electromagnetic bearing-rigid rotor system to the equilibrium position, but also enable the rotor system to have a smaller vibration response in the full speed range and a smaller control current when operating at the rated speed.

The invention relates to a traveling wave rotary ultrasonic motor of a novel semi-rigid rotor. The traveling wave rotary ultrasonic motor comprises a shell and a rotating shaft, the upper part of the rotating shaft is rotatably positioned in the shell, and the lower part of the rotating shaft is positioned below the shell; a rotor and a stator are oppositely sleeved on the upper part of the rotating shaft up and down, the rotor is made of an aluminum alloy material, a circle of annular groove is formed in the top of the rotor, a rubber ring is arranged in the groove, and a friction layer made of a polytetrafluoroethylene material is arranged on a contact surface where the bottom of the rotor is contacted with the stator. The semi-rigid rotor is formed by a rigid bearing section, a radial flexible contact section and a quasi-zero stiffness pre-pressure mechanism, and the design of the semi-rigid rotor has the advantages that the radial flexibility of the rotor is reduced, the radial friction of an interface is reduced, the radial uniformity of the contact stress of the interface is achieved, and meanwhile, the zero stiffness of large deformation is reserved. The problem of unstable contact caused by abrasion and vibration is solved. The semi-rigid rotor structure is an optimized configuration which is high in stability, long in service life and low in cost and aims at the field of precision driving.

The invention provides a novel structure of a bearing integrated axial rotary transformer, aims at solving the problems that a traditional rotary transformer is low in precision, poor in stability, difficult in heat dissipation and complex in manufacturing, and belongs to the field of motor structures. The motor structurally comprises an upper stator disc, a lower stator disc and a double-sided reluctance bearing rotor arranged between the upper stator disc and the lower stator disc. The stator disc is a multi-layer PCB winding manufactured by adopting a photoetching process, so that high precision and mass production are ensured. The rotor integrates a rotor part formed by laminating silicon steel sheets and a high-strength alloy steel bearing part to form a fine channel and a coarse channel, and can be directly sleeved on a motor shaft to realize zero-error coaxial rotation and high rigidity. An axial through hole is formed in the rotor and combined with a stator disc flow guide opening and a rotor surface flow guide groove to form an efficient cooling airflow channel. And the temperature sensor integrated on the PCB can realize real-time thermal compensation and overheating protection. The invention is suitable for the application of the rotary transformer.

The invention provides a rigid rotor rotation working mode identification device based on equiphase acquisition. The rigid rotor rotation working mode identification device comprises rotation telemetering acquisition equipment (1), a rotor hub central part (2), a rigid rotor (4), an equiphase data acquisition assembly (5), a conical support assembly (6) and a computer, through the rigid rotor rotation working mode identification device based on equiphase acquisition, random interference in a test process can be effectively reduced under multiple average under the condition that the acquired rigid rotor load data is in a same phase angle state under each rotation circle number in a rigid rotor rotation process, and the test efficiency is improved. And the identification precision and effectiveness of the rotation working mode of the rigid rotor wing are improved.

This invention discloses a foldable four-bladed seesaw rotor structure, including blades 1, 2, 3, and 4, a power motor, an upper hub, and a lower hub. The upper hub, blades 1 and 3 form an upper seesaw assembly, and the lower hub, blades 2 and 4 form a lower seesaw assembly. The upper seesaw assembly is bolted to the power motor via a flange. The blades form a seesaw structure in pairs, releasing the degree of freedom in the flapping direction and avoiding hub fatigue caused by asymmetrical aerodynamic loads on a rigid rotor. The rotor has high solidity and uniform load distribution. The seesaw structure effectively reduces rotor excitation force and system vibration response. Damping struts ensure that the rotor does not collide with nearby structures due to abnormal operating conditions during flight, and also prevent impacts on people or objects below the rotor from random environmental loads when the rotor is stationary on the ground. During level flight, the blades fold in the direction of the airflow, effectively reducing drag and increasing flight time and range.

The utility model belongs to the technical field of unmanned plane, disclose a kind of rigid rotor heavy load unmanned aerial vehicle of longitudinal formula, including body, the front and rear ends of body are respectively equipped with horizontal attitude control small paddle, for roll control and pitch fine adjustment, the top front side of body is equipped with front main rotor, the top rear side of body is equipped with rear main rotor, front main rotor and rear main rotor are used to generate lift and adjust pitch moment, the bottom of body is equipped with several vertical yaw control small paddle, for generating yaw control moment;Horizontal attitude control small paddle, front main rotor, rear main rotor and vertical yaw control small paddle are all equipped with driving system, the top of body is also equipped with controller system, for building closed-loop feedback control architecture, controller system is connected with driving system;The utility model can meet the heavy load demand, also have cost effectiveness and good flight control performance, effectively overcome the shortcomings of existing quadcopter and traditional longitudinal formula unmanned aerial vehicle.

The invention belongs to the technical field of helicopter propeller hub structure design, and particularly relates to a propeller blade folding device suitable for a rigid rotor wing and a folding method of the propeller blade folding device. Comprising a rack, a folding driving device, a folding pull rod, a main driving pull rod, a driven block, a composite rocker arm, a lock pin connecting rod, a lock pin, a transverse pin connecting rod and a transverse pin, and when the rigid rotor blade is folded, locking of a propeller hub supporting arm, unlocking of the root of the blade and folding of the blade can be achieved; when the rigid rotor blade is unfolded, the unfolding of the blade, the unlocking of the propeller hub support arm and the locking of the shimmy direction of the root part of the blade can be realized. The number of parts and the number of movement joints are small, the number of needed actuators is small, reliability and maintainability are good, and the design and manufacturing cost of the helicopter can be effectively reduced.

The invention belongs to the technical field of active magnetic suspension bearings, and discloses a design method and device for an AMB rigid rotor system based on wave traps, and the method comprises the steps: enabling a plurality of cascaded phase-shift wave traps to be embedded into the AMB rigid rotor system, and setting the wave trapping fundamental frequency of the cascaded phase-shift wave traps as the rotor rotating speed frequency; establishing a closed loop characteristic equation of the AMB rigid rotor system embedded with the cascade phase shift wave trap; setting a system stability condition that roots of all closed-loop characteristic equations have negative real parts; solving partial derivative of the closed-loop characteristic equation to obtain a variation trend equation; and inputting the closed-loop characteristic equation into the cascade phase-shift wave trap, performing phase shift through the change trend equation, and controlling the AMB rigid rotor system through the cascade phase-shift wave trap to obtain the AMB rigid rotor system based on the cascade phase-shift wave trap. The AMBs rigid rotor system using the phase shift wave trap does not need polarity switching when crossing a critical rotating speed, and the control difficulty can be reduced.

A rotor assembly for a rotary wing aircraft includes a rotor hub, a rotor blade coupling coupled to the rotor hub, a hub extender coupled to the rotor hub, and a first bearing assembly. The first bearing assembly includes a clevis coupled to the hub extender and including two arms, each arm including a clevis opening, two cylindrical bearings, each cylindrical bearing extending through one of the clevis openings, a spherical bearing positioned between the two arms and coupled to the rotor blade coupling, and a first pin extending through the two cylindrical bearings and the spherical bearing.

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a dual-rotor Mars unmanned aerial vehicle and a control method. The Mars unmanned aerial vehicle is composed of a front rotor wing, a rear rotor wing, a front rotor wing control system, a rear rotor wing control system, a front power motor, a rear power motor, a vehicle body, an equipment cabin, an undercarriage and a solar cell panel. The fuselage adopts a carbon fiber truss type structure; the Mars unmanned aerial vehicle adopts a tandem double-rotor layout, and a front rotor and a rear rotor are the same in rotating speed and opposite in rotating direction; a front rotor wing and a rear rotor wing of the Mars unmanned aerial vehicle are vertically arranged in a staggered mode, and the front rotor wing and the rear rotor wing are both rigid rotor wings and free of waving deformation. The front rotor control system is located below the front rotor, and the rear rotor control system is located below the rear rotor; the front power motor and the rear power motor respectively drive the front rotor wing and the rear rotor wing to provide pulling force; the undercarriage is a strut-type undercarriage, and the equipment compartment is fixed at the bottom of the fuselage.

The invention belongs to the field of new energy power generation, discloses a split high-speed magnetic suspension turbine rotor structure and an assembling and working method thereof, and solves the problems that the load of a magnetic suspension bearing is increased and the strength and rigidity of a rotor are relatively low due to improvement of the operation efficiency of turbine machinery so as to ensure the stable operation of the rotor. The split high-speed magnetic suspension turbine rotor is of a split structure and comprises a rotor body I, a protective bearing shaft sleeve, a sensor shaft sleeve, a radial bearing shaft sleeve, a pin screw, a rotor body II, a threaded section, a pin hole, a spigot section, a balance hole, a T-shaped blade root moving blade, a fir-tree-shaped blade root moving blade, a thrust disc, a locking nut and a rotor body III. A split rotor structure is adopted, different rotor bodies are made of different metal materials, the strength and rigidity of the rotor are met, meanwhile, the weight of the whole turbine rotor is greatly reduced, the bearing design difficulty is lowered, the rotor length and the running rigidity are guaranteed, and rotor running is more stable and reliable.

The application provides a novel structure of bearing integrated axial rotating transformer, aiming at solving the problems of low precision, poor stability, difficult heat dissipation and complex manufacturing of traditional rotating transformer, and belongs to the field of motor structure. The structure comprises upper and lower stator discs and a double-sided magnetic resistance bearing rotor arranged between the two stator discs. The stator discs are multilayer PCB windings manufactured by using photoetching process, ensuring high precision and mass production. The rotor integrates the rotor part of silicon steel sheet and the high-strength alloy steel bearing part, forms fine and coarse double channels, and can be directly sleeved on the motor shaft, realizing zero-error coaxial rotation and high rigidity. An axial through hole is formed on the rotor, combined with the flow guide port of the stator disc and the drainage groove on the surface of the rotor, forming a high-efficiency cooling airflow channel. The temperature sensor integrated on the PCB can realize real-time thermal compensation and overheat protection. The application is suitable for the application of rotating transformer.

The invention belongs to the technical field of mechanical balance experiments, and particularly relates to a balance experiment device of a rigid rotor, which comprises a rotating shaft capable of being driven by a motor to rotate, a plurality of discs arranged on the rotating shaft, a plurality of counterweights and a power supply module for supplying power to the motor, a plurality of counter bores capable of accommodating counter weights are uniformly distributed on one side surface of the disc along the circumferential direction of the disc; and at least one disc is adjustably sleeved on the rotating shaft through the central hole of the disc. The balance experiment device of the rigid rotor is simple in structure, convenient to carry, low in cost and suitable for application and popularization; the rigid rotor balance experiment teaching aid is especially suitable for being used as a mechanical principle teaching aid and is used for demonstrating a rigid rotor balance experiment to students. When dynamic balance and dynamic unbalance experiments are carried out, students can hold the motor to feel vibration and experience dynamic balance and dynamic unbalance by themselves instead of watching demonstration only and incapable of generating personal feelings in traditional teaching, so that the teaching effect is better.

Compressor rotor structures and methods for harmonizing compressor aerodynamics and rotor dynamics are provided. The disclosed embodiments benefit from compressor designs that effectively improve rotor dynamics (e.g., more rigid rotor structures) without reducing the available aerodynamic range of the compressor. Such designs can include varying the rotor structure along the rotor axis to position respective surfaces defined by respective inlet limits of one or more impellers at varying distances relative to the rotor axis based on respective ratios selected for the configuration of the impeller body. Such arrangements can effectively improve rotor dynamics while simultaneously satisfactorily meeting respective varying aerodynamic requirements at the various compression stages through the impeller body.

The present invention provides a vibration control device and a control method for a floating wind turbine, and belongs to the technical field of marine power generation equipment. The vibration control device includes a wind turbine column and a vibration control component. A wind turbine unit is arranged on the top of the wind turbine column, and the vibration control component includes a rigid swing arm, a damper and a universal joint. Universal joints are provided for the corresponding rigid swing arm and the damper. One end of the rigid swing arm is rotatably connected to the wind turbine column through the corresponding universal joint. The rigid swing arm is arranged at an angle to the wind turbine column and the other end faces a side away from the wind turbine unit. The other end of the rigid swing arm is connected to an anchor cable. One end of the damper is rotatably connected to the wind turbine column through the corresponding universal joint, and the other end of the damper is hinged to the rigid swing arm. The vibration control device and the control method for a floating wind turbine provided by the embodiment of the present invention can effectively improve the vibration control effect of the floating wind turbine and increase the overall service life.

The application relates to a kind of semi-rigid rotor assemblies and electric vertical take-off and landing aircraft, which include base, hub, blade and damping mechanism. The rotation of the waving shaft can be converted into the linear motion of the piston rod through the steering seat, and finally the hydraulic oil in the hydraulic oil cavity is acted on by the piston gel. When the flight state is small disturbance condition, the angle of the waving shaft driven by the blade is small, and the stroke of the piston rod is short, so the hydraulic oil will be slightly compressed, the resistance is small, and the equivalent torsional stiffness of the waving shaft is low. When entering high disturbance condition, the pivot range of the blade increases, the hydraulic oil is compressed sharply, the resistance increases significantly, so the equivalent torsional stiffness of the waving shaft will also increase. As can be seen, the above semi-rigid rotor assembly and electric vertical take-off and landing aircraft can adaptively adjust the equivalent torsional stiffness according to the flight state, so as to better adapt to various different conditions.

The application discloses a kind of based on speed adaptive phase shifter's magnetic suspension impeller nutation mode optimal damping optimization method, comprising the following steps: the dynamic model of asymmetric magnetic suspension rigid rotor system is established;Based on damping optimization theory, the optimal control phase at the frequency near nutation mode is quantitatively solved;The wave-trap parameters of general wave-trap and improved double-T wave-trap are accurately designed, and the same frequency vibration and modal vibration are accurately suppressed;The actual lag phase in the internal of magnetic bearing closed-loop control system is obtained, combined with optimal control phase, and the optimal compensation phase is calculated;Qualitative analysis of the influence of the parameters of phase shifter on its amplitude-phase frequency characteristic;Based on optimal compensation phase, introduce phase shifter;Add speed-based phase shifter parameter adaptive adjustment algorithm.The application has the advantages of simple principle and high reliability, and can effectively suppress the elastic vibration mode in a wide range of full speed based on ensuring that the nutation mode has optimal damping.

The invention belongs to the technical field of unmanned aerial vehicle plateau operation, and particularly relates to a crossed dual-rotor unmanned aerial vehicle cognitive navigation and self-adaptive control intelligent system for a plateau complex environment, which comprises a cognitive navigation module, a self-adaptive control module and an emergency redundancy module, the cognitive navigation module comprises an environment memorizing and matching unit and an airflow perception learning unit, the environment memorizing and matching unit constructs a three-dimensional environment map based on a vision-inertia odometer and realizes satellite-free positioning, and the airflow perception learning unit acquires data in real time and predicts an airflow state through a miniature meteorological radar; the adaptive control module comprises a rigid rotor parameter optimization unit and an anti-interference control algorithm unit, and the rigid rotor parameter optimization unit dynamically adjusts rotor parameters. According to the invention, satellite-free environment positioning can be realized through cognitive navigation, rotor parameters are dynamically optimized in combination with adaptive control, and stable flight under a 5000m plateau and a complex terrain is ensured.

The invention provides a plasma gun air bearing system and an air bearing, and relates to the technical field of air bearings, the plasma gun air bearing system comprises a rotor system, the rotor system comprises a design level, a process level and a control level, the design level is responsible for rotor dynamics design, a hollow shaft structure is adopted for reducing weight and inertia, and the process level is responsible for controlling the process level; a connecting interface is integrally eliminated through interference fit, the working rotating speed is adjusted through rigid rotor design, the design level covers shaft system design at the same time, and the specific modification mode of the shaft system design is as follows: cutting off a bearing position under the condition that an original shaft system is kept as much as possible, newly adding an air floating shaft section, adopting transition design for a conical surface, and adopting a thrust ring for an end face. Finally, the magnetic balance ring and the air floating journal section need to belong to a radial bearing surface, a mechanical bearing is replaced by the air floating bearing, a continuous air film is formed through a radial air path (12 holes are uniformly distributed in the circumferential direction) and a thrust air path (8 fan-shaped cavities are formed in the end face), non-contact supporting is achieved, and metal dust generated by mechanical friction is effectively eliminated.