EP0857140A1 - Air carrier steerage control device - Google Patents

Air carrier steerage control device

Info

Publication number
EP0857140A1
EP0857140A1 EP97930552A EP97930552A EP0857140A1 EP 0857140 A1 EP0857140 A1 EP 0857140A1 EP 97930552 A EP97930552 A EP 97930552A EP 97930552 A EP97930552 A EP 97930552A EP 0857140 A1 EP0857140 A1 EP 0857140A1
Authority
EP
European Patent Office
Prior art keywords
control
actuator
controlling
energy source
gas
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP97930552A
Other languages
German (de)
French (fr)
Inventor
Jean-Pierre Bourgogne Hydro CHOPARD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Direction General pour lArmement DGA
Etat Francais
Original Assignee
Direction General pour lArmement DGA
Etat Francais
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Direction General pour lArmement DGA, Etat Francais filed Critical Direction General pour lArmement DGA
Publication of EP0857140A1 publication Critical patent/EP0857140A1/en
Withdrawn legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/32—Range-reducing or range-increasing arrangements; Fall-retarding means
    • F42B10/48—Range-reducing, destabilising or braking arrangements, e.g. impact-braking arrangements; Fall-retarding means, e.g. balloons, rockets for braking or fall-retarding
    • F42B10/56—Range-reducing, destabilising or braking arrangements, e.g. impact-braking arrangements; Fall-retarding means, e.g. balloons, rockets for braking or fall-retarding of parachute or paraglider type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D17/00—Parachutes
    • B64D17/22—Load suspension
    • B64D17/34—Load suspension adapted to control direction or rate of descent

Definitions

  • the invention relates in particular to the field of dropping objects from any type of aircraft, aerostat or spacecraft, and in particular relates to a method of controlling the direction of an air vector
  • the subject of the invention is also a device for controlling the direction of an aerial sailing vector, the latter possibly, for example, being a sailing load-carrying device, a kite, a balloon or a delta plane
  • the latter describes means for guiding a parachute to a determined location comprising an electric power source, a loop for regulating the length of each set of control lines comprising, for each set, an electric motor connected to a drum. or to a rack system itself connected to the assembly, as well as a location system, of the GPS type, and a microprocessor capable of comparing the position of the parachute with a predetermined trajectory and stored in memory and, as a function of this comparison, to control or not the operation of electric motors
  • Such a device functions correctly when the drop takes place at low altitude, for example 1000 meters. But, for a given dimensioning, the more the drop is carried out at high altitude and the more the performance of the device deteriorates. In fact, the higher the drop altitude is high and the longer the flight time, and, a fortiori, the greater the amount of energy to be supplied to the engine.
  • a control device for controlling the direction of an air vector, capable of operating from a low mass energy source, whatever the planned drop altitude
  • a control device is of the type comprising an energy source, at least one control line, at least one actuator acting on this control line, and a control logic for the actuator, and is characterized in that the energy source is constituted by a gas and that the actuator is pneumatic
  • patent GB 2 240 954 which describes a device for controlling the position of the rudders of a missile comprising an energy source constituted by a gas under pressure, at least one control surface, at least one actuator tire acting on these control surfaces and which comprises two chambers and two pistons connected to opposite ends of a lever secured to the control surface, and a loop for regulating the position of the control surface, comprising in particular a control position sensor, and means for controlling the position of two valves, one connecting the power source and the chamber of the first piston to the chamber of the second piston and the other connecting the chamber of the second piston to the outside
  • Another object of the invention is to eliminate these drawbacks by proposing in particular control means capable of correcting any asymmetry or variation in length of the control lines and no longer requiring a "zero" reference.
  • a device for controlling the direction of an air vector is of the type comprising an energy source constituted by a gas under pressure, at least one control surface, at least one pneumatic actuator acting on these control surfaces, and a control loop, and is characterized in that the control loop is a control loop for the pressure exerted by the gas on the actuator
  • control surface By control surface, one understands any mechanical organ of which a modification of its position in flight causes a modification of the direction of the air vector
  • the loop for regulating the pressure exerted by the gas on the actuator comprises a pressure regulator and its associated logic
  • control means are associated with means for locating this vector and / or the position of a transmitter.
  • the latter comprise means constituting an interface between the pneumatic actuator and the control surfaces, these means being capable of increasing the stroke of the actuator and / or of reducing the force exerted by the actuator on the control surfaces
  • these means consist of at least one pulley
  • control surfaces are constituted by control lines connected to the trailing edges of a sail. It is also known that existing devices operating on the principle of controlling the position of the lines are incapable of reacting to turbulence because they keep fixed The position of the control lines This incapacity can lead to damage to the sail.
  • the aim of the invention is also to propose a control method capable of solving this problem.
  • a method for controlling the direction of an air vector of the type comprising an energy source, at least one control surface, at least one actuator acting on these control surfaces, and a control logic for the actuator, is characterized in what it includes a step of controlling the force exerted by the actuator on the control surface
  • This control of the force exerted by the actuator can be carried out by a loop for regulating the pressure exerted on the actuator, the force being equal to the product of the pressure by the active surface of the actuator.
  • FIG. 1 presents a general diagram of a device carrying sail loads
  • FIG. 2 shows a general diagram of pneumatic control means
  • FIG. 3 shows means for multiplying the stroke of a jack
  • FIG. 4 schematically shows in a simplified manner means for controlling two lines with a single jack
  • FIG. 5 shows a complete diagram of the control means of two lines with a single cylinder
  • FIG. 1 presents the main elements of a load-bearing device which can be released under sail. This comprises braking means 1 of a load 2 and navigation means 3
  • the braking means 1 consist of a sail 4, lines 5, and a chassis 6 on which the load rests 2
  • the navigation means 3 comprise, in this embodiment, means 7 for locating the device, the most widespread being known by the Anglo-Saxon name of GPS, and means 8 for controlling the direction of the device by action on control surfaces 9
  • control surfaces 9 consist of control lines, called controls 9 in the following and generally consist of a group of lines acting on the trailing edge of the sail 4
  • FIG. 2 shows a simplified diagram of the means 8 for controlling the direction of the device according to the invention. They comprise a source of pressurized gas 10, a regulation loop 11, 12 of the pressure exerted by the gas on the actuator, a pneumatic cylinder 13 and a control 9
  • the cylinder comprises an active chamber 13-
  • the head 142 of this piston 14 is connected to the control 9
  • the regulation loop comprises a pressure regulator 11 and its associated control logic known in themselves. They comprise control and adjustment members, the function of these members being respectively to read the value of the pressure upstream of the actuator, that of the setpoint and that of the setpoint measurement deviation, and of adjusting the value of the setpoint and that of the force exerted by the actuator on the control surface exerted controlled by a control logic 12
  • the pressure regulator 11 and the associated control logic 12 are of known type They are supplied at low voltage by a battery of reduced dimensions In general, on the one hand the stroke of the piston is small and on the other hand the surface 14-j of the piston on which the pressure is exerted is relatively large.
  • a piston of 63 m / m diameter has a surface of 30 cm2 and develops, under a pressure of 10 bars, an effort of 300 kg It is therefore judicious, for practical reasons, to provide means 15 ensuring on the one hand the multiplication of the stroke of the jack, and on the other hand the reduction of the effort, a standard sail control not requiring more than 50 kg of effort to be pulled to the maximum
  • FIG. 3 shows an exemplary embodiment of such means 15
  • the device of Figure 4 allows to control the two right and left commands with a single regulator 11 and a single cylinder 13 For this, the ends of the two lines, not connected to the sail, are joined by a cable which passes through the groove a pulley 15 mounted madly on the head 142 of the piston Thus, if the two commands 9-] and 92 are free, the force provided by the ve ⁇ n applies simultaneously to the two commands, the balancing being automatic, if, on the other hand one of the commands is blocked, this effort only applies to the other command
  • FIG. 5 represents an alternative embodiment of the means 8 for controlling the direction of the device by action on the controls 9 allowing both - ordering elements 9-
  • control means 8 comprise, as mentioned previously, a source of pressurized gas 10, a pressure regulator 11 controlled by the control logic 12, a pneumatic cylinder 13 and pulleys 15 mounted idle respectively on the head of the piston 14 and on the cylinder of the cylinder 13. These pulleys are 5, respectively 15-), 152, 1 ⁇ 3 > 15. ⁇ , 155 thus offering a division factor of 6.
  • the two controls 9 are connected by a cable which passes through the groove of each of these pulleys.
  • Each of these assemblies comprises a jack 17, the active chamber 18 of which is supplied with pressure by a solenoid valve 19 from the high pressure circuit originating from the source 10.
  • the piston 20 of this jack presses on a brake shoe 21 located opposite a support brake shoe 22 secured to the cylinder of the jack, the corresponding hanger passing between the two brake shoes 21 and 22.
  • the solenoid valve 19 of each of said assemblies is controlled by the control logic 12.
  • the operation of the device is as follows.
  • the coordinates of this point are programmed, before dropping, in the control unit 12.
  • the device is then dropped to a sufficient altitude to allow it to reach the landing point.
  • Navigation management is then carried out using software of known type and from information provided by the location means 7 and by actions on the commands 9-d or 92- Within the framework of the invention , the means of ordering the elements
  • the method of controlling the direction of the device consists in permanently controlling the pressure exerted on the piston of the cylinder therefore the force exerted on said elements 9-j and 92.
  • the control unit determines that the load should veer, for example on the right, it controls the opening, on the left side, of the solenoid valve 19.
  • the pressurized gas, coming from the source 10 then causes the displacement of the piston 20, therefore of the pad 21, against the support brake 22, then blocking the left control 9 2
  • the control logic 12 then increases the pressure set point at the regulator 11 to a certain value to which corresponds a value of force exerted on the controls 9
  • the increase in pressure which results downstream of the latter causes the displacement of the actuator 13 and the application of said force
  • the left hanger being blocked, the force exerted by the piston on the controls is fully transmitted to the right control and results in a turn of the device on the right
  • the control logic 12 with which is associated for example a magnetic compass for the determination of the angle of turn, then orders a return from the set point of the pressure regulator to the original set point, then the release of the control, via the solenoid valve 19
  • the traction movement on the control 9 due to the pressure exerted on the piston 14 of the jack 13 is limited by the opposite force exerted by the sail 4 on the control 9, therefore, in the event of slack of control 9, the slack is taken up automatically, a zero reference is therefore no longer necessary
  • the jack 13 operates as a shock absorber, the control pressure, and therefore the force exerted on orders, remaining substantially constant
  • the number of pulleys can be 5 (1 + 2x2) fixed to the cylinder body and four (2x2) to the piston head, these pulleys being separated into two right and left groups of 2 pulleys placed side by side to the left of the cylinder, one above the cylinder and flat, and two groups of 2 pulleys to the right and to the left of the piston head, this arrangement has the advantage of balancing the lateral forces on the piston head and to allow it to work in the axis, without buckling effort

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention discloses in particular a method for controlling the direction of movement of an air carrier comprising a source of energy (10), at least one rudder unit (9), at least one actuator (13) acting on these rudder units (9), and control logic (12) for controlling the actuator, characterised in that it comprises a step of controlling the force exerted by the actuator (13) on the rudder unit (9). The invention is useful for any type of aircraft, aerostat or space vehicle.

Description

Dispositif de commande de la direction d'un vecteur aérien Device for controlling the direction of an air vector
L'invention concerne notamment le domaine du largage d'objets a partir de tout type d'aéronef, d'aérostat ou d'engin spatial, et a notamment pour objet un procédé de commande de la direction d'un vecteur aérienThe invention relates in particular to the field of dropping objects from any type of aircraft, aerostat or spacecraft, and in particular relates to a method of controlling the direction of an air vector
L'invention a aussi pour objet un dispositif de commande de la direction d'un vecteur aérien à voile, ce dernier pouvant, à titre d'exemple, être un dispositif porte- charges a voile, un cerf-volant un ballon ou un delta planeThe subject of the invention is also a device for controlling the direction of an aerial sailing vector, the latter possibly, for example, being a sailing load-carrying device, a kite, a balloon or a delta plane
De tels dispositifs porte-charges sont décrits par exemple dans la demande de brevet DE 43 36 056 et dans le brevet japonais n° JP5185993Such load-carrying devices are described for example in patent application DE 43 36 056 and in Japanese patent n ° JP5185993
Ce dernier décrit des moyens de guidage d'un parachute vers un heu détermine comportant une source d'alimentation électrique, une boucle de régulation de la longueur de chaque ensemble de suspentes de commande comportant, pour chaque ensemble, un moteur électrique relié a un tambour ou à un système a crémaillère lui même relié à l'ensemble, ainsi qu'un système de localisation, du type GPS, et un microprocesseur apte à comparer la position du parachute avec une trajectoire prédéterminée et stockée en mémoire et, en fonction de cette comparaison, de commander ou non le fonctionnement des moteurs électriquesThe latter describes means for guiding a parachute to a determined location comprising an electric power source, a loop for regulating the length of each set of control lines comprising, for each set, an electric motor connected to a drum. or to a rack system itself connected to the assembly, as well as a location system, of the GPS type, and a microprocessor capable of comparing the position of the parachute with a predetermined trajectory and stored in memory and, as a function of this comparison, to control or not the operation of electric motors
Un tel dispositif fonctionne correctement lorsque le largage a lieu a faible altitude, par exemple 1000 mètres Mais, pour un dimensionnement donne, plus le largage est effectué à haute altitude et plus les performances du dispositif se détériorent En effet, plus l'altitude de largage est élevée et plus le temps de vol est long, et, a fortiori, plus la quantité d'énergie à fournir au moteur est importante En outre plus l'altitude croît et plus la température de l'air baisse, jusqu'à atteindre une valeur d'environ - 50°C Or, plus la température est basse et plus le rendement d'une source d'alimentation électrique, telle une batterie, diminue II est donc nécessaire de surdimensionner les batteries dans le cas d'un largage à haute altitude Pratiquement, pour un largage à 10 000 mètres, la masse des batteries nécessaires pour le vol peut atteindre plusieurs centaines de kilogrammes et leur encombrement est, bien évidemment, en conséquenceSuch a device functions correctly when the drop takes place at low altitude, for example 1000 meters. But, for a given dimensioning, the more the drop is carried out at high altitude and the more the performance of the device deteriorates. In fact, the higher the drop altitude is high and the longer the flight time, and, a fortiori, the greater the amount of energy to be supplied to the engine. Furthermore, the higher the altitude and the lower the air temperature, until reaching a value of approximately - 50 ° C However, the lower the temperature and the more the efficiency of an electric power source, such as a battery, decreases It is therefore necessary to oversize the batteries in the case of a drop at high altitude In practice, for a drop to 10,000 meters, the mass of the batteries required for the flight can reach several hundred kilograms and their size is, of course, consequently
Ceci limite alors la quantité de fret transportable et/ou nécessite l'utilisation de voiles plus résistantes, donc lourdes et coûteusesThis then limits the amount of transportable freight and / or requires the use of more resistant, therefore heavy and costly sails.
L'un des buts de l'invention est de remédier à ces inconvénients en proposant un dispositif de commande de la direction d'un vecteur aérien, pouvant fonctionner a partir d'une source d'énergie de faible masse et ce, quelle que soit l'altitude de largage envisagée Selon l'invention un dispositif de commande est du type comportant une source d'énergie, au moins une suspente de commande, au moins un actionneur agissant sur cette suspente de commande, et une logique de commande de l'actionneur, et est caractérisé en ce que la source d'énergie est constituée par un gaz et en ce que l'actionneur est pneumatiqueOne of the aims of the invention is to remedy these drawbacks by proposing a device for controlling the direction of an air vector, capable of operating from a low mass energy source, whatever the planned drop altitude According to the invention, a control device is of the type comprising an energy source, at least one control line, at least one actuator acting on this control line, and a control logic for the actuator, and is characterized in that the energy source is constituted by a gas and that the actuator is pneumatic
On connaît par ailleurs, le brevet GB 2 240 954 qui décrit un dispositif de commande de la position des gouvernes de direction d'un missile comportant une source d'énergie constituée par un gaz sous pression, au moins une gouverne, au moins un actionneur pneumatique agissant sur ces gouvernes et qui comprend deux chambres et deux pistons reliés aux extrémités opposés d'un levier solidaire de la gouverne, et une boucle de régulation de la position de la gouverne, comportant notamment un capteur de position des gouvernes, et des moyens de commande de la position de deux vannes, l'une reliant la source d'énergie et la chambre du premier piston à la chambre du deuxième piston et l'autre reliant la chambre du deuxième piston à l'extérieurWe also know, patent GB 2 240 954 which describes a device for controlling the position of the rudders of a missile comprising an energy source constituted by a gas under pressure, at least one control surface, at least one actuator tire acting on these control surfaces and which comprises two chambers and two pistons connected to opposite ends of a lever secured to the control surface, and a loop for regulating the position of the control surface, comprising in particular a control position sensor, and means for controlling the position of two valves, one connecting the power source and the chamber of the first piston to the chamber of the second piston and the other connecting the chamber of the second piston to the outside
Les dispositifs de commande de la direction d'un vecteur aérien décrits dans les brevets précités agissent sur le positionnement des gouvernes ou la longueur des suspentes et présentent l'inconvénient d'être sensibles aux variations de direction et de force du vent et de ne pas pouvoir atténuer automatiquement leur influence entraînant une déviation importante de la trajectoire du vecteur par rapport à la trajectoire préétablieThe devices for controlling the direction of an air vector described in the aforementioned patents act on the positioning of the control surfaces or the length of the lines and have the disadvantage of being sensitive to variations in direction and force of the wind and not ability to automatically mitigate their influence resulting in a significant deviation of the vector trajectory from the preset trajectory
Par ailleurs dans le cas des vecteurs aériens cités dans la demande de brevet DE 43 36 056, leur mode de fonctionnement nécessite de définir, pour chaque suspente de commande, une référence "zéro" pour laquelle elle est relâchée, et ce, afin d'éviter soit d'avoir du mou, soit d'avoir une suspente tirée en permanence. En outre, la longueur de ces suspentes de commande doit être connue avec précision Or elle peut être influencée par l'humidité et par la température, ainsi que par la présence de noeuds susceptibles de se former lors de l'ouverture de la voile La présence de ces noeuds crée une dissymétrie que les moyens de commande existant ne peuvent corriger.Furthermore, in the case of aerial vectors cited in patent application DE 43 36 056, their mode of operation requires defining, for each control line, a "zero" reference for which it is released, in order to avoid either having slack or having a line pulled constantly. In addition, the length of these control lines must be known with precision. However, it can be influenced by humidity and temperature, as well as by the presence of knots likely to form when the sail is opened. of these nodes creates an asymmetry that the existing control means cannot correct.
Un autre but de l'invention est de supprimer ces inconvénients en proposant notamment des moyens de commande aptes à corriger toute dissymétrie ou variation de longueur des suspentes de commande et ne nécessitant plus de référence "zéro"Another object of the invention is to eliminate these drawbacks by proposing in particular control means capable of correcting any asymmetry or variation in length of the control lines and no longer requiring a "zero" reference.
Pour cela, un dispositif de commande de la direction d'un vecteur aérien est du type comportant une source d'énergie constituée par un gaz sous pression, au moins une gouverne, au moins un actionneur pneumatique agissant sur ces gouvernes, et une boucle de régulation, et est caractérisé en ce que la boucle de régulation est une boucle de régulation de la pression exercée par le gaz sur l'actionneurFor this, a device for controlling the direction of an air vector is of the type comprising an energy source constituted by a gas under pressure, at least one control surface, at least one pneumatic actuator acting on these control surfaces, and a control loop, and is characterized in that the control loop is a control loop for the pressure exerted by the gas on the actuator
Par gouverne, il faut entendre tout organe mécanique dont une modification de sa position en vol provoque une modification de la direction du vecteur aérienBy control surface, one understands any mechanical organ of which a modification of its position in flight causes a modification of the direction of the air vector
Selon une caractéristique particulière, la boucle de régulation de la pression exercée par le gaz sur l'actionneur comporte un régulateur de pression et sa logique associéeAccording to a particular characteristic, the loop for regulating the pressure exerted by the gas on the actuator comprises a pressure regulator and its associated logic
Selon une caractéristique particulière permettant notamment un pilotage automatique du vecteur aérien, les moyens de commande sont associés à des moyens de localisation de ce vecteur et/ou de la position d'un émetteurAccording to a particular characteristic allowing in particular an automatic piloting of the air vector, the control means are associated with means for locating this vector and / or the position of a transmitter.
Dans le but de réduire l'encombrement des moyens de commande, ces derniers comportent des moyens constituant une interface entre l'actionneur pneumatique, et les gouvernes, ces moyens étant aptes a multiplier la course de l'actionneur et/ou a réduire l'effort exercé par l'actionneur sur les gouvernesIn order to reduce the size of the control means, the latter comprise means constituting an interface between the pneumatic actuator and the control surfaces, these means being capable of increasing the stroke of the actuator and / or of reducing the force exerted by the actuator on the control surfaces
Selon une caractéristique particulière ces moyens sont constitués par au moins une poulieAccording to a particular characteristic, these means consist of at least one pulley
Selon une autre caractéristique, les gouvernes sont constituées par des suspentes de commande reliées aux bords de fuite d'une voile On sait également que les dispositifs existants fonctionnant sur le principe du contrôle de position des suspentes sont incapables de réagir aux turbulences car ils maintiennent fixe la position des suspentes de commande Cette incapacité peut conduire à un endommagement de la voile Le but de l'invention est aussi de proposer un procédé de commande apte à résoudre ce problèmeAccording to another characteristic, the control surfaces are constituted by control lines connected to the trailing edges of a sail. It is also known that existing devices operating on the principle of controlling the position of the lines are incapable of reacting to turbulence because they keep fixed The position of the control lines This incapacity can lead to damage to the sail. The aim of the invention is also to propose a control method capable of solving this problem.
Aussi, un procédé de commande de la direction d'un vecteur aérien du type comportant une source d'énergie, au moins une gouverne, au moins un actionneur agissant sur ces gouvernes, et une logique de commande de l'actionneur, est caractérisé en ce qu'il comporte une étape de contrôle de la force exercée par l'actionneur sur la gouverneAlso, a method for controlling the direction of an air vector of the type comprising an energy source, at least one control surface, at least one actuator acting on these control surfaces, and a control logic for the actuator, is characterized in what it includes a step of controlling the force exerted by the actuator on the control surface
Ce contrôle de la force exercée par l'actionneur peut être réalisée par une boucle de régulation de la pression exercée sur l'actionneur, la force étant égale au produit de la pression par la surface active de l'actionneurThis control of the force exerted by the actuator can be carried out by a loop for regulating the pressure exerted on the actuator, the force being equal to the product of the pressure by the active surface of the actuator.
D'autres avantages et caractéristiques de la présente invention apparaîtront dans la description d'un mode de réalisation de l'invention, appliqué à un dispositif porte-charges muni d'une voile, en regard des figures annexées parmi lesquellesOther advantages and characteristics of the present invention will appear in the description of an embodiment of the invention, applied to a load-carrying device provided with a sail, with reference to the appended figures among which
- la figure 1 présente un schéma général d'un dispositif porte charges à voile, - la figure 2 montre un schéma général de moyens de commande pneumatiques,FIG. 1 presents a general diagram of a device carrying sail loads, FIG. 2 shows a general diagram of pneumatic control means,
- la figure 3 présente des moyens de démultiplication de la course d'un vérin, - la figure 4 schématise de manière simplifiée des moyens de commande de deux suspentes avec un seul vérin,FIG. 3 shows means for multiplying the stroke of a jack, FIG. 4 schematically shows in a simplified manner means for controlling two lines with a single jack,
- la figure 5 montre un schéma complet des moyens de commande de deux suspentes avec un seul vérin- Figure 5 shows a complete diagram of the control means of two lines with a single cylinder
La figure 1 présente les principaux éléments d'un dispositif porte- charges largable à voile Celui-ci comporte des moyens de freinage 1 d'une charge 2 et des moyens de navigation 3FIG. 1 presents the main elements of a load-bearing device which can be released under sail. This comprises braking means 1 of a load 2 and navigation means 3
Les moyens de freinage 1 sont constitués d'une voile 4, de suspentes 5, et d'un châssis 6 sur lequel repose la charge 2 Les moyens de navigation 3 comportent, dans cet exemple de réalisation, des moyens 7 de localisation du dispositif, le plus répandu étant connu sous la dénomination anglo-saxonne de GPS, et des moyens 8 de commande de la direction du dispositif par action sur des gouvernes 9The braking means 1 consist of a sail 4, lines 5, and a chassis 6 on which the load rests 2 The navigation means 3 comprise, in this embodiment, means 7 for locating the device, the most widespread being known by the Anglo-Saxon name of GPS, and means 8 for controlling the direction of the device by action on control surfaces 9
Ces gouvernes 9 sont constituées par des suspentes de commande, appelées commandes 9 dans la suite et généralement constituées d'un groupe de suspentes agissant sur le bord de fuite de la voile 4These control surfaces 9 consist of control lines, called controls 9 in the following and generally consist of a group of lines acting on the trailing edge of the sail 4
La figure 2 montre un schéma simplifié des moyens 8 de commande de la direction du dispositif selon l'invention. Ils comportent une source de gaz sous pression 10, une boucle de régulation 11 ,12 de la pression exercée par le gaz sur l'actionneur, un vérin pneumatique 13 et une commande 9 Le vérin comporte une chambre active 13-| , une chambre 132 reliée à l'air libre, ces chambres étant séparées par la base 14-j d'un piston 14 La tête 142 de ce piston 14 est reliée à la commande 9FIG. 2 shows a simplified diagram of the means 8 for controlling the direction of the device according to the invention. They comprise a source of pressurized gas 10, a regulation loop 11, 12 of the pressure exerted by the gas on the actuator, a pneumatic cylinder 13 and a control 9 The cylinder comprises an active chamber 13- | , a chamber 132 connected to the open air, these chambers being separated by the base 14-j of a piston 14 The head 142 of this piston 14 is connected to the control 9
La boucle de régulation comporte un régulateur de pression 11 et sa logique de commande associée connus en eux-même Ils comportent des organes de contrôle et de réglage, la fonction de ces organes étant respectivement de lire la valeur de la pression en amont de l'actionneur, celle de la consigne et celle de l'écart mesure consigne, et de régler la valeur de la consigne et celle de la force exercée par l'actionneur sur la gouverne exercent commandé par une logique de commande 12Le régulateur de pression 11 et la logique de commande 12 associée sont de type connu Ils sont alimentes en basse tension par une batterie de dimensions réduites En règle générale, d'une part la course du piston est faible et d'autre part la surface 14-j du piston sur laquelle s'exerce la pression est relativement importante A titre d'exemple, un piston de 63 m/m de diamètre a une surface de 30 cm2 et développe, sous une pression de 10 bars, un effort de 300 kg II est donc judicieux, pour des raisons d'ordre pratique, de prévoir des moyens 15 assurant d'une part la multiplication de la course du vérin, et d'autre part la démultiplication de l'effort, une commande de voile standard ne nécessitant pas plus de 50 kg d'effort pour être tirée au maximumThe regulation loop comprises a pressure regulator 11 and its associated control logic known in themselves. They comprise control and adjustment members, the function of these members being respectively to read the value of the pressure upstream of the actuator, that of the setpoint and that of the setpoint measurement deviation, and of adjusting the value of the setpoint and that of the force exerted by the actuator on the control surface exerted controlled by a control logic 12 The pressure regulator 11 and the associated control logic 12 are of known type They are supplied at low voltage by a battery of reduced dimensions In general, on the one hand the stroke of the piston is small and on the other hand the surface 14-j of the piston on which the pressure is exerted is relatively large. For example, a piston of 63 m / m diameter has a surface of 30 cm2 and develops, under a pressure of 10 bars, an effort of 300 kg It is therefore judicious, for practical reasons, to provide means 15 ensuring on the one hand the multiplication of the stroke of the jack, and on the other hand the reduction of the effort, a standard sail control not requiring more than 50 kg of effort to be pulled to the maximum
La figure 3 montre un exemple de réalisation de tels moyens 15FIG. 3 shows an exemplary embodiment of such means 15
Ils sont constitués par des poulies 15-j et 152 rnontées folles d'une part sur la tête 142 c'u P|Ston. et d'autre part sur le corps du vérin 13 Ainsi la commande 9, fixée à la tête 142 du Pιst0n 14, est renvoyée respectivement par la poulie 15-j puis par la poulie 152, Puιs f|χée à la voile 4 Les dispositifs tels que représentes sur les figures 2 et 3 n'assurent la commande que d'une seule commande 9 Ils doivent donc être doublés pour commander les actions sur les commandes 9<| et 92 respectivement droite et gauche de la voile 4They are constituted by pulleys 15-j and 152 which are driven madly on the one hand on the head 142 c ' u P | Ston . and on the other hand on the body of the jack 13 Thus the control 9, fixed to the head 142 of the P ιst0n 14, is returned respectively by the pulley 15-j then by the pulley 152, P uιs f | χ ée à la voile 4 The devices as shown in FIGS. 2 and 3 only control one command 9 They must therefore be doubled to control actions on commands 9 <| and 92 respectively right and left of sail 4
Le dispositif de la figure 4 permet de piloter les deux commandes droite et gauche avec un seul régulateur 11 et un seul vérin 13 Pour cela, les extrémités des deux suspentes, non reliées à la voile, sont réunies par un câble qui passe dans la gorge d'une poulie 15 montée folle sur la tête 142 du piston Ainsi, si les deux commandes 9-] et 92 sont libres, l'effort fourni par le veπn s'applique simultanément aux deux commandes, l'équilibrage étant automatique, si, par contre l'une des commandes est bloquée, cet effort ne s'applique qu'à l'autre commandeThe device of Figure 4 allows to control the two right and left commands with a single regulator 11 and a single cylinder 13 For this, the ends of the two lines, not connected to the sail, are joined by a cable which passes through the groove a pulley 15 mounted madly on the head 142 of the piston Thus, if the two commands 9-] and 92 are free, the force provided by the veπn applies simultaneously to the two commands, the balancing being automatic, if, on the other hand one of the commands is blocked, this effort only applies to the other command
Il faut noter que, pour une pression P appliquée au piston 14, l'effort correspondant appliqué aux commandes est le même, qu'il s'applique à une seule commande ou aux deux et la course du vérin sera deux fois plus importante dans ce dernier casIt should be noted that, for a pressure P applied to the piston 14, the corresponding force applied to the commands is the same, whether it applies to a single command or to both and the stroke of the jack will be twice as large in this last case
Il est à noter que l'utilisation de plusieurs poulies au lieu d'une seule permet de démultiplier l'effort exerce sur les commandes 9 par le vérin tout en multipliant sa courseIt should be noted that the use of several pulleys instead of only one makes it possible to multiply the force exerted on the controls 9 by the jack while multiplying its stroke
La figure 5 représente une variante de réalisation des moyens 8 de commande de la direction du dispositif par action sur les commandes 9 permettant à la fois - la commande des éléments 9-| et 92 droite et gauche avec un seul régulateur 11 et un seul vérin 13,FIG. 5 represents an alternative embodiment of the means 8 for controlling the direction of the device by action on the controls 9 allowing both - ordering elements 9- | e t 92 right and left with a single regulator 11 and a single cylinder 13,
- la multiplication de la course du vérin et la réduction de l'effort exercé sur les commandes 9-| et 92 , - la présence de moyens aptes à ne transmettre l'effort que sur l'une des commandes 9-| ou 92 .- the multiplication of the cylinder stroke and the reduction of the force exerted on the controls 9- | and 92, - the presence of means capable of transmitting the force only on one of the commands 9- | or 92.
Ces moyens 8 de commande comportent, comme mentionné précédemment, une source de gaz sous pression 10, un régulateur de pression 11 commandé par la logique de commande 12, un vérin pneumatique 13 et des poulies 15 montées folles respectivement sur la tête du piston 14 et sur le cylindre du vérin 13. Ces poulies sont au nombre de 5, respectivement 15-) , 152, 1^3> 15.}, 155 offrant ainsi un facteur de division de 6. Les deux commandes 9 sont reliées par un câble qui passe dans la gorge de chacune de ces poulies.These control means 8 comprise, as mentioned previously, a source of pressurized gas 10, a pressure regulator 11 controlled by the control logic 12, a pneumatic cylinder 13 and pulleys 15 mounted idle respectively on the head of the piston 14 and on the cylinder of the cylinder 13. These pulleys are 5, respectively 15-), 152, 1 ^ 3 > 15.}, 155 thus offering a division factor of 6. The two controls 9 are connected by a cable which passes through the groove of each of these pulleys.
Ils comportent aussi des moyens 16 de blocage des commandes 9-j ou 92- Ces derniers sont constitués par deux ensembles identiques, respectivement gauche et droit. Chacun de ces ensembles comprend un vérin 17 dont la chambre active 18 est alimentée en pression par une électrovanne 19 à partir du circuit haute pression issu de la source 10. Le piston 20 de ce vérin appuie sur un patin de frein 21 situé en face d'un patin de frein d'appui 22 solidaire du cylindre du vérin, la suspente correspondante passant entre les deux patins de frein 21 et 22.They also include means 16 for blocking the commands 9-j or 92- The latter consist of two identical sets, respectively left and right. Each of these assemblies comprises a jack 17, the active chamber 18 of which is supplied with pressure by a solenoid valve 19 from the high pressure circuit originating from the source 10. The piston 20 of this jack presses on a brake shoe 21 located opposite a support brake shoe 22 secured to the cylinder of the jack, the corresponding hanger passing between the two brake shoes 21 and 22.
Tout comme le régulateur de pression 11 , l'électrovanne 19 de chacun desdits ensembles est commandée par la logique de commande 12.Like the pressure regulator 11, the solenoid valve 19 of each of said assemblies is controlled by the control logic 12.
Le fonctionnement du dispositif , au regard de la figure 5, est le suivant. Dans le cas où le point d'atterrissage ne comporte pas d'émetteur, les coordonnées de ce point sont programmées, avant le largage, dans la logique de commande 12. Le dispositif est ensuite largué à une altitude suffisante pour lui permettre d'atteindre le point d'atterrissage. La gestion de la navigation est ensuite réalisée à l'aide d'un logiciel de type connu et à partir des informations fournies par les moyens de localisation 7 et par actions sur les commandes 9-j ou 92- Dans le cadre de l'invention, les moyens de commandes des élémentsThe operation of the device, with regard to FIG. 5, is as follows. In the case where the landing point does not include a transmitter, the coordinates of this point are programmed, before dropping, in the control unit 12. The device is then dropped to a sufficient altitude to allow it to reach the landing point. Navigation management is then carried out using software of known type and from information provided by the location means 7 and by actions on the commands 9-d or 92- Within the framework of the invention , the means of ordering the elements
9-| et 92 comportent une source de gaz, un vérin pneumatique agissant sur lesdits éléments et une logique de commande 12. Ainsi, le procédé de commande de la direction du dispositif consiste à commander en permanence la pression exercée sur le piston du vérin donc l'effort exercé sur lesdits éléments 9-j et 92 . Lorsque la logique de commande détermine que la charge doit virer, par exemple sur la droite, elle commande l'ouverture, coté gauche, de l'électrovanne 19. Le gaz sous pression, issu de la source 10, provoque alors le déplacement du piston 20, donc du patin 21 , contre le frein d'appui 22, bloquant alors la commande gauche 92 9- | and 92 comprise a gas source, a pneumatic cylinder acting on said elements and a control logic 12. Thus, the method of controlling the direction of the device consists in permanently controlling the pressure exerted on the piston of the cylinder therefore the force exerted on said elements 9-j and 92. When the control unit determines that the load should veer, for example on the right, it controls the opening, on the left side, of the solenoid valve 19. The pressurized gas, coming from the source 10, then causes the displacement of the piston 20, therefore of the pad 21, against the support brake 22, then blocking the left control 9 2
La logique de commande 12 accroît ensuite la consigne de pression au niveau du régulateur 11 jusqu'à une certaine valeur a laquelle correspond une valeur de force exercée sur les commandes 9 L'accroissement de la pression qui en résulte en aval de ce dernier provoque le déplacement du vérin 13 et l'application de ladite forceThe control logic 12 then increases the pressure set point at the regulator 11 to a certain value to which corresponds a value of force exerted on the controls 9 The increase in pressure which results downstream of the latter causes the displacement of the actuator 13 and the application of said force
La suspente gauche étant bloquée, la force exercée par le piston sur les commandes est intégralement transmise à la commande droite et se traduit par un virage du dispositif sur la droite La logique de commande 12, à laquelle est associée par exemple un compas magnétique pour la détermination de l'angle de virage, commande ensuite un retour du point de consigne du régulateur de pression à la consigne d'origine, puis le déblocage de la commande, via l'électrovanne 19The left hanger being blocked, the force exerted by the piston on the controls is fully transmitted to the right control and results in a turn of the device on the right The control logic 12, with which is associated for example a magnetic compass for the determination of the angle of turn, then orders a return from the set point of the pressure regulator to the original set point, then the release of the control, via the solenoid valve 19
Il est à noter que le mouvement de traction sur la commande 9 due à la pression exercée sur le piston 14 du vérin 13 est limité par l'effort contraire exercé par la voile 4 sur la commande 9, de ce fait, en cas de mou de la commande 9, le rattrapage de ce mou est automatique, une référence zéro n'étant donc plus nécessaire De plus, en cas de turbulences, le vérin 13 fonctionne comme un amortisseur, la pression de commande, et donc l'effort exercé sur les commandes, restant sensiblement constantsIt should be noted that the traction movement on the control 9 due to the pressure exerted on the piston 14 of the jack 13 is limited by the opposite force exerted by the sail 4 on the control 9, therefore, in the event of slack of control 9, the slack is taken up automatically, a zero reference is therefore no longer necessary In addition, in the event of turbulence, the jack 13 operates as a shock absorber, the control pressure, and therefore the force exerted on orders, remaining substantially constant
De plus, en cas de noeud dans une commande, les manoeuvres s'effectuant en effort et non en position comme dans les systèmes existants, l'action obtenue sur la commande reste la même , l'adjonction du dispositif à poulie décrit plus haut permet d'assurer la symétrie des commandes, même en cas de noeud important sur l'une d'entre ellesIn addition, in the event of a knot in a control, the maneuvers being carried out in effort and not in position as in existing systems, the action obtained on the control remains the same, the addition of the pulley device described above allows to ensure the symmetry of the commands, even in the event of a significant node on one of them
En outre, la masse de gaz sous pression nécessaire pour un tel fonctionnement est très faible , ainsi 12 litres d'azote à 200 bars ont une masse d'environ 2 kg et autorisent une autonomie de fonctionnement du dispositif de commande de plusieurs heures Bien entendu, de nombreuses modifications peuvent être apportées à l'exemple de réalisation précédemment décrit sans sortir du cadre de l'inventionIn addition, the mass of pressurized gas necessary for such an operation is very low, thus 12 liters of nitrogen at 200 bars have a mass of approximately 2 kg and allow the operating device to operate for several hours of course. , numerous modifications can be made to the embodiment previously described without departing from the scope of the invention
Dans une variante, le nombre de poulies peut être de 5 (1+2x2) fixées sur sur le corps du cylindre et de quatre (2x2) sur la tête du piston, ces poulies étant séparées en deux groupes droit et gauche de 2 poulies accolées a gauche du cylindre, un au-dessus du cylindre et à plat, et deux groupes de 2 poulies a droite et à gauche de la tête du piston, cette organisation a l'avantage d'équilibrer les efforts latéraux sur la tête du piston et de permettre à celui-ci de travailler dans l'axe, sans effort de flambage In a variant, the number of pulleys can be 5 (1 + 2x2) fixed to the cylinder body and four (2x2) to the piston head, these pulleys being separated into two right and left groups of 2 pulleys placed side by side to the left of the cylinder, one above the cylinder and flat, and two groups of 2 pulleys to the right and to the left of the piston head, this arrangement has the advantage of balancing the lateral forces on the piston head and to allow it to work in the axis, without buckling effort

Claims

REVENDICATIONS
1 Dispositif de commande de la direction d'un vecteur aérien, du type comportant une source d'énergie (10), au moins une suspente de commande, au moins un actionneur (13) agissant sur cette suspente de commande (9), et une logique de commande (11 ,12) de l'actionneur, caractérisé en ce que la source d'énergie est constituée par un gaz et en ce que l'actionneur (13) est pneumatique.1 device for controlling the direction of an air vector, of the type comprising an energy source (10), at least one control line, at least one actuator (13) acting on this control line (9), and a control logic (11, 12) of the actuator, characterized in that the energy source consists of a gas and in that the actuator (13) is pneumatic.
2. Dispositif de commande de la direction d'un vecteur aérien du type comportant une source d'énergie (10) constituée par un gaz sous pression, au moins une gouverne (9), au moins un actionneur pneumatique (13) agissant sur cette gouverne (9), et une boucle de régulation (11 ,12), caractérisé en ce que la boucle de régulation (11 ,12) est une boucle de régulation de la pression exercée par le gaz sur l'actionneur (13).2. Device for controlling the direction of an air vector of the type comprising an energy source (10) constituted by a gas under pressure, at least one control surface (9), at least one pneumatic actuator (13) acting on this control surface (9), and a control loop (11, 12), characterized in that the control loop (11, 12) is a control loop for the pressure exerted by the gas on the actuator (13).
3. Dispositif de commande de la direction d'un vecteur aérien selon la revendication 2, caractérisé en ce que la boucle de régulation comporte un régulateur (11) de la pression exercée, par le gaz, sur l'actionneur. et à sa logique de commande associée (12).3. Device for controlling the direction of an air vector according to claim 2, characterized in that the regulation loop comprises a regulator (11) of the pressure exerted by the gas on the actuator. and its associated control logic (12).
4 Dispositif selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la logique de commande (12) est associée à des moyens (7) de localisation.4 Device according to any one of claims 1 to 3, characterized in that the control logic (12) is associated with means (7) for location.
5 Dispositif selon l'une quelconque des revendications 1 à 4, caractérisé en ce qu'il comporte des moyens de démultiplication de la course de l'actionneur pneumatique (13).5 Device according to any one of claims 1 to 4, characterized in that it comprises means for multiplying the stroke of the pneumatic actuator (13).
6 Dispositif selon la revendication 5, caractérisé en ce qu'il comporte des moyens aptes à réduire l'effort exercé par l'actionneur (13) sur les gouvernes (9).6 Device according to claim 5, characterized in that it comprises means capable of reducing the force exerted by the actuator (13) on the control surfaces (9).
7 Dispositif selon la revendications 6, caractérisé en ce que lesdits moyens sont constitués par des poulies.7 Device according to claim 6, characterized in that said means are constituted by pulleys.
8 Dispositif selon l'une quelconque des revendications 1 à 7, caractérisé en ce que les gouvernes (9) sont constituées par des suspentes de commande reliées aux bords de fuite d'une voile (4).8 Device according to any one of claims 1 to 7, characterized in that the control surfaces (9) are constituted by control lines connected to the trailing edges of a sail (4).
9 Dispositif selon la revendication 8, caractérisé en ce qu'il comporte un seul actionneur pneumatique (13) et des moyens de blocage (16) des suspentes (9).9 Device according to claim 8, characterized in that it comprises a single pneumatic actuator (13) and locking means (16) of the lines (9).
FEUILLE RECTIFIEE (REGLE 91) ISA/EP 10 Dispositif porte-charges selon la revendication 9, caractérisé en ce que les moyens de blocage (16 ) comprennent, pour chaque suspente (9), un actionneur (17) comportant un patin de frein (21 ) et un patin de frein d'appui (22).RECTIFIED SHEET (RULE 91) ISA / EP 10 load-carrying device according to claim 9, characterized in that the locking means (16) comprise, for each hanger (9), an actuator (17) comprising a brake shoe (21) and a brake shoe support (22).
11 Procédé de commande de la direction d'un vecteur aérien comportant une source d'énergie (10), au moins une gouverne (9), au moins un actionneur (13) agissant sur ces gouvernes (9), et une logique de commande (12) de l'actionneur, caractérisé en ce qu'il comporte une étape de contrôle de la force exercée par l'actionneur (13) sur la gouverne (9). 11 Method for controlling the direction of an air vector comprising an energy source (10), at least one control surface (9), at least one actuator (13) acting on these control surfaces (9), and a control logic (12) of the actuator, characterized in that it comprises a step of controlling the force exerted by the actuator (13) on the control surface (9).
EP97930552A 1996-06-19 1997-06-19 Air carrier steerage control device Withdrawn EP0857140A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9607606 1996-06-19
FR9607606A FR2750108B1 (en) 1996-06-19 1996-06-19 AERIAL VECTOR CONTROL DEVICE
PCT/FR1997/001099 WO1997048602A1 (en) 1996-06-19 1997-06-19 Air carrier steerage control device

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EP0857140A1 true EP0857140A1 (en) 1998-08-12

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EP (1) EP0857140A1 (en)
AU (1) AU3446797A (en)
FR (1) FR2750108B1 (en)
WO (1) WO1997048602A1 (en)

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WO1997048602A1 (en) 1997-12-24
AU3446797A (en) 1998-01-07
FR2750108A1 (en) 1997-12-26
US6042056A (en) 2000-03-28
FR2750108B1 (en) 1998-10-30

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