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针对微型无人直升机体积小、载重量轻的特点,论述了一种利用惯性力的作用和材料的弹性性能对旋翼进行操纵的机构。该机构对电机驱动力矩的变化反应灵敏,能够满足控制微型无人直升机各种飞行模态的需要。考虑离心力的影响,应用Hamilton原理建立了桨叶的摆振运动方程,并用广义Galerkin法对方程进行求解,分析了微型直升机旋翼桨叶变速度旋转时在摆振平面内的弯曲振动。结果表明:轴心到桨叶根部的回转半径和旋翼的变速度回转对桨叶变形有影响;旋翼初始回转角速度对桨叶的摆振频率有影响。
Aiming at the characteristics of small unmanned helicopter and its light weight, this paper discusses a mechanism that uses the inertial force and the elastic properties of materials to control the rotor. The agency is responsive to changes in motor drive torque and can meet the needs of controlling various flight modes of a mini unmanned helicopter. Taking into account the influence of centrifugal force, the governing equation of the blade was established by using the Hamilton principle. The generalized Galerkin method was used to solve the equation. The bending vibration in the plane of vibration was analyzed when the rotational speed of the rotor blade was rotating. The results show that the radius of gyration from the axis to the blade root and the variable speed gyration of the rotor have an effect on the blade deformation. The initial gyration angular velocity of the rotor has an influence on the blade vibration frequency.