EP3490884A1 - System zur datenübermittlung und -verarbeitung zur regelung eines rotorblattaktuators - Google Patents
System zur datenübermittlung und -verarbeitung zur regelung eines rotorblattaktuatorsInfo
- Publication number
- EP3490884A1 EP3490884A1 EP17734289.6A EP17734289A EP3490884A1 EP 3490884 A1 EP3490884 A1 EP 3490884A1 EP 17734289 A EP17734289 A EP 17734289A EP 3490884 A1 EP3490884 A1 EP 3490884A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- time domain
- control device
- variable
- manipulated variable
- transfer medium
- 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- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/001—Vibration damping devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/72—Means acting on blades
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3822—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/30—Wing lift efficiency
Definitions
- the invention relates to a system for data transmission and processing for controlling a rotor blade actuator
- Another object is to provide an improved method for Provide data transmission and processing for controlling a rotor blade actuator.
- a system for data transmission and processing for controlling a rotor blade actuator comprising a arranged in the rotating system of the helicopter control device which is designed to provide at least a first rotor blade actuator; a first control device arranged in the rotating system and signal-technically coupled to the setting device; and a first sensor arranged in the rotating system and configured to detect at least one first controlled variable of the rotor blade actuator in the time domain and to transmit this controlled variable in the time domain to the first control device via a second signal coupling; wherein the first control device is adapted to receive the first controlled variable via the signal coupling, using the received control variable in the time domain and by means of an at least first control algorithm to determine an at least first manipulated variable in the time domain and this manipulated variable via the first signal coupling to the control device to be transmitted, wherein the adjusting device is designed to receive this manipulated variable via the first signal coupling.
- the rotor blade actuator or actuator arranged in the rotating system can generate movements and / or forces and / or moments corresponding to a higher-order function of a corresponding control device.
- the actuator may be, for example, an adjustable control rod, which may be driven, for example, hydraulically, pneumatically, electrically or by other energy sources.
- the actuator may be, for example, primary control actuators to actuators, which additively superimposed movements of the actual primary control movement and / or actuators that are not directly involved in the movement of the rotor blades, whose manipulated variable, however, has properties for influencing the flight characteristics, for example with variable speed rotating masses to reduce vibrations.
- one or more measured variables ie actuator control variables or controlled variables are detected directly or indirectly, which are needed for local control of the actuators.
- These sensors can be arranged, for example, on the rotor head and, for example, integrally formed with the actuator.
- the measurement of the controlled variables can be done time-continuous or time-discrete in the time domain.
- the adjusting device can be, for example, an actuator, in particular an actuator designed as power electronics or as a valve. Depending on the design, the actuator can also be integrally integrated with the first control device and arranged on the rotor head.
- the first control device can be a first controller which can process sensor signals, for example by means of conditioning, filtering, A / D conversion, etc.
- the controller calculates, by means of a control algorithm taking into account the dynamic properties of the actuator to be corrected or adjusted, from a system deviation caused, for example, by a disturbance, the corrective measures for correcting or adjusting.
- one or more reference variables, i. Setpoints are supplied in the time domain. One speaks in such a case of a time domain controller.
- the reference variable is a predefinable value on which the controlled variable is to be held by the controller. It is a size that is not influenced by the regulation and is supplied externally
- the controlled variable is the output, i. the actual value of the controlled system, which is attributed to the purpose of the regulation and for comparison.
- Control deviation is the difference between the reference variable and the controlled variable.
- the control deviation is the actual input variable of the control device.
- the manipulated variable or control variable is the output of the control device and at the same time the input variable of the controlled system. It transfers the controlling effect of the controller to the controlled system.
- the signaling connection or connection can be wireless and / or wired.
- the number of sensors can be limited to the number required for the detection of the controlled variables.
- the system comprises a second control device arranged in the cell of the helicopter; and a transfer medium; wherein the first sensor is designed to transmit the at least first controlled variable to the second control device via the transfer medium, wherein the second control device is designed to receive the at least first controlled variable via transfer medium, by means of the received first control variable in the time domain and by means of the at least first rule Algorithm to determine the at least first manipulated variable in the time domain and to transmit this manipulated variable to the first control device and / or to the adjusting device via the transfer medium (6), wherein the first control device or the adjusting device is designed to receive this manipulated variable via the transfer medium
- the controlled variable in the time domain is supplied to a control device arranged in the cell in the time domain, wherein the transmission takes place from the rotating system in the cell via a transfer medium.
- the transfer medium may, in particular, be a rotary ring designed as a slip ring. Transformers act. But it can also be provided a wireless transmission.
- the second control device in the cell can be, in particular, a second controller, to which time range variables can be supplied. Compared to the first controller in the rotating system, the second controller in the cell can be made larger, which in particular enables better computing performance.
- the manipulated variable determined in the cell is transmitted via the transfer medium to the control device and / or to the adjusting device in the rotating system.
- the system preferably comprises a second control device arranged in the cell of the helicopter; a transfer medium; and a second sensor arranged in the cell, which is designed to detect at least one second controlled variable of the rotor blade actuator in the time domain and to transmit this second controlled variable in the time domain to the second regulator via a third signal coupling; wherein the second control device is designed to receive the second control variable via the third signal coupling, to determine an at least second control variable in the time domain by means of the received second control variable in the time domain and by means of an at least second control algorithm and / or this control variable to the first control device and / or to transmit to the adjusting device via the transfer medium, wherein the first control device or the adjusting device is designed to receive this manipulated variable via the transfer medium.
- a second sensor is arranged in the cell, which can detect controlled variables of the actuator.
- the first controlled variable can furthermore be supplied to the first control device in the rotating system.
- the second controlled variable can be supplied to the second control device in the cell.
- the supplied controlled variables are processed accordingly.
- the second control variable determined by the second control device can be transmitted both to the first control device and to the control device in the rotating system via the transfer medium. It is also conceivable that the second control device can additionally Lich controlled variables are supplied from arranged in the rotating system first sensor.
- the second sensor arranged in the cell can detect the same controlled variables as the first sensor arranged in the rotating system. But he can also capture other control variables.
- the system includes a third control means disposed in the cell of the helicopter; a transfer medium; and a third sensor, which is designed to detect at least one frequency signal of the main rotor and to transmit the frequency signal via an at least fourth signal coupling to the third control device; wherein the third control device is adapted to receive the frequency signal via the fourth signal coupling, to transform the received first controlled variable in the time domain by means of the received frequency signal into a controlled variable in the frequency domain, by means of the transformed controlled variable in the frequency domain and by means of an at least third rule algorithm To determine manipulated variable in the frequency domain, to transform the determined manipulated variable in the frequency domain by means of the frequency signal in a third manipulated variable in the time domain and to transmit this manipulated variable in the time domain to the first control device and / or to the adjusting device via the transfer medium, wherein the first control device or the Setting device is designed to receive this manipulated variable via the transfer medium.
- the third control device may in particular be a third controller, which, like the first and second controller, can process sensor signals, but to which, in particular, reference variables in the frequency domain can be supplied.
- a third controller which, like the first and second controller, can process sensor signals, but to which, in particular, reference variables in the frequency domain can be supplied.
- the third sensor in particular a position sensor or tacho sensor, can generate a frequency signal of the rotor mast or of the main rotor.
- This sensor can detect a position or a rotational angle of the rotor mast, wherein the position or rotation of the main rotor can be resolved with at least one measuring point per full revolution.
- the third controller can determine a manipulated variable in the frequency domain by means of suitable mathematical methods, wherein one or more reference variables in the frequency domain can be supplied to the third controller for this purpose. It is understood that in the time domain defined reference values do not need to be converted or transformed.
- the system in this preferred embodiment includes a frequency sensing sensor
- at least one sensor is less than in the prior art.
- the prior art uses at least two sensors for determining the position or for determining the angle of the main rotor, one of which is arranged in the rotating system and one in the cell in order to achieve the same or at least mutually known phase definition.
- Another benefit of transmitting in the time domain from the rotating system to the cell and vice versa is that the data can be transmitted more slowly but more robustly.
- the system comprises a third control device arranged in the cell of the helicopter; a transfer medium; a second sensor arranged in the cell, which is designed to detect at least one second control variable of the rotor blade actuator in the time domain and to transmit this control variable in the time domain to the third control device via a third signal coupling; and
- a third sensor which is designed to detect at least one frequency signal of the main rotor and to transmit the frequency signal to the third control device via at least a fourth signal coupling;
- the third control device is designed to receive the frequency signal via the signal-technical coupling, the second controlled variable received in the time domain To transform by means of the received frequency signal into a controlled variable in the frequency domain, using the transformed controlled variable in the frequency domain and by means of a fifth rule algorithm to determine a manipulated variable in the frequency domain, transform the determined manipulated variable in the frequency domain by means of the received frequency signal in a fifth manipulated variable in the time domain and to transmit this manipulated variable in the time domain to the first control device and / or to the adjusting device via the transfer medium, wherein the first control device or the adjusting device is designed to receive the fifth manipulated variable via the transfer medium.
- the second sensor transmits control variables to the third control unit, wherein the third control unit transform the second control variables using the frequency signal in reference variables in the frequency domain, determine a manipulated variable in the frequency domain, transform them into a manipulated variable in the time domain and then to the control device or Can transmit control device in the rotating system.
- the data transmission and processing within the rotating system can be combined with that of the cell.
- those controlled variables can be detected whose transfer and / or processing require only a low computing power, while in the cell those controlled variables are detected whose transfer and / or processing require greater computing power. It is also conceivable in this embodiment to additionally transmit controlled variables from the rotating system into the cell.
- the problem underlying the invention is also solved by a system for data transmission and processing for controlling a rotor blade actuator, wherein the system comprises a arranged in the rotating system and signal-technically coupled with a setting device fourth control device;
- a first sensor which is arranged in the rotating system and signal-coupled with the adjusting device and which is designed to detect at least one first controlled variable of the rotor blade actuator in the time domain and to measure this controlled variable in the time domain. to transmit area to the fourth control device via a second signaling link;
- a third sensor which is designed to detect at least one frequency signal of the main rotor and to transmit the frequency signal to the fourth control device via the transfer medium;
- the fourth control device is adapted to receive the frequency signal via the transfer medium to transform the received first controlled variable in the time domain by means of the received frequency signal in a controlled variable in the frequency domain, by means of the transformed controlled variable in the frequency domain and by means of an at least fourth rule algorithm a manipulated variable in To determine frequency range to transform the determined manipulated variable in the frequency domain by means of the frequency signal in a fourth manipulated variable in the time domain and to transmit this manipulated variable in the time domain to the actuator via the first signal coupling, wherein the actuator is formed, this manipulated variable on the first signal coupling receive.
- the detection of the controlled variable in the rotating system by the first sensor and the detection of the frequency of the main rotor by the third sensor in the cell can be done.
- the control variable and the frequency can then be supplied to the arranged in the rotating system fourth control device, which in turn transform according to appropriate specifications, determine a manipulated variable in the frequency domain, invert them into a manipulated variable in the time domain and transmit the thus determined control variable in the time domain to the actuator
- a system for data transmission and processing for controlling a rotor blade actuator the system being arranged in the rotating system of the helicopter control device which is designed to provide at least a first rotor blade actuator; a transfer medium; a second control device disposed in the cell; and a second sensor arranged in the cell, which is designed to detect at least one second controlled variable of the rotor blade actuator in the time domain and to transmit this controlled variable in the time domain to the second regulator via a third sig- transmit natalchnic coupling; wherein the second control device is adapted to receive the second controlled variable via the third signal coupling, by means of the received control variable in the time domain and by means of an at least second control algorithm to determine an at least second manipulated variable in the time domain and this manipulated variable via the transfer medium to the actuator to transmit, wherein the adjusting device is designed to receive this manipulated variable via the transfer medium.
- control device is arranged exclusively in the cell - can be dispensed with the first control unit in the rotating system.
- controlled variables are detected in the rotating system and / or in the cell, the detection being preferred exclusively by means of a sensor arranged in the cell, but manipulated variables are exclusively determined by means of the control device arranged in the cell, which then transmits to the setting unit via the transfer medium can be.
- the second control device can be fed controlled variables in the time domain.
- the problem underlying the invention is also solved by a system for data transmission and processing for controlling a rotor blade actuator, wherein the system is arranged in the rotating system of the helicopter control device which is designed to provide at least a first rotor blade actuator; a third control means disposed in the cell of the helicopter; a transfer medium;
- a second sensor arranged in the cell, which is designed to detect at least one second control variable of the rotor blade actuator in the time domain and to transmit this control variable in the time domain to the third control device via a third signal coupling; and a third sensor, which is designed to detect at least one frequency signal of the main rotor and to transmit the frequency signal via an at least fourth signal coupling to the third control device; wherein the third control device is designed to receive the frequency signal via the signal-technical coupling, to transform the received third controlled variable in the time domain by means of the received frequency signal into a controlled variable in the frequency domain, by means of the transformed controlled variable in the frequency domain.
- control device is arranged exclusively in the cell - can be dispensed with the first control device in the rotating system.
- controlled variables are detected in the rotating system and / or in the cell, the detection being preferred exclusively by means of a sensor arranged in the cell, but manipulated variables are exclusively determined by means of the control device arranged in the cell, which then transmits to the setting unit via the transfer medium can be.
- the second control device controlled variables in the frequency domain can be supplied.
- the control of the actuator takes place exclusively by means of this control device.
- the control of the actuator takes place either exclusively by means of the control device arranged in the rotating system or exclusively by means of the control device arranged in the cell or by means of a regulator cascade based on both control devices.
- the cascading of the two control devices is preferred because it allows the entire controlled system to be subdivided into smaller, more controllable sections.
- one of the two control device takes the lead, wherein it is preferred that the control device arranged in the cell is a guide control device, the control output variable, ie the manipulated variable is the reference variable for the arranged in the rotating system control device.
- the method comprises the following steps:
- a first controlled variable is determined in the rotating system and supplied to the arranged in the rotating system first control device.
- a second controlled variable is transmitted to the arranged in the cell third control device. It can then be provided that the second manipulated variable determined in the cell is transmitted to the first control device via the transfer medium as part of a cascade control.
- Preferred is a method which comprises the following steps:
- the controlled variables of the first sensor are transmitted by the rotating system in the time domain to the third control device in the cell via the transfer medium and further processed using the frequency signal provided to the third control device.
- controlled variables detected in the cell are supplied to the first control device or the control unit in the time domain.
- This method exclusively uses the second control device arranged in the cell and dispenses with the one control device arranged in the rotating system.
- the determination of the manipulated variable by means of the arranged in the rotating system control device, which may be in particular a frequency domain controller, wherein this is supplied to both the frequency signal from the cell and the controlled variable of the first sensor.
- the advantage of the methods according to the invention and of the preferred embodiments is that the data transmission and processing for controlling a rotor blade actuator require no, or at least less, back and forth transformations than the methods of the prior art. This applies both when using time domain controllers and frequency domain controllers.
- the variety of parts can be reduced, in particular no frequency sensor is required, but at least the number of frequency sensors is less than in the prior art.
- FIG. 1 shows a first system according to the invention in a schematic representation
- FIG. 2 shows the first system according to the invention in a first embodiment in a schematic representation
- FIG. 3 shows the first system according to the invention in a preferred embodiment in a schematic representation
- 4 shows the first system according to the invention in a further preferred embodiment in a schematic illustration
- FIG. 5 shows a second system according to the invention in a schematic illustration
- FIG. 6 shows the second system according to the invention in a first embodiment in a schematic representation
- FIG. 8 shows a third system according to the invention in a schematic representation
- FIG 9 shows a method according to the invention in a first representation.
- FIGS. 1 to 8 show systems according to the invention and their preferred embodiments.
- Fig. 9 shows a method according to the invention. Identical elements are given the same reference numerals.
- the illustrated in Fig. 1 system 100 for data transmission and processing for controlling a rotor blade actuator comprises an actuator designed as an electrically adjustable control rod 1, designed as a power electronics actuator 2, designed as a time domain regulator 3a first control device 3 and a first sensor 4, wherein these components are arranged in the rotating system 10, that is on the rotor head of a helicopter, not shown.
- the sensor 4 detects controlled variables of the actuator 1 such as position, pressure and current in the time domain and transmits them via a second signal coupling 12 to the time domain controller 3a. This can be done both wired and wireless.
- the control means 3a are supplied with reference variables in the time domain via a fourth signal coupling 13.
- the controller 3a receives the controlled variables and determines by means of the reference variables and a suitable control algorithm a first manipulated variable in the time domain and supplies them to the actuator 2 via a first signal coupling 11.
- the actuator 2 then sets the actuator 1 according to the manipulated variable.
- the system 100 acc. 1 enables a data transmission and processing for the control of a rotor blade actuator without transformer tion of the controlled variables from the time domain to the frequency domain and vice versa.
- the control of the actuator 1 is carried out solely by means of the first regulator 3a.
- the system in FIG. 2 differs from the system according to FIG. 1 by an additional second time domain controller 5a and a second sensor 7, which is signal-technically coupled to the second time domain controller 5a.
- the second sensor 7 detects further controlled variables of the actuator 1 and this leads to the controller 5a via the third signaling coupling 21 to.
- the controller 5a is supplied with reference variables in the time domain via a fifth signal coupling 23.
- the controller 5a receives the control variable (s) of the second sensor 7 and determined by means of the supplied command variables and a suitable control algorithm, a second manipulated variable in the time domain and supplies them to the controller 3a via a signal coupling 61 via a designed as a slip ring 6a transfer medium 6 , But it is also a radio transmission conceivable, which is shown in dashed lines with 6b.
- the control of the actuator 1 by means of the first and the second controller, wherein the two controllers 3a, 5a cooperate cascade-shaped.
- the second regulator 5a feeds the second manipulated variable directly to the actuator 2.
- FIG. 3 shows a further embodiment of the system 100 according to the invention.
- a frequency domain controller 5b is provided, which is arranged in the cell 20.
- Frequency signals of the main rotor 9 are detected by means of a third sensor 8 designed as a tacho sensor and fed to the controller 5b via a fourth signal coupling 22.
- command values in the frequency range are supplied to the controller 5b via a sixth signal coupling 23.
- the sensor 7 detects controlled variables in the time domain and supplies them to the controller 5b via the signal-engineering coupling 21.
- the controller 5b first transforms the reference variable in the time domain using the frequency signal into a reference variable in the frequency domain and determines by means of a suitable control algorithm a manipulated variable in the frequency domain then using the frequency signal is transformed back into a third manipulated variable in the time domain.
- This third manipulated variable is then transmitted via a signal coupling 61 via the slip ring 6a to the first controller 3a. Again, a transmission via radio 6b is possible.
- the control of the actuator 1 is also carried out here by means of a cascade control.
- FIG 4 shows the system 100 according to the invention in an embodiment in which the controlled variables of the first sensor 4 are supplied to the third controller 5b via a signal coupling 62 via the slip ring 6a.
- One arranged in the cell second sensor 7 is not required.
- Fig. 5 shows a system 110 in which, unlike the previous systems, the control is effected exclusively via the regulator 5b in the cell 20, i. the transmission of the control variable determined by the controller 5b takes place directly from the cell 20 to the actuator 2 in the rotating system via a signal coupling 63 via the slip ring 6a.
- the senor 4 detects the control variables and supplies them to the controller 5b via a signal coupling 62 via the slip ring 6a.
- the manipulated variable determined by the third controller 5b is transmitted directly via a signal coupling 63 via the slip ring 6a to the actuator.
- the system 110 of FIG. 7 corresponds to that of FIG. 6, wherein the time domain controller 5 a determines the manipulated variables and for this purpose receives the required control variables from the first sensor 4.
- the system 120 of Fig. 8 corresponds to that of Fig. 1, wherein a frequency domain controller 3b, the manipulated variables in the time domain using the detected by the sensor 8 and a signal coupling 64 frequency signal supplied, a corresponding control algorithm and using appropriate reference variables in the frequency domain , which is supplied to the controller 3b by means of a suitssgrö-svorgabe worn 16 via the signal-technical coupling, determined and transmitted via the signal-technical coupling 11 to the actuator 2.
- the control of the actuator in the system 120 is carried out exclusively by means of the regulator 3b.
- 9 shows a process sequence 200 according to the invention for data transmission and processing for controlling a rotor blade actuator.
- a first step 210 controlled variables in the time domain of an actuator 1 designed as an electrically adjustable control rod are detected by means of a second sensor and transmitted in a second subsequent step 220 to a frequency domain controller 5b via a first signal coupling 21.
- the frequency domain controller 5b shown in FIG. 9 is a vibration controller. However, other frequency domain controllers are also conceivable.
- a third step 230 the frequency of the main rotor (not shown) is determined by means of a third sensor 8 designed as a tachometer sensor and transmitted in a subsequent fourth step 240 via a fourth signal coupling 22 to the controller 5b.
- a fifth step 250 the controlled variable in the time domain is transformed into a controlled variable in the frequency domain by means of the frequency signal supplied by the tacho sensor by means of Fast Fourier Transformation (FFT).
- FFT Fast Fourier Transformation
- a reference value presetting device 26 supplies to the controller 5b reference variables in the frequency range via a signal coupling 23.
- a seventh step 270 the controller 5b determines by means of a suitable control algorithm using the reference variable and the controlled variable in the frequency domain, a corresponding manipulated variable in the frequency domain.
- the controller 5b transforms the manipulated variable from the frequency domain using the frequency signal by means of inverse Fast Fourier Transformation (iFFT) into a first manipulated variable in the time domain.
- iFFT inverse Fast Fourier Transformation
- the controller 5b transmits the first manipulated variable in the time domain to a rotor head arranged on the rotor system 10, ie in the rotating system 10.
- th time domain controller 3a via a slip ring 6a.
- the time domain controller 3a is a position controller. However, other time domain controllers are also conceivable.
- a tenth step 300 detects a arranged on the rotor head first controller 4 controlled variables of the actuator 1 in the time domain.
- This sensor 4 is a position sensor, wherein other sensors are conceivable depending on the requirement.
- the position sensor 4 transmits the controlled variables to the controller 3 a via a signal coupling 12.
- the controller 3a determines by means of a suitable control algorithm using a supplied reference variable in the time domain (not shown) and the controlled variable in the time domain, a corresponding second manipulated variable in the time domain.
- a thirteenth step 330 the controller 3a transmits the first manipulated variable and the second manipulated variable to the actuator 2 via a signal-technical coupling.
- the actuator 2 then sets in a fourteenth step 340, the actuator 1 according to the received control variables.
- the described method comprises a preferred cascade control, i. the regulator 5b in the cell 20 and the regulator 3a on the rotor head 10 control the actuator 1.
- the frequency domain controller 5b of the cell 20 can also be designed as a time domain controller 5a, in which case the frequency sensor 8 and the Fourier transformations can be omitted without replacement.
- an embodiment without the controller in the rotating system 10 is conceivable. This is indicated by the shaded area A from bottom left to top right. In such an embodiment, the controller in the cell would transmit the determined manipulated variable directly to the actuator 2 via the slip ring 6a. It is also conceivable to transmit the controlled variables recorded in the time domain by means of the sensor 4 arranged in the rotating system 10 to the controller in the cell 20. This is indicated by the area B hatched from bottom right to top left. The quantities returned by the rotating system 10 into the cell 20 can be used in particular for system identification. However, it is also conceivable to detect controlled variables for the frequency domain controller 5b and to transmit them to them.
- FIG. 9 is not limited to the temporal sequence indicated by the time beam. Rather, the steps may be in any other permissible order, or at least partially concurrent.
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102016213720.4A DE102016213720A1 (de) | 2016-07-26 | 2016-07-26 | System zur Datenübermittlung und -verarbeitung zur Regelung eines Rotorblattaktuators |
PCT/EP2017/065944 WO2018019506A1 (de) | 2016-07-26 | 2017-06-28 | System zur datenübermittlung und -verarbeitung zur regelung eines rotorblattaktuators |
Publications (1)
Publication Number | Publication Date |
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EP3490884A1 true EP3490884A1 (de) | 2019-06-05 |
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ID=59258209
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP17734289.6A Withdrawn EP3490884A1 (de) | 2016-07-26 | 2017-06-28 | System zur datenübermittlung und -verarbeitung zur regelung eines rotorblattaktuators |
Country Status (4)
Country | Link |
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US (1) | US11148793B2 (de) |
EP (1) | EP3490884A1 (de) |
DE (1) | DE102016213720A1 (de) |
WO (1) | WO2018019506A1 (de) |
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EP3819209B1 (de) * | 2019-11-11 | 2023-03-29 | Volocopter GmbH | Verfahren zum betrieb eines flugzeugs und entsprechend betreibbares flugzeug |
DE102020124731A1 (de) * | 2020-09-23 | 2022-03-24 | Volocopter Gmbh | Verfahren zum Betreiben eines Fluggeräts, Regelungsarchitektur für ein Fluggerät und Fluggerät mit einer solchen |
US11731757B2 (en) * | 2021-11-05 | 2023-08-22 | Karem Aircraft, Inc. | Rotor blade pitch trajectory control |
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GB9104189D0 (en) * | 1991-02-28 | 1991-06-12 | Westland Helicopters | Active vibration control systems |
US5314308A (en) * | 1992-12-11 | 1994-05-24 | Dynamic Engineering, Inc. | System for controlling higher harmonic vibrations in helicopter rotor blades |
US5970393A (en) * | 1997-02-25 | 1999-10-19 | Polytechnic University | Integrated micro-strip antenna apparatus and a system utilizing the same for wireless communications for sensing and actuation purposes |
US5938404A (en) * | 1997-06-05 | 1999-08-17 | Mcdonnell Douglas Helicopter Company | Oscillating air jets on aerodynamic surfaces |
US6048172A (en) * | 1998-03-06 | 2000-04-11 | International Technologies (Lasers) Ltd. | Autonomous helicopter blade end lighting device |
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JP3053620B1 (ja) * | 1999-02-25 | 2000-06-19 | 株式会社コミュータヘリコプタ先進技術研究所 | ロ―タブレ―ドのフラップ駆動装置 |
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EP2514669B1 (de) * | 2011-04-18 | 2014-09-10 | Claverham Limited | Aktive Gurney-Klappe |
US9708062B2 (en) | 2011-04-18 | 2017-07-18 | C Series Aircraft Limited Partnership | Aircraft lavatory for a person with reduced mobility |
EP2572982B1 (de) * | 2011-09-20 | 2014-06-18 | AIRBUS HELICOPTERS DEUTSCHLAND GmbH | Profil mit einem Kreislaufsteuersystem |
JP6059046B2 (ja) * | 2013-03-04 | 2017-01-11 | アズビル株式会社 | 不具合検知システムおよび不具合検知方法 |
US9203459B2 (en) | 2013-04-18 | 2015-12-01 | Sikorsky Aircraft Corporation | Harmonic data transfer in rotary wing aircraft |
JP6092026B2 (ja) * | 2013-07-12 | 2017-03-08 | アズビル株式会社 | 調節計およびデータ収集方法 |
-
2016
- 2016-07-26 DE DE102016213720.4A patent/DE102016213720A1/de active Pending
-
2017
- 2017-06-28 WO PCT/EP2017/065944 patent/WO2018019506A1/de unknown
- 2017-06-28 EP EP17734289.6A patent/EP3490884A1/de not_active Withdrawn
- 2017-06-28 US US16/320,801 patent/US11148793B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
DE102016213720A1 (de) | 2018-02-01 |
US11148793B2 (en) | 2021-10-19 |
WO2018019506A1 (de) | 2018-02-01 |
US20190168867A1 (en) | 2019-06-06 |
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