CN-121995966-A - Rotor out-of-control identification processing method and device, aircraft and storage medium

CN121995966ACN 121995966 ACN121995966 ACN 121995966ACN-121995966-A

Abstract

The application relates to a rotor wing out-of-control identification processing method and device, an aircraft and a storage medium. The method comprises the steps of obtaining a rotating speed signal of a motor of an aircraft rotor system, extracting preset rotating speed characteristics according to the rotating speed signal, identifying different out-of-control identification results according to the preset rotating speed characteristics, and correspondingly executing different out-of-control treatments on the motor according to the different out-of-control identification results. According to the scheme provided by the application, the out-of-control identification and corresponding treatment of the rotor system can be realized under the condition that the structural parts are not added, so that the out-of-control or damage of the rotor system is avoided.

Inventors

YU XIYANG
WEI BO
ZHANG ZHENXING
WANG SHAOFEI
Wen Kaisheng
WANG QUANGUI

Assignees

广东汇天航空航天科技有限公司

Dates

Publication Date: 20260508
Application Date: 20241104

Claims (12)

1. A rotor out of control identification process, the method comprising: Acquiring a rotating speed signal of a motor of an aircraft rotor system; extracting preset rotating speed characteristics according to the rotating speed signals; different out-of-control recognition results are recognized according to the preset rotating speed characteristics; And correspondingly executing different runaway treatments on the motor according to the different runaway identification results.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises, Different out-of-control recognition results are recognized according to the preset rotating speed characteristics, wherein the different out-of-control recognition results comprise a first recognition result which is used for recognizing that the rotating speed is not out of control but has a tendency of out of control according to the preset rotating speed characteristics; And correspondingly executing different out-of-control treatments on the motor according to the different out-of-control identification results, wherein the method comprises the following steps of: And according to the first identification result, the rotating speed of the motor is adjusted to realize the control of the rotating speed.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises, Different out-of-control recognition results are recognized according to the preset rotating speed characteristics, wherein the recognition of different out-of-control recognition results comprises recognition of a second recognition result with out-of-control rotating speed according to the preset rotating speed characteristics; And correspondingly executing different out-of-control treatments on the motor according to the different out-of-control identification results, wherein the method comprises the following steps of: and stopping the motor to maintain the target rotating speed according to the second identification result, and outputting a preset torque to realize the out-of-control protection of the rotating speed.
4. A method according to claim 3, characterized in that the method further comprises: When the attitude of the aircraft has stabilized and a runaway rotor system has been shutdown and the rotor system is undamaged, the rotor system is restarted.
5. The method according to claim 2, wherein the identifying, based on the preset rotational speed feature, a first identification result that the rotational speed has not been out of control but has a tendency to be out of control comprises: according to the preset rotating speed characteristics, a preset condition is met, the time for meeting the preset condition is in a preset time range, and the times for meeting the preset condition reach a first threshold; A first recognition result is recognized that the rotational speed has not been out of control but has a tendency to be out of control.
6. A method according to claim 3, wherein the identifying a second identification result that the rotational speed has been out of control based on the preset rotational speed characteristics comprises; according to the preset rotating speed characteristics, a preset condition is met, the time for meeting the preset condition is in a preset time range, and the times for meeting the preset condition reach a second threshold; and identifying a second identification result that the rotating speed is out of control and cannot be recovered.
7. The method according to claim 5 or 6, characterized in that: the preset rotating speed characteristics comprise at least one of the oscillating amplitude of a rotating speed curve corresponding to a rotating speed signal, the oscillating frequency of the rotating speed curve and the rotating speed; The preset rotating speed characteristic meets preset conditions and comprises the following steps: The oscillation amplitude of the rotational speed profile satisfies a first preset condition, and/or, The oscillation frequency of the rotational speed profile meets a second preset condition and/or, The rotating speed meets a third preset condition.
8. The method according to claim 7, wherein: the oscillation amplitude of the rotation speed curve meets a first preset condition, including that the oscillation amplitude of the rotation speed curve is larger than a preset amplitude threshold value and/or, The oscillation frequency of the rotation speed curve meets a second preset condition, comprising that the oscillation frequency of the rotation speed curve is larger than or equal to the first preset frequency and smaller than or equal to the second preset frequency, and/or, The rotating speed is greater than or equal to the first preset rotating speed and less than or equal to the second preset rotating speed.
9. A rotor loss of control identification processing device, the device comprising: the signal acquisition module is used for acquiring a rotating speed signal of a motor of the rotor system of the aircraft; the characteristic extraction module is used for extracting preset rotating speed characteristics according to the rotating speed signals; The characteristic recognition module is used for recognizing different out-of-control recognition results according to the preset rotating speed characteristics; and the result processing module is used for correspondingly executing different out-of-control processing on the motor according to the different out-of-control identification results.
10. The apparatus of claim 9, wherein the device comprises a plurality of sensors, The characteristic recognition module comprises a first recognition sub-module, a second recognition sub-module and a third recognition sub-module, wherein the first recognition sub-module is used for recognizing a first recognition result with a rotating speed which is not out of control but has a tendency of out of control according to the preset rotating speed characteristic; The result processing module comprises a first processing sub-module for adjusting the rotating speed of the motor according to the first identification result to realize the out-of-control suppression of the rotating speed, or, The characteristic recognition module comprises a second recognition sub-module, a first recognition sub-module and a second recognition sub-module, wherein the second recognition sub-module is used for recognizing a second recognition result that the rotating speed is out of control according to the preset rotating speed characteristic; The result processing module comprises a second processing sub-module, a first recognition sub-module and a second recognition sub-module, wherein the second processing sub-module is used for stopping the motor to maintain the target rotating speed according to the second recognition result and outputting the preset torque so as to realize the out-of-control protection of the rotating speed.
11. An air-craft having the function of a vehicle, characterized by comprising the following steps: processor, and A memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any of claims 1-8.
12. A computer readable storage medium having stored thereon executable code which when executed by a processor of an electronic device causes the processor to perform the method of any of claims 1-8.

Description

Rotor out-of-control identification processing method and device, aircraft and storage medium Technical Field The application relates to the technical field of folding rotors, in particular to a rotor out-of-control identification processing method and device, an aircraft and a storage medium. Background Folding rotors (folding rotors) in aircraft, also known as folding blades, are designed primarily to increase the span of the rotor blades as much as possible without increasing the size of the aircraft. The folding rotor keeps the blades straightened through the rotation centrifugal force, but when the rotor is in resonance or other factors cause the blades to be in a straightened state in the rotation process, the control of the rotating speed of the folding rotor system is out of control. In order to avoid the unexpected rotational speed out of control problem in the rotation process of the folding rotor, generally, a bayonet lock structure is added in the folding rotor in the related art, so that the rotor is in a hard connection state with the hub when in an unfolded state, and the rotational speed divergence is avoided. However, this approach results in the need to add multiple sets of bayonet arrangements to the overall mechanism, thereby increasing the overall weight of the rotor assembly. In addition, the bayonet lock structure has the risk of inefficacy, can lead to the rotor to fail normally, or lead to taking place out of control in the course of the work. Accordingly, the rotor runaway handling method in the related art needs to be further improved. Disclosure of Invention In order to solve or partially solve the problems existing in the related art, the application provides a rotor out-of-control identification processing method, a device, an aircraft and a storage medium, which can realize out-of-control identification and corresponding processing of a rotor system under the condition of not adding structural components, thereby avoiding the rotor system from being out of control or damaged. The first aspect of the application provides a rotor out-of-control identification processing method, which comprises the following steps: Acquiring a rotating speed signal of a motor of an aircraft rotor system; extracting preset rotating speed characteristics according to the rotating speed signals; different out-of-control recognition results are recognized according to the preset rotating speed characteristics; And correspondingly executing different runaway treatments on the motor according to the different runaway identification results. In one embodiment, the identifying different out-of-control identification results according to the preset rotating speed characteristics comprises identifying a first identification result with a rotating speed which is not out of control but has a tendency of out of control according to the preset rotating speed characteristics; And correspondingly executing different out-of-control treatments on the motor according to the different out-of-control identification results, wherein the method comprises the following steps of: And according to the first identification result, the rotating speed of the motor is adjusted to realize the control of the rotating speed. In one embodiment, the identifying different out-of-control identification results according to the preset rotation speed characteristics includes identifying a second identification result that the rotation speed is out of control according to the preset rotation speed characteristics; And correspondingly executing different out-of-control treatments on the motor according to the different out-of-control identification results, wherein the method comprises the following steps of: and stopping the motor to maintain the target rotating speed according to the second identification result, and outputting a preset torque to realize the out-of-control protection of the rotating speed. In one embodiment, the method further comprises: When the attitude of the aircraft has stabilized and a runaway rotor system has been shutdown and the rotor system is undamaged, the rotor system is restarted. In an embodiment, the identifying, according to the preset rotation speed characteristic, the first identification result that the rotation speed is not out of control but has a tendency of out of control includes: according to the preset rotating speed characteristics, a preset condition is met, the time for meeting the preset condition is in a preset time range, and the times for meeting the preset condition reach a first threshold; A first recognition result is recognized that the rotational speed has not been out of control but has a tendency to be out of control. In one embodiment, the identifying the second identification result that the rotation speed is out of control according to the preset rotation speed characteristic includes; according to the preset rotating speed characteristics, a preset condition is met, the tim