The invention discloses a variable-pitch structure for a single-layer variable-pitch coaxial double-propeller unmanned aerial vehicle and a control method, and relates to the technical field of variable-pitch control of coaxial double-propeller unmanned aerial vehicles, and the variable-pitch structure comprises an active single-layer variable-pitch mechanism and a passive single-layer variable-pitch mechanism. When the single-layer variable-pitch coaxial double-propeller unmanned aerial vehicle needs to move in the horizontal direction, the active variable-pitch propeller blade layer is driven by the swash plate mechanism to actively change the pitch and generate the horizontal torque, the passive variable-pitch propeller blade layer passively inclines under the passive action of aerodynamic force to generate the horizontal torque, the fixed propeller hub connecting structure form of the original passive variable-pitch propeller blade layer is changed, and the single-layer variable-pitch coaxial double-propeller unmanned aerial vehicle can move in the horizontal direction. A passive single-layer variable-pitch mechanism is adopted, a passive variable-pitch propeller hub and a pair of propeller hub movable pin shafts are additionally arranged, and the propeller hub movable pins and the axis of the propeller hub are arranged at an included angle of a typical value of 45 degrees or 135 degrees, so that the pitch can be periodically changed under the passive action of aerodynamic force, the reaction torque caused by the gyroscopic effect during high-speed flight is reduced, and the service life of the propeller is prolonged. And the unmanned aerial vehicle has better controllability and flight stability.
本发明公开了用于单层变距共轴双桨无人机的变距结构及控制方法,涉及共轴双桨无人机变距控制技术领域,包括主动式单层变距机构和被动式单层变距机构。本发明在单层变距共轴双桨无人机需要水平向运动时,主动变距桨叶层在旋转斜盘机构的驱动下主动变距,产生水平力矩,被动变距桨叶层在气动力被动作用下被动倾斜产生水平向力矩,改变原被动变距桨叶层的固定桨毂连接结构形式,采用被动式单层变距机构,增加被动变距桨毂和一对桨毂活动销轴,桨毂活动销与桨毂轴线呈典型值45°,或135°夹角布置,使其在气动力被动作用下也会进行周期变距,减小高速飞行时因陀螺效应带来的反作用力矩,使无人机拥有更好的操控性和飞行稳定性。
Variable-pitch structure for single-layer variable-pitch coaxial double-propeller unmanned aerial vehicle and control method
用于单层变距共轴双桨无人机的变距结构及控制方法
2024-03-29
Patent
Electronic Resource
Chinese
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