WO2005087587A1

WO2005087587A1 - Gyroplane, rotor system and control system

Info

Publication number: WO2005087587A1
Application number: PCT/IB2005/050832
Authority: WO
Inventors: Stefan Reich
Original assignee: Stefan Reich
Priority date: 2004-03-08
Filing date: 2005-03-07
Publication date: 2005-09-22
Also published as: DE102004032530B4; DE102004032530A1

Abstract

A rotor blade adjustment device or a device generally influencing aerodynamic force does not require a swash plate, but reacts to cyclic and/or non-cyclic accelerations of a rotation variable supplied to the rotor (3, 4). According to the desired control movement, the driving force is modulated and the control signal is transmitted as torque to the rotor (3, 4) by means of the rotor shaft. The modifications can be mechanically applied to the rotor as a force adjusting the rotor blade (20, 30), or are reversed. All flight movements can be controlled by means of a single drive motor.

Description

Rotary wing, rotor system and control

The invention relates to a rotary wing aircraft, a rotor system and a method for control, in particular by means of adjustment on the rotor and furthermore in particular for cyclical control of the rotor blades, with which the air forces that occur are influenced. In helicopters, the buoyancy is usually changed by adjusting the pitch of the rotor blades, a collective blade adjustment with the same direction blade pitch being used to control the climb and / or a cyclical blade adjustment with usually opposite displacement adjustment on opposite rotor blades to control the flight tendency (pitch, roll) serves. This control is usually carried out via a swash plate, which is variably inclined and mechanically transfers its inclination to the rotating part, so that individual main rotor blades are cyclically adjusted according to the rotation. The mechanics required are complex; Another disadvantage is the susceptibility to malfunction and instability, particularly in relation to adjustments to the adjustment, which is why regular trimming is necessary. Another disadvantage is the additional weight, especially in the case of small remote-controlled hydrofoils, such as those used as drones, for aerial photography or as toys.

WO 96/01503 A describes a piezoelectric actuator for setting the rotor blade inclination, which can rotate with it. One problem is its short travel range and the transmission of the electrical connection.

DE 19528 155 A describes a rotatable rotor blade, the inclination of which can be adjusted by means of a thrust actuator rotating with it. Problems with the connection also occur here, for small helicopters also the disadvantages of the weight.

WO 02/070094 A and DE 101 25 734 A describe a remotely controllable aircraft with at least one rotor blade, the setting angle of which can be adjusted with a coil by means of an electromagnetically generated torsional force. The weight of the electromagnetic device is less. Nevertheless, a separate device is required, which has its own weight and power consumption.

WO 2003 03 9950 A describes helicopter propellers with self-stabilizing properties, in which centrifugal forces are intended to counteract the inclined position when the incline rises. Control is not possible in this way.

No. 3,999,886 A describes a rotor blade in which the angle of attack is controlled by a deflection of the blade in order to dampen resonances, that is to say to improve the dynamic stability against parasitic vibrations. A cyclical blade adjustment or a variation in the driving force is not affected. The bends occurring on the rotor blade are caused exclusively by vibrations and resonances, e.g. occur due to structural coupling between fuselage and rotor and should be avoided if possible.

DE 8505804 U1 describes a toy helicopter, the drive of which is non-rotatably connected by means of a keyway connection in order to reduce the assembly effort.

In model helicopters that do not need a collective blade adjustment, the speed of the rotor is varied via its driving force for height control. The disadvantage here is that the rotor's own moment of inertia significantly delays the reaction.

DE 24 33 801 A describes a helicopter blade adjustment which adjusts the angle of attack in a controlled manner via the centrifugal force as a function of the rotational speed in order to achieve an automatic blade adjustment. This can at most slightly reduce the above disadvantage, since the entire rotor has to be accelerated before a speed change, and as a result an increase in lift results. US 3 108 641 describes a helicopter control system in which centrifugal force-dependent control of the angle of attack is provided by means of weights; the above applies in this regard. Furthermore, due to the weights and their interaction, a blade adjustment is also provided depending on the vertical acceleration and the tendency to fly, in order to increase the stability; Actuators, such as servos, are still required for control.

DE19 396 624 A describes a rotary vane rotor for toys which has an outer protective ring which can be fitted with plug connections. Page 3 paragraphs 2 and 3 also mention a centrifugal force-controlled adjustment of the angle of attack. If you were to provide this with a drive, you would have a device similar to the previous paragraphs, the same o.g. Disadvantage.

DE 43 16712 A1 and DE 1 202649 A describe self-regulating propellers in which a torsionally soft zone or a hinge on the blade base makes it possible to adjust the pitch depending on the thrust force. Until this adjustment takes place, the changed aerodynamic thrust has to occur due to a change in speed, then the blades bend due to their thrust. If one were to apply this principle to a lift-generating rotor of a helicopter, the same disadvantage of deceleration explained above would occur.

It is an object of the present invention to provide a method and a device of the type mentioned at the outset which enable a control for influencing the air forces on the rotor, but which cause the lowest possible weight and at the same time are reliable and inexpensive. This is particularly desirable for miniature helicopters, e.g. can be used for the hobby area, as toys and for educational purposes.

This object is achieved by the invention specified in the independent patent claims. Advantageous refinements of the invention are presented in the subclaims.

According to a first aspect of the invention, a rotation about a rotor axis for controlling the air forces on the rotor is accelerated or varied cyclically and / or in particular non-cyclically; the variation can in particular be a torque transmitted via a rotor shaft or another rotation quantity relating to the rotor rotation, for example the driving force. At least part of a rotor is designed, suspended or articulated in such a way that it reacts to the resulting changes in the amount of rotation with a movement influencing the aerodynamic forces relative to or in addition to its original rotation about the rotor axis.

According to a second aspect of the invention, which can be seen in combination or also independently of the first aspect of the invention, a cyclically variable air force influencing device provided on a supporting rotor or propeller is provided, the air force influencing device being designed such that it responds to cyclic changes in the torque or speed driving the rotor. The device which influences the air force, for example a rotor blade with cyclic blade adjustment, can react in particular to a change in the driving force with which the rotor rotation is also driven.

In order to achieve the reaction, the driving force or a part thereof can be initiated or redirected as a force that displaces the blade. The force can be taken from the rotor. Any components for transmitting a control signal to the rotor can thus be omitted. The control signal can be given via the cyclical variation of a parameter relating to the driving force;

According to a third aspect of the invention, which can be seen in combination or also independently of the first two aspects, a variable rotor drive force is provided for vertical control, a device being provided on the rotor, which is suitable for mechanically redirecting a torque transmitted to the rotor directly into a rotor blade inclination that influences the lift. The redirection can advantageously take place without detours, ie it does not have to react via centrifugal forces or air forces, and therefore works without delay.

A simple possibility for generating a cyclic and / or non-cyclic variation according to the invention is to cyclically and / or non-cyclically modulate the voltage or the current of a driving electric motor as a function of a control signal. In order to synchronize the modulation phase with the rotational position of the rotor, a scanning device can be provided on the rotor. The scanning signals are then fed to a control device which controls the voltage or the current of the electric motor. The torque can thus be varied depending on the desired control movement. The changes are transmitted to the rotor and can be exploited there, for example as a force that adjusts the rotor blade, which can be done by a simple mechanical deflection or introduction within the rotor. Another option is an additional encoder that is coupled to the rotor drive and feeds an additional force or an additional movement.

Cyclic changes enable horizontal control. It is sufficient here if the rotor responds to the given change with a slight geometric asymmetry by means of a corresponding design. Non-cyclical, i.e. continuous changes enable vertical control. Components for transmitting a control signal to the rotor can be omitted; the rotation of the rotor shaft itself transmits the control signal. For this purpose, a parameter of the driving force, or generally a rotation quantity transmitted to the rotor, can be varied; this can be a rotational force (also called torque or torsion) and / or the rotational speed (also called angular velocity or rotational speed) and / or rotational acceleration. Since these variables are causally related to one another, if one variable is varied, the other are also varied; Accordingly, the terms torque and rotational acceleration used here are to be understood generally.

It is sufficient if the torque changes generated are at least partially redirected or coupled into a rotor blade or other movable rotor part in such a way that its angle of attack or another aerodynamically effective variable is articulated or varied. In general, the rotor can be constructed in such a way that it reacts to changes in a torque given to the rotor with an aerodynamically effective change, for example by adjusting its blades. At least a part of the rotation quantity can be deflected mechanically in such a way that the rotor or part of it is set into an additional movement; this additional movement can influence an air force in amount and / or direction.

The coupling or redirection can take place by means of a separate mechanism provided on the rotor, for example as in the exemplary embodiment according to FIG. 11, or simply in that the movable part itself effects the coupling by suitably aligning the degree of freedom of its movement. For example, a rotating mass can be movably suspended, so that it is set into a movement that occurs in addition to the rotational movement. The movement can be coupled to a rotor blade, or can be carried out by the blade as a movable mass itself.

At least a portion of the induced movement is thus, directly or via mechanical coupling, taken part of or transferred to at least part of a rotor blade in such a way that at least one aerodynamically effective parameter varies. Other and additional explanations are given in the features of the subclaims and the exemplary embodiments.

The present invention enables a fully controllable helicopter without any servo motors or other actuators. Are also no push rods, Sliding contacts or the like are required. The weight can be reduced to a minimum. In the case of remote-controlled miniature helicopters, the implementation is very simple, especially since the acceleration forces that are required or occur on the device and air only make up a small proportion. The invention also makes it possible to build an aircraft which can be controlled in all directions of movement using only a single motor, for which purpose missiles which are tailless or which rotate in themselves are particularly suitable. There are advantages for remote-controlled missiles.

The aerodynamic force to be varied need not necessarily be the amount of lift; alternatively or additionally, it can also be a change in direction of the buoyancy force, a shift in the point of application or pressure point or an air resistance, as explained further below and in connection with FIG. 2.

Depending on the intended movement, cyclical changes for thrust control and / or non-cyclical changes for inclination control can be provided. In the case of angle of attack control, for example, a rotor blade can be attached or articulated in such a way that it tends to a larger angle of attack in the event of an instantaneous torque increase or positive rotational acceleration and vice versa in the direction of a smaller angle of attack in the case of temporarily weaker torque or negative rotational acceleration. Alternatively, an opposite movement is also possible.

In particular, a second, opposite rotor blade can perform opposite movements, which supports an inclination control with cyclic blade adjustment, for example as in the exemplary embodiments according to FIGS. 1, 3, 4, 5, 7-10.

Even with conventional remote-controlled helicopters, the driving force for vertical control can be increased or decreased non-cyclically. In order for the control reaction to take place more quickly than would be possible by increasing the speed due to the moment of inertia, a blade adjustment according to the invention can also be carried out collectively. For this, the above second rotor blade can be controlled in the same direction as the first blade, so that both increase their angle of attack as the torque increases. Conventional rotor blades also bend, for example as a result of the lift generated, but not in such a way that it causes a relevant aerodynamic change in force that could be used for control purposes.

In order to combine a collective and a cyclical control with each other, it is sufficient to make only the first blade adjustable, which results in a mixed combination of collective and counter-movement. However, in order to enable better control with several blades, the same and opposite movement can be permitted separately and the cyclic and non-cyclical changes can also be separated from one another, for example by mechanical resonance, as further below and in the exemplary embodiments according to FIGS. 7 and 9 shown.

In order to generally influence the air force, at least one rotor blade can perform an additional movement in addition to the rotor rotation. For this purpose, a joint can be provided which allows mobility, e.g. compared to the rest of the rotor or to the rotor axis. The joint can also be formed by flexible material. An elastic or flexible section can be provided as a suspension for at least part of the rotor blade. Another possibility is that the rotor blade is flexible in itself. With a suitable choice of the degrees of freedom, as described below, it can easily be achieved that changes in the torque induce an additional movement of the rotor blades - in addition to their normal rotary movement.

The rotor and its parts will counteract the changes during rotational accelerations. The reason for this can be, on the one hand, the aerodynamic resistance and, on the other hand, the inertia of the rotor and / or a part thereof, for example a moving weight. The one on the path between the drive and the driven rotor The force transmitted or the rotor part in question therefore varies and can be used for the articulation in many ways, namely both the part resulting from inertia as an acceleration force and the part of the force generated by aerodynamics or both.

A mass can be provided on the rotor in order to utilize the acceleration force; this can also be used directly on a rotor blade, or the weight of the blade itself can be used. The mass can be attached to the rotor shaft at least to a limited extent in a movable or flexible manner, for example as in the exemplary embodiments according to FIGS. 3, 6, 7, 8 and 9, via an inclined tilting axis. Rotational accelerations induce forces and / or movements of the weight relative to the rotor shaft. These movements can be coupled to at least one rotor blade, that is to say initiated or deflected into an aerodynamically effective movement of the rotor blade. The coupling can take place mechanically, for example via a linkage or by the weight being directly on the rotor blade or being provided thereon.

Another option is to tap the torque of the motor where it is transferred to the rotor or a larger part of it, and from there to couple a linkage, for example with a mechanism attached to the rotor, which at least partially absorbs and redirects the torque , Seen from the rotating rotor, this situation can be described in such a way that a restricted torsional movement of the rotor shaft relative to the rotor is permitted, which drives the cyclical articulation. Conventional linkages or any mechanical transmission means can be used for the articulation.

Another possibility is to influence the air force indirectly from the driving force. For example, for cyclic control, different blades can have a different distribution of their bending elasticity along their blade depth. With increased torque, both blades get more lift after acceleration and bend upwards. One of the blades bends more along its rear edge than the other, which results in a different angle of attack at the outer blade ends. After half a turn, the drive can be reduced accordingly and make an opposite difference.

Another possibility is to first set a separate body in motion, for example an auxiliary blade known as a Hiller paddle, by actuating its angle of attack, and actuating the supporting rotor blades with the resulting movement. The term "rotor blade" also includes auxiliary paddles.

In general, according to the invention, the rotational accelerations generated can be used, initiated or redirected for an aerodynamically effective adjustment. A device suitable for this purpose can be provided on the force transmission path, on which the force of a drive motor is transmitted to the rotor or at least to a part thereof, the part absorbing at least part of a counterforce. This device can react to rotational accelerations or changes in torque. It can consist of a mechanical articulation device which articulates an air force influencing device in the rotor, or it can consist of the air force influencing device itself. The force path of the counter torque is included in the possibilities, especially if the rotary wing has a second counter-rotating rotor that absorbs the counter torque.

The invention is particularly suitable for being implemented as a construction and / or retrofit kit for rotary wing aircraft, comprising components for building or retrofitting a rotary wing aircraft with the features according to the invention. Various exemplary embodiments of the invention are illustrated below with reference to FIGS. 1 to 11. Parts that are the same in different figures are provided with the same reference symbols.

Show it:

Figure 1 A rotary wing

Figure 2 A rotor in plan view

Figure 3 A rotor in view

Figure 4 An annular rotor

Figure 5 A second annular rotor

Figure 6 A rotor with counter rotor

Figure 7 A rotor with transverse counterweights

Figure 8 A rotor with an inclined pendulum axis

Figure 9 A rotating rotor with counter rotor

Figure 10 A rotor with an outer ring and

Figure 11 A rotor with a torsion piece.

Figure 1 shows an embodiment of a rotary wing aircraft according to the invention with supporting rotor blades 20 and 30, which are not torsionally rigid but allow a certain rotation. At the moment when the driving force of the electric motor 2 is increased, the wing 20 leads ahead of the weight 23 attached above and thus increases its setting angle and its lift. Conversely, a weight 33 is attached below the wing 30 and leads to a reduction in the setting angle and the lift. After a rotation of 180 degrees, the control electronics 6 reduce the engine power by the amount by which it was increased previously, so that the average given power and the total lift remain the same. The weights 23, 33 can be enclosed by a casing body (not shown). This can have the same shape at both ends of the sheet. The control electronics 6 receives on the one hand a synchronization signal from the scanning device 5, which synchronously scans the rotor rotation, and on the other hand a control signal received via a remote control (not shown). The control electronics 6 generate a cyclically modulated motor supply voltage. The modulation stroke can be defined by the strength of the tax deflection sent; the phase position generated in relation to the synchronization signal can be defined by the direction of the control signal. If the rotor rotation is sensed from the ground (not shown), this results in a simpler control behavior with a control direction that is independent of the fuselage direction.

FIG. 2 shows a top view of a rotor with a rotor blade 30 fixedly attached to a center piece 10 and a further rotor blade 20 which is attached to the center piece 10 via a flexible transition point 21. The flexibility can be achieved by local narrowing of the material or by a separate hinge device. When the torque increases, the rotor blade 20 remains briefly in relation to its central position (position 20a). After a rotation of 180 degrees, the driving torque is reduced and the rotor blade 20 leads again (position 20b). Due to its inertia and / or a bias set up in the suspension 21, the advance can be approximately the same amplitude done like staying behind. Periodic swiveling back and forth causes variation of the lift location, and displacement of the lift center of the rotor relative to the center of rotation or the center of gravity of the missile and thus a flight tendency, i.e. pitching and / or rolling movement.

FIG. 3 shows an exemplary embodiment in which a part of the torque is deflected into a force that changes the angle of attack. Rotor blade 20 is connected to center piece 10 via a flexible point 21 such that it can perform tilting movements about imaginary axis 22. The flexibility can be achieved as described in FIG. 2. The connection point 21 is stiff enough to limit the amplitude of the tilting movement. The second rotor blade 30 is fastened with a corresponding device 31. The axis 22 is inclined upwards by the angle α with respect to the longitudinal direction of the blade. The inclination has the effect that a portion of the torque transmitted from the central piece 10 to the rotor blade 20 is redirected into the tilting movement when the latter changes. The inclination α thus brings about a dynamic coupling of the two rotations to one another. On the other rotor blade, the axis 32 can be inclined downwards in opposite directions, so that the angle of attack there varies simultaneously in the opposite direction. In addition, the axes 22 and 32 are aligned offset by a lead angle β in the running direction. This means that an increase in the angle of attack is accompanied by a simultaneous folding down of the rotor blades and vice versa. This takes place regardless of whether the torque had to be increased or decreased for this. On the one hand, the fact that the axis comes to rest in front of the pressure point of the rotor blade and thus achieves dynamic stability. Furthermore, the resulting pendulum movement ensures that the rotor blade experiences a restoring force like a pendulum due to the centrifugal force of its mass, which supports the rigidity of the suspension 21 and also enables the resulting resonance frequency to be adjusted to a variable number of revolutions. Instead of the lead angle β or in combination therewith, as in FIG. 7, a stabilizer weight can be provided at one location leading and unloading transversely to the rotor blade.

FIG. 4 shows a top view of an exemplary embodiment (only the rotor shown), the rotor blades of which are connected on the outside to a ring 11. At a torque transmitted to the center piece 10, the rotor blades 20 and 30 experience a tensile force along the blade via their inner suspension 21 and 31. At the outer leaf end, the tensile force engages in a front elastic lever 24 and a rear elastic lever 25 and is diverted there in such a way that the front leaf side rises and the rear one lowers, since lever 24 is attached to the outer ring 11 further up than lever 25 is. The tip of the opposing rotor blade 30 can be attached to the ring with levers 34 and 35 shaped in reverse, so that the angle of attack there is reduced at the same time. As shown, the remaining rotor blades 40 and 50 can be attached in such a way that the force coupling described does not take place there. The motor power (not shown) can be controlled as in FIG. 1 or FIG. 6.

Figure 5 shows a similar embodiment with the difference that the torque instead of a tensile force transmits a movement to the rotor blades in such a way that its inner end can lead the rotary movement with increasing torque and accordingly its outer end tilts so that the front lever 24 compressed and the rear lever 25 is pulled apart. Because both levers open below the ring, wing 20 increases its angle of attack. The same applies to wing 30 and its lever 34 and 35 attached above. The control of the motor force (not shown) can take place as in FIG. 1 or FIG. 6.

FIG. 6 shows a top view of a rotary wing which contains a rotor 4 and a counter-rotating counter-rotor 3. The drive control 6 and optionally the entire remaining missile can be attached to the counter rotor. The blade adjustment is provided on a rotor blade 20 of the counter rotor 3. It includes a flexible suspension for a tilting movement about an axis 27 and the push rod 8 for articulation is coupled on the one hand to the motor 2 and on the other hand to the rotor blade 20. Motor 2 is in turn fastened to the outer rotor 3 by means of a flexible suspension 7 in such a way that it can pivot by a certain amplitude due to its counter-torque, and this movement can be passed on to the rotor blade 20 influencing the angle of attack via the push rod 8. In order to only pass on cyclical changes, linkage rod 8 can be an attenuator, for example an oil-filled one. The drive control 6 receives a synchronization signal from the scanning device 5, the opposite station of which is located on the ground.

In connection with a counter rotor, a blade control according to the previous figures is also suitable and can be used or provided for blades of the counter rotor and / or the rotor 4.

FIG. 7 shows an embodiment in which two opposite blades are constructed as a unit 75 and are movable together about an axis 22, which implies changes in the opposing angle of attack, for example by means of a bending hinge attached to the central piece 10. As in FIG. 3, its axis 22 is inclined by an angle α, so that a portion tan α of the driving torque for the blade adjustment is not steered or initiated. 5 ° is suitable as the angle α; 2 to 30 ° are also suitable. In order to generate a counterforce, weights 71 and 72 are attached to the sheet unit in a projecting manner. The term "transverse" contains an essential component perpendicular to the longitudinal axis of the blade, but not necessarily exactly perpendicular. The weights also have a gyroscopic stabilizing effect. They can be attached to a stabilizer bar 73 known from model helicopters or consist thereof. The deflection of the cyclical rotational acceleration into the pitch-adjusting inclination is carried out as in FIG. 3 by the angle a; but here using the moments of inertia of both sheet unit 75 and the weights. In addition, one of the weights 72 is arranged higher than the other 71, based on a symmetrically neutral sheet position. The height difference is dimensioned such that, with the centrifugal force, a torque acts about the tilt axis 22, which is just as strong and has the opposite effect as the torque introduced due to the permanent mean drive torque, so that this is balanced, advantageously both Torques also depend quadratically on the speed.

For a simultaneous collective blade adjustment, the central section 77 of the blade unit 75 can be designed to be torsionally flexible, for example through the narrower point shown. The upper hinge halves 78, 79 act as levers and increase the angle of attack of both blades with increasing torque. Because the rotation is braked more with a higher angle of attack, which increases the torque even more, this results in positive feedback. The strength of the effect can be adjusted by suitable adjustment, for example via the lever length and the stiffness at 77, in such a way that effective load changes with very little speed change and therefore very quickly are possible.

Figure 8 shows a similar embodiment; in contrast to FIG. 7, only the pendulum axis 22 of the stabilizer rod 73 is inclined by the angle α; the tilt axis 80 of the rotor blades 75 is separate and orthogonal to the rotor shaft. Push rod 82 is provided for coupling. 3 ° is a good angle α; 1 to 10 ° are also useful. This arrangement has the advantage over FIG. 7 that the continuously existing torque applied to generate lift is not involved in the pitch adjustment; since only the portion of the torque originating from the drive applied for the cyclical acceleration of the weights 71, 72 is deflected into a control movement via the inclined pendulum axis 22. A rubber hose 81 serves as an elastic connection between the rotor shaft 84 and the center piece 10. The elasticity also includes torsional movements, so that the additional weights can absorb the rotational accelerations faster than the blade unit 75 and independently of this. For a collective blade adjustment, the hinge arrangement explained in FIG. 7 can be provided instead of the joint 80, here with a straight axis. Cyclic components in the torsion connection (rubber hose 81) are decoupled from the torque modulation but absorbed by the weights 71, 72, conversely, non-cyclical components are passed on through the torsion connection. Because of the torsional elasticity of the hinge arrangement, rubber hose 81 can also be omitted. An additional tilting hinge 85, for example a material recess, can be provided in the rotor shaft 84 for decoupling vibrations due to inclination forces.

In FIGS. 7 and 8, the plane of rotation taken up by the weights can temporarily differ from the plane of the rotor blade; the difference corresponds to the amplitude of the pendulum movements taking place about axis 22 and causes the cyclic articulation of the rotor blades. The gyroscopic effect of the weights, which can also be interpreted as the resonance effect of a pendulum hanging in the centrifugal force, has the consequence that a single cyclical change in the driving force causes only a small part of the amplitude induced about axis 22, but these parts are present with any given Sum up the change in a resonant manner. This corresponds to a defined roll or pitch rate of the weight rotation plane, the alignment of which is then taken over by the rotor blades.

The advantage is that a very sensitive reaction is possible, which requires only a small modulation of the driving force and therefore only a small excess of power at the drive. Compared to the prior art, these arrangements have the additional advantage that the stabilizing gyroscope moves completely uninfluenced by air forces, since the usual paddles are not required on the stabilizer bar, and therefore the controlled flight tendency is considerably more stable with respect to interference.

Figure 9 shows a rotating version with counter rotor, the blades are flexible. The flexibility relates in particular to increased flexibility along the dashed lines. This can be achieved by thinning the material at these points. The directions of the bending axes 90 are arranged asymmetrically with respect to the axis of rotation; alternatively or in combination, the bending axes can also be distributed unevenly on rotor blades. The effect is that a stress given to the blades by the counter torque of motor 2 and main rotor 4 converts them into a different, i.e. asymmetrical bending to the rotor axis. In the case shown, several blades lying on one side line up with a momentary increase in torque, and conversely the setting angle of several blades lying opposite flattens out. The light of a radially radiating modulated light-emitting diode 93 is received by the floor and there supplies a synchronization signal for controlling the motor. This controls a power adjustment of the motor 2 that is synchronous with the rotation via a remote control (not shown). All conceivable directions can thus be controlled with only one motor.

FIG. 10 shows a rotor according to the invention with a protective outer ring, a blade unit 75 being suspended and driven as shown and explained in FIG. 7. The outer blade ends are rotatably connected to the ring 11, which is also served by an elastic section or an axle bearing. Another blade unit 76 can be fixedly attached to the outer ring. In the middle, the sheet units cross one another. Upper blade unit 75 is also connected to the rotor shaft for stability. This connection is axially movable, so that it allows the relative movement necessary to control the lower blade.

A similar looking rotor can also be designed to be rigid in itself or without the bending axes 90, and instead, the whole can be connected to the rotor shaft via an inclined tilt axis. Then not the individual blades but the entire rotor tilt and change the lift in its direction.

FIG. 11 shows an embodiment with a torsion piece, the outer part 10b of which can be rotated to a limited extent with respect to the inner part 10a and which are fastened via tilting axes 80a, 80b Rotor blades 20, 30 carries. The twists that occur in the torsion piece during rotational acceleration steer the rotor blades via the linkages 8a, 8b with changes in the angle of attack of the same kind.

The arrangements described can be combined with a collective blade adjustment. For this purpose, as usual, mixing levers can be provided for articulating the rotor blades. The collective control movement can be transmitted through a push rod inside the rotor shaft, so that neither a swashplate nor rotational accelerations on the rotor are necessary. The embodiment shown in FIG. 8 only has to be modified such that a push rod 86 engages directly on a suspension provided for the axis 22 and adjusts its height, and that instead of the blade unit 75, two separately tiltable blades, each with its own push rod 82 and 83, are provided and be coupled to both halves of the stabilizer bar 73. In this way, rod 73 also saves the mixing lever. In general, for the collective blade adjustment of a supporting helicopter rotor, a linkage can be accommodated inside a rotor shaft and can transmit the control movement. The following description applies to all of the exemplary embodiments described above:

The invention includes kits for assembling a device according to the invention, and retrofit kits with components suitable and provided for converting a conventional rotary wing into a device according to the invention.

The described angle α of an inclined tilt axis 22 can also be defined with respect to the rotor blade plane; the difference occurs in particular when, as in FIG. 8, the inclined axis does not affect the rotor blades, but the rotor blade plane is itself movable in relation to the rotor shaft. The inclination can also be defined as an angle y with respect to the rotor axis.

The controlled movement of a rotor blade can generally be a displacement or rotation about one or more also combined translation and / or rotation axes. The movement can be limited to a certain amplitude and is to be carried out in such a way that an aerodynamic force is generally varied, shifted or otherwise influenced.

A control or adjustment of a blade inclination (angle of attack) can be done from the inner blade end. Alternatively or additionally, the blade inclination can be adjusted from the outer blade end. The blade can be warp-resistant or it can twist over its entire length or in sections when adjusted. Twisting In combination with the control from the outer end of the blade has the additional advantage that the changes in lift increase with the radius along the blade, in accordance with the need to initiate an inclination.

The flexibility of the sheet and / or its suspension can be used to control it. For this purpose, the blade and its attachment can be shaped such that the force driving the blade is deflected into a force that tends to the blade. A flexible device, which deflects the driving force into a blade adjustment that takes place in addition to the rotating blade movement, does not have to be restricted to one location of the device. It can be represented in an inner and / or outer leaf suspension and / or in the course of the leaf by its shape.

A change in lift can also be achieved with a spoiler device, which is provided on at least one rotor blade or a part thereof and enables cyclical lift reduction, or by an additional brake flap. The term “rotor blade” and “blade adjustment” generally also include such spoilers or brake flaps, as well as the horizontal adjustment in FIG. 2. Alternatively or in combination, the air resistance can be varied. This can be achieved with a separate blade located on the rotor or part of one, which is attached with a substantial transverse position and movable relative to the air flow, so that it acts like a brake flap, the braking force of which can be varied cyclically. Such a control can induce horizontal flight movement, even without an inclined position.

It may be desirable to achieve a neutral position that is as neutral as possible in the absence of torque modulation and only to achieve a deflection in one direction or the other with a higher or lower driving force. A middle position to avoid asymmetries is particularly desirable for cyclical control. For this purpose, force-generating or -reventing means can be set up in such a way that they absorb or compensate for the effect of the average torque originating from the normal drive. For this purpose, an elastic body can be provided which is suitably prestressed in the central position and / or the centrifugal force of a rotating body can be used.

Resetting forces can be provided to reduce the force on the masses to be moved back and forth quickly for control purposes. These can form a resonance with the masses; their frequency can preferably be matched to the number of revolutions of the rotor, so that primarily the intended cyclical changes are supported or amplified by the resonance. This has the additional advantage that the cyclical adjustment achieved remains neutral with great accuracy even if a non-cyclical adjustment of the driving force takes place at the same time as the flight altitude control. Elastic forces or centrifugal forces can also be used for these restoring forces. The use of a pendulum suspended in the centrifugal force is advantageous because the pendulum frequency is automatically matched to it, even with varying speed. Such a pendulum can also be viewed as a gyroscope, the pendulum movement corresponding to a gyro plane that differs from the rotor blade plane. In the case of a rotor system with projecting weights (71, 72), the weights can additionally be elastically movable in the direction axially to the rotor rotation, for example by bending a rod (73). The elasticity can resonate with the masses. Their frequency can advantageously be tuned to approximately twice the rotor speed

A device with contact or wireless coupling, for example optically, magnetically or electromagnetically, can serve as the scanning device for synchronization with the rotor rotation. A marker, a transmitter or a receiver can be attached to the rotor so that it rotates; the counterpart can be provided on a stationary part of the missile or on the ground. The latter enables synchronization even for fully rotating hydrofoils. This coupling can advantageously be combined with the wireless connection provided for remote control. For this purpose, the receiver can have directional sensitivity, and the current reception strength, which varies with the rotational position, can be evaluated and used to synchronize the cyclical control. In the case of optical transmission, an infrared receiver or transmitter with a directional characteristic radially aligned on the rotor can be used for this; in the case of radio transmission, a rotating antenna with a defined directional characteristic can be provided on the receiver side.

To generate cyclic acceleration, the drive motor can also be designed in such a way that its output torque depends on the rotational position or axis-angular position. A multi-phase motor, for example a collector-free electric motor, can be used for this purpose, the phases of which are fed with asymmetrical power. One of its phases can also serve as a synchronization signal, which can be used for modulating the power. A further possibility is an additional encoder coupled to the rotor, which feeds in an additional force or an additional movement or modulates the rotor rotation cyclically in another way. For this purpose, a rotating eccentric or connecting rod can be used, which is acted upon by a force dependent on the control, for example via an elastic body and / or a magnet, and thus alternately delivers braking and accelerating torque to the rotor shaft. Another possibility is to provide an adjustable eccentric mass which is driven by the rotor shaft and which produces an imbalance or acceleration which is synchronous with the rotor rotation, and in turn feed back or intervene the acceleration force into the rotation of the rotor shaft. These variants are also useful for autogyroes with a supporting but not driven rotor. According to the invention, control signals can be transmitted as rotational forces via the rotor shaft, even without drive energy being transmitted.

The terms rotor axis, rotor shaft or drive shaft do not have to mean that a corresponding part is present separately; generally, it can be an imaginary axis, or a portion of any material that transmits the driving force or carries the rotor. The invention accordingly encompasses devices in which the rotor is driven via an explicit rotor shaft as well as devices in which another rotary bearing and / or for example a co-rotating drive motor or external rotor motor is provided.

In addition to a rotor, one embodiment of the invention includes a counter-rotor, which receives the counter-torque of the drive and uses it in a counter-rotation. The blade adjustment according to the invention can advantageously be implemented in the counter rotor. Its speed can be significantly lower; accordingly, the driving force can be modulated more slowly.

The invention can be used both for helicopters with a stationary fuselage, which also includes those with a plurality of supporting rotors and those with a rotor and coaxial counter-rotor, as well as for completely self-rotating missiles, in which the drive unit and also the control system with one Counter rotor is connected and rotates. In the case of missiles rotating in themselves, there is an additional advantage for the cyclic blade adjustment according to the invention in that the center of gravity is naturally always centered over time. Since no other device-related drifts can occur, very small cyclical changes are sufficient to control the flight direction.

The invention can be used in rotary-wing aircraft with a plurality of rotors with separately variable drive power for tilt control. In this case, individual rotors can be provided with the collective blade adjustment described, for faster control behavior.

The collective blade adjustment, which reacts to changes in torque, can be provided on a tail rotor according to the invention, even if the main rotor is of conventional design. A separate drive motor can be provided for the tail rotor. This version offers the advantage of a quick-reacting vertical axis control, also via engine power adjustment.

Advantageous for simple control behavior, load-bearing rotor blades can be bent lengthwise in such a way that their outer ends point downwards, that is to say the upper side is at least partially convex. Thus, as with a Frisbee, a pressure point shift to the front can be largely avoided, which normally shifts the center of lift from the center of the rotor to the windward side and would result in a lateral breakaway due to the precession effect of the rotor rotation.

A separable coupling, for example a snap connection in the rotor shaft, can advantageously be provided between the fuselage and the rotor to increase the safety against breakage.

The device influencing the air force in the rotor can also be designed in such a way that it responds to cyclical changes whose frequency is a multiple of the rotor speed.

The term blade adjustment is not limited to the angle of attack. The invention can be summarized as follows: A rotor blade adjustment or a device influencing air force in general does not require a swash plate, but rather reacts to cyclic and / or non-cyclical accelerations of a rotation quantity given to the rotor. Depending on the desired control movement, the driving force can be modulated and the control signal can be transmitted to the rotor as torque via the rotor shaft. There, the changes can be mechanically initiated or redirected as a force adjusting the rotor blade. All flight movements can be controlled with just a single drive motor.

Rotor system, wherein a torque which is preferably given to a rotor (3, 4) by means of an electric motor is modulated periodically and synchronously with the rotor rotation as a function of a control signal. The modulation in particular can be carried out by varying the electrical control as a function of a control signal. The control signal can be transmitted and received wirelessly from the ground.

Rotor system, with means for generating a counterforce, which counteracts this force or the resulting adjusting effect when the average driving force is applied, so that when the average driving force is exceeded, adjustment takes place in one direction and in the opposite direction if the force is undershot.

The above rotor system, the means for generating a counterforce being implemented at least partially by utilizing centrifugal forces.

Rotor system in which at least a part of a rotor blade (20, 30) is attached or designed to be movable relative to the rest of the rotor (3, 4) as a device influencing the air force, and that the degrees of freedom of movement are set up in such a way that the driving force is at least partially is introduced or redirected into a force adjusting the rotor blade (20, 30).

An aerodynamic force can be varied in at least one of the following sizes: amount of lift or thrust, location of lift, direction of lift or thrust, air resistance.

At least one rotor blade (20, 30) can be movably or flexibly attached to the rest of the rotor in such a way that when a driving torque is increased it remains behind in its rotational movement and leads when it is lowered.

At least one rotor blade (20, 30) of a lift-generating rotor (3, 4) can be attached to its drive (2) in such a way that it can be moved or flexibly such that the orientation of the axis of rotation assumed is variable and, in the case of cyclical torque variations, differs from the original one Alignment shifts.

Rotor system in which the outer ends of the rotor blades (20, 30) are connected to a ring (11); Furthermore, such a rotor system with an inner suspension (21) of the rotor blades (20, 30), which is suitable for at least partially diverting the driving torque into a tensile force along the rotor blade (20, 30) and with one at at least one rotor blade end Ring provided external suspension device (24, 25; 34, 35), which is suitable to divert the tensile force occurring into a change in the angle of attack.

Rotor system in which the outer ends of the rotor blades (20, 30) are connected to a ring (11); wherein the suspension of the rotor blades (20, 30) is designed in such a way that the driving torque leads the inner ends of the rotor blades to the outer ones, and that a suspension device (24, 25; 34, 35) is provided at the outer rotor blade end which is suitable to divert the tilting movement occurring in relation to the ring (11) into a change in the angle of attack. The angle of attack or the angle of attack can be varied at least partially by twisting the rotor blade (20, 30).

Rotor system in which the rotor blades (20, 30) are bent or curved lengthwise so that their outer ends are lower than the inside.

The various inventive ideas, designs and methods described here can be combined as desired, depending on the application and intended properties.

Claims

claims

1. Rotor system with at least one rotor (3, 4), characterized by the following features: • A rotation about a rotor axis can be cyclically accelerated or varied for control purposes; • at least a part (20, 30) of the rotor (3, 4) is designed, suspended or articulated in such a way that it responds to the resulting change in a rotational variable with a movement influencing the aerodynamic forces relative to or in addition to its original rotation about the rotor axis responding.

2. Rotor system according to claim 1, characterized by an on a lift-generating rotor (3, 4) provided adjustable air force influencing device (20, 30), wherein the air force influencing device (20, 30) is designed so that it is cyclical Changes in a torque or speed transferred to the rotor respond.

3. Rotor system according to one of the preceding claims, characterized in that at least a part (20, 30/71, 72) of the rotor (3, 4) can perform a restricted movement relative to a rotor shaft, which movement component in the direction of rotation of the rotor (3, 4), and this movement is coupled to an aerodynamically effective movement within the rotor (3, 4).

4. Rotor system according to one of the preceding claims, characterized by a synchronization device (5) for generating a synchronous to the rotor rotation signal, an electric motor (2) as a drive, and a device (6) for synchronous cyclic modulation of its electrical power.

5. Rotor system according to one of the preceding claims, characterized in that at least one rotor blade (20, 30) is provided or coupled with a mass (23, 33/71/11) in such a way that inertial forces of the mass occur when rotational accelerations occur exert a force distributing the angle of attack on the blade.

6. Rotor system according to one of the preceding claims, characterized in that the additional movement has a mechanical resonance which responds to the cyclical changes.

7. Rotor system according to one of the preceding claims, characterized in that the additional mobility is given by material elasticity and / or twisting of at least parts of the rotor (3, 4).

8. Rotor system according to one of the preceding claims, characterized in that the mobility influencing the aerodynamic forces is given about an axis which is inclined at a defined angle (α) with respect to the rotor blade plane or with respect to the plane perpendicular to a rotor shaft.

9. Rotor system according to claim 8, characterized in that the inclined axis relates to the mobility of a rotor blade.

10. A rotor system according to claim 8, characterized in that the inclined axis relates to the mobility of a body or stabilizer bar which extends transversely to the rotor blades and carries or contains an additional mass, the movement of which is coupled to the blade inclination.

11. The rotor system according to claim 10, characterized in that a mobility is provided between the rotor shaft and a rotor blade, which allows a limited torsion about the rotor axis and in which the connection between the rotor shaft and additional mass is not involved, so that when the drive changes Torque accelerates the additional mass faster than the rotor blades.

12. A rotor system with a variable rotor drive force for vertical control, in particular according to one of the preceding claims, characterized by a device (77, 78, 79) provided on the rotor (3, 4), which is designed in such a way that it has at least part of a the torque transmitted to the rotor (3, 4) is mechanically deflected into a rotor blade inclination which influences the lift, with at least one rotor blade increasing its angle of attack when the torque is increased.

13. Rotor system according to one of the preceding claims, characterized in that a device (77, 78, 79) for the deflection is designed such that an inertia counter torque occurring during rotational accelerations causes a force adjusting the angle of attack on at least one rotor blade, which in particular at positive angular acceleration increases the angle of attack and decreases negative angle of attack the angle of attack.

14. Rotor system according to one of the preceding claims, characterized by the following features: • at least one component (23, 33; 71, 72) of the rotor (3, 4) which carries or contains at least a portion of the rotor mass spaced from the rotor axis attached so flexibly or movably with respect to the rotor axis that a rotational acceleration about the rotor axis induces an additional, in particular restricted movement of the mass relative to the rotor rotation; • at least part of a rotor blade (20, 30) is mechanically connected to the mass or consists of such that the induced movement at least partially includes or stimulates a movement of the rotor blade (20, 30); • The additional movement of the rotor blade (20, 30) can cause a change in an aerodynamic force.

15. Rotor system according to one of claims 2 to 14, characterized in that the air force influencing device is provided on the tail rotor.

16. Construction or retrofit kit for a rotor system, characterized by components which are provided for the construction or retrofitting of a rotor system according to one of the preceding claims, and by an adjustable rotor blade control which responds to torque or rotational acceleration.

17. Construction or retrofit kit according to claim 26, characterized by a motor control device which includes a synchronous motor force modulation for rotor rotation.

18. Construction or retrofit kit claim 16 or 17, characterized by a rotor part (20, 30) which is designed so that it can be suspended or pivoted in such a way that it changes or rotates with a movement influencing the aerodynamic forces with a movement which influences the aerodynamic forces to its original rotation around the rotor axis.

19. Rotary wing characterized by a rotor system according to one of claims 1 to 18.

20. A method for controlling a rotary wing aircraft, characterized by the following method steps: • a rotary variable relating to the rotation of a rotor (3, 4) is varied or modulated cyclically as a function of a control signal; At least a part of the rotation quantity is mechanically coupled or deflected to at least a part of the rotor in such a way that it is set into a movement which takes place in addition to or different from its original rotation about the rotor axis; • With the help of the additional movement, an aerodynamic parameter is influenced in at least one of the following sizes: lift or thrust strength, lift or push direction, location of the lift, air resistance.

21. The method according to claim 20, characterized by the following features: the deflection takes place in that at least one component of the rotor which carries or contains at least a portion of the rotor mass spaced from the rotor shaft and is attached flexibly or movably relative to the rotor shaft the rotor shaft occurring spin reacts with an additional movement relative to the rotor rotation; • The additional movement is at least partially coupled or transmitted to at least part of a rotor blade, in that it is mechanically connected to the mass or consists of it.