JPH036829B2 - - Google Patents
Info
- Publication number
- JPH036829B2 JPH036829B2 JP59089887A JP8988784A JPH036829B2 JP H036829 B2 JPH036829 B2 JP H036829B2 JP 59089887 A JP59089887 A JP 59089887A JP 8988784 A JP8988784 A JP 8988784A JP H036829 B2 JPH036829 B2 JP H036829B2
- Authority
- JP
- Japan
- Prior art keywords
- radio
- attitude
- signals
- flight
- control
- 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.)
- Expired
Links
- 238000005096 rolling process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Landscapes
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
産業上の利用分野
この発明は、ラジコンヘリコプターを自動的に
姿勢制御する機構に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a mechanism for automatically controlling the attitude of a radio-controlled helicopter.
従来の技術
従来、ラジコンヘリコプターにおいては、飛行
中の姿勢制御をメインロータに直結したスワツシ
ユプレート並びにテールロータの制御ロツドをそ
れぞれサーボ機構と連係し、地上の無線送信器か
らの指令を搭載した受信機で受信した後にそれぞ
れのサーボ機構を動作させ、スワツシユプレート
の制御により飛行姿勢の前後、左右方向への変位
を調整すると共にテールロータの制御でもつて方
向制御をなしているものである。従つて、ラジコ
ンヘリコプターの姿勢を地上の操縦者が確認しな
がら無線送信器のレバー操作をなさねばならず、
姿勢制御に多くの手間を要し、離陸、空中停止、
着陸等の各種飛行状態において操縦者の負担が重
く、ラジコンヘリコプターは塾練した操縦者以外
は利用をなし得ず、よつて、ラジコンヘリコプタ
ーを利用した空中写真撮影、農薬散布、リードロ
ーブ等の諸作業の普及を見るに至つていない。Conventional technology Conventionally, in radio-controlled helicopters, attitude control during flight is performed by linking the swath plate directly connected to the main rotor and the control rod of the tail rotor with a servo mechanism, and receiving commands from a radio transmitter on the ground. After receiving the signal, each servo mechanism is operated, and the swashplate is controlled to adjust the flight attitude in the longitudinal and horizontal directions, and the tail rotor is also used to control the direction. Therefore, the operator on the ground must operate the radio transmitter lever while checking the attitude of the radio-controlled helicopter.
Attitude control requires a lot of effort, taking off, stopping in the air,
Radio-controlled helicopters can only be used by trained pilots due to the heavy burden placed on the pilot during various flight conditions such as landing, and as a result, radio-controlled helicopters are used for various purposes such as aerial photography, pesticide spraying, lead lobes, etc. This work has not yet become widespread.
発明が解決しようとする問題点
即ち、本発明は上記諸欠点を解消する目的にお
いて、垂直ジヤイロとレートジヤイロ並びに制御
用電子回路や電源回路をコンパクト化してラジコ
ンヘリコプターに搭載し、垂直ジヤイロのピツチ
ングセンサーとローリングセンサーの信号でサー
ボアークチエターを介してメインロータのスワツ
シユプレートを制御すると共にレートジヤイロで
もつてテールロータを制御し、更に、地上より発
信されたコマンドを受信してジヤイロ信号と比較
しながら飛行状態を制御し得る様になした装置で
あつて、小型、軽量で、各種飛行状態における姿
勢を自動的に安定させ、パイロツトの負担を軽減
させると共にラジコンヘリコプターの産業用利用
度を高め得る様になしたことを特徴とするもので
ある。Problems to be Solved by the Invention Namely, in order to eliminate the above-mentioned drawbacks, the present invention has made a vertical gyro, a rate gyro, a control electronic circuit, and a power supply circuit compact and mounted on a radio-controlled helicopter, and a pitching sensor for the vertical gyro. The main rotor's swath plate is controlled via the servo arctiator by the rolling sensor signal, and the tail rotor is controlled by the rate gyro, and the commands sent from the ground are received and compared with the gyro signal. This device is designed to control flight conditions, is small and lightweight, and automatically stabilizes the attitude in various flight conditions, reducing the burden on the pilot and increasing the industrial utility of radio-controlled helicopters. It is characterized by what it has done.
問題点を解決するための手段
以下、本発明の構成を実施例図により説明す
る。Means for Solving the Problems Hereinafter, the configuration of the present invention will be explained with reference to embodiment diagrams.
第1図の正面図並びに第2図の平面図に示す様
にスピンモータ1を支架した内ジンバル2の正面
並びに背面の中央位置に軸片3,3′を突設し、
外ジンバル4の正面並びに背面の中央位置に設け
た軸受5,5′に軸片3,3′を軸支し、外ジンバ
ル4の両側面の中央位置に軸片6,6′を突設し、
ベース7の上面に立設した中空枠体8の両側面の
中央位置に設けた軸受9,9′に外ジンバル4の軸
片6,6′を軸支した垂直ジヤイロ10をベース7
に架設し、軸片3の偏位角度でピツチングを検出
するピツチングセンサー11を外ジンバル4に付
設し、軸片6の偏位角度でローリングを検出する
ローリングセンサー12を中空枠体8に付設し、
中空枠体8の右側上部位置に角速度検出用のレー
トジヤイロ13を設置すると共に下方位置に充電
式電池14に接続してジヤイロのスピンモータに
必要な400Hz交流電圧を供給するインバータ15
並びにジヤイロの検出センサーからの信号を入力
する第1、第2ゲインアンプ16,16′やラジ
オコマンド受信回路17へ安定した直流電圧を供
給すると共にノイズ防止用のフイルター回路等の
組込みしたパワー回路18を設置し、機体のピツ
チングやローリングを検出する垂直ジヤイロ10
のピツチングセンサー11やローリングセンサー
12からの信号を入力する第1ゲインアンプ1
6、機体のヨー軸角速度を検出するレートジヤイ
ロ13からの信号を入力する第2ゲインアンプ1
6′、第1、第2ゲインアンプ16、16′からの
信号並びにラジオコマンド受信回路17からの信
号を入力して機体の運動状態を比較判断するミツ
クスアンプ19等を中空枠体8の上面に設置し、
該ミツクスアンプ19で解析した信号をメインロ
ータに直結したスワツシユプレート20の制御用
サーボアークチエター21やテールロータ22の
制御用サーボアークチエター21′に伝達する様
になしたラジコンヘリコプター用姿勢制御装置2
3である。尚、図中24は指令送信器、25はコ
ネクターを示す。 As shown in the front view of FIG. 1 and the plan view of FIG. 2, shaft pieces 3, 3' are protruded from the center of the front and back sides of the inner gimbal 2 supporting the spin motor 1,
The shaft pieces 3, 3' are supported by bearings 5, 5' provided at the center of the front and back sides of the outer gimbal 4, and the shaft pieces 6, 6' are protruded from the center of both sides of the outer gimbal 4. ,
A vertical gyroscope 10 with shaft pieces 6, 6' of the outer gimbal 4 pivotally supported on bearings 9, 9' provided at the center of both sides of a hollow frame 8 erected on the upper surface of the base 7 is attached to the base 7.
A pitching sensor 11 that detects pitching based on the deflection angle of the shaft piece 3 is attached to the outer gimbal 4, and a rolling sensor 12 that detects rolling based on the deflection angle of the shaft piece 6 is attached to the hollow frame 8. death,
A rate gyroscope 13 for detecting angular velocity is installed at the upper right position of the hollow frame body 8, and an inverter 15 is connected to a rechargeable battery 14 at a lower position to supply a 400Hz AC voltage necessary for the spin motor of the gyroscope.
In addition, a power circuit 18 supplies a stable DC voltage to the first and second gain amplifiers 16, 16' that input signals from the gyro's detection sensor and the radio command receiving circuit 17, and incorporates a filter circuit for noise prevention. Vertical gyroscope 10 is installed to detect pitching and rolling of the aircraft.
A first gain amplifier 1 receives signals from a pitching sensor 11 and a rolling sensor 12.
6. Second gain amplifier 1 that inputs the signal from the rate gyro 13 that detects the yaw axis angular velocity of the aircraft
6', mix amplifiers 19 and the like are installed on the upper surface of the hollow frame body 8 for inputting signals from the first and second gain amplifiers 16 and 16' and signals from the radio command receiving circuit 17 to compare and judge the motion state of the aircraft. death,
Attitude control for a radio-controlled helicopter in which a signal analyzed by the mix amplifier 19 is transmitted to a servo arc tiator 21 for controlling the swash plate 20 and a servo arc tiator 21' for controlling the tail rotor 22, which are directly connected to the main rotor. Device 2
It is 3. In the figure, 24 indicates a command transmitter, and 25 indicates a connector.
作用 効果
つぎに、実施例図により本発明の作用効果を説
明する。Functions and Effects Next, the functions and effects of the present invention will be explained with reference to embodiment figures.
ラジコンヘリコプターに本発明になる姿勢制御
装置を用いた場合には、垂直ジヤイロ10のスピ
ンモータ1を基準にして姿勢偏位角度をピツチン
グセンサー11とローリングセンサー12で感知
し、第1ゲインアンプ16よりミツクスアンプ1
9を経てサーボアークチエター21でメインロー
タに直結したスワツシユプレート20を作動させ
ながら飛行姿勢の前後、左右の偏位を動制御し、
更にレートジヤイロ13でもつてヨー軸角速度を
検出しながら同じ第2ゲインアンプ16′からミ
ツクスアンプ19を経てサーボアークチエター2
1′で制御ロツドを作動させながらテールロータ
22を制御し、方向制御をなすものである。同時
に、地上の指令送信器24より発信した指令パル
スをラジオコマンド受信回路17で受信してミツ
クスアンプ19へ入力し、各垂直ジヤイロ10と
レートジヤイロ13からの検出信号と常に比較
し、指令送信器24より飛行姿勢を変える信号が
入力された場合、ジヤイロ信号に比較して前進、
後進又は左右、横方向への変向を判定してサーボ
アークチエター21,21′へ信号を伝達して飛
行姿勢をコントロールするものである。 When the attitude control device according to the present invention is used in a radio-controlled helicopter, the attitude deviation angle is detected by the pitching sensor 11 and the rolling sensor 12 based on the spin motor 1 of the vertical gyro 10, and the first gain amplifier 16 More Mix Amp 1
9, the swash plate 20 directly connected to the main rotor is actuated by the servo arc tiator 21 to dynamically control the longitudinal and lateral deviation of the flight attitude.
Furthermore, while detecting the yaw axis angular velocity using the rate gyro 13, the servo arcuator 2 is also connected to the second gain amplifier 16' via the mix amplifier 19.
1', the tail rotor 22 is controlled while operating the control rod, thereby achieving directional control. At the same time, the command pulse transmitted from the command transmitter 24 on the ground is received by the radio command receiving circuit 17, inputted to the mix amplifier 19, and constantly compared with the detection signals from each vertical gyro 10 and rate gyro 13. When a signal that changes the flight attitude is input, it will move forward compared to the gyroscope signal.
The flight attitude is controlled by determining whether the aircraft is going backwards or changing direction to the left, right, or lateral direction and transmits a signal to the servo arctiators 21, 21'.
また、何等かの影響(風)等で飛行姿勢が変化
した場合も、垂直ジヤイロ10とレートジヤイロ
13でもつて変化量を検出してこれと対応した操
縦信号をサーボアークチエター21,21′に伝
達して自動的に元の飛行姿勢に復元するものであ
る。 Additionally, even if the flight attitude changes due to some influence (wind), the vertical gyro 10 and rate gyro 13 detect the amount of change and transmit the corresponding control signal to the servo arctiators 21, 21'. The aircraft automatically returns to its original flight attitude.
従つて、ラジコンヘリコプターの離陸、飛行中
や、空中停止、着陸等の各種飛行状態における姿
勢を自動的に安定させ得るものであり、パイロツ
トの負担が軽減されるために熟練度の低いパイロ
ツトでも容易に操縦しながらラジコンヘリコプタ
ーを利用して空中写真撮影、農薬散布、リードロ
ープ等の諸作業を容易になして利用度を高め得る
等、前記した様な顕著な諸効果を奏するものであ
る。 Therefore, it is possible to automatically stabilize the attitude of a radio-controlled helicopter in various flight conditions such as takeoff, flight, mid-air stop, and landing, and the burden on the pilot is reduced, making it easy even for less skilled pilots. This device has the remarkable effects described above, such as making it easier to perform various tasks such as aerial photography, spraying pesticides, and leading ropes by using a radio-controlled helicopter while operating the helicopter.
第1図は本発明の実施例に係る姿勢制御装置の
要部を示した正面図、第2図はその平面図、第3
図は制御回路の系統図である。
1スピンモータ、2内ジンバル、4外ジンバ
ル、8中空枠体、10垂直ジヤイロ、13レート
ジヤイロ、16,16′ゲインアンプ、17ラジ
オコマンド受信回路、18パワー回路、19ミツ
クスアンプ、20スワツシユプレート、21,2
1′サーボアークチエター、22テールロータ。
FIG. 1 is a front view showing the main parts of an attitude control device according to an embodiment of the present invention, FIG. 2 is a plan view thereof, and FIG.
The figure is a system diagram of the control circuit. 1 spin motor, 2 internal gimbal, 4 external gimbal, 8 hollow frame, 10 vertical gyro, 13 rate gyro, 16, 16' gain amplifier, 17 radio command receiving circuit, 18 power circuit, 19 mix amplifier, 20 swash plate, 21 ,2
1' servo arctiator, 22 tail rotor.
Claims (1)
ジヤイロ等を組合せた2種類のジヤイロと、ラジ
オコントロールからのコマンド受信回路と、ジヤ
イロからの信号とコマンド受信回路とからの信号
とを比較して飛行状態を制御する電子回路並びに
電源装置等を内蔵した機構を機体に搭載し、メイ
ンロータに直結したスワツシユプレートの制御用
サーボアークチエターやテールロータの制御用サ
ーボアークチエターに電子回路より信号を伝達し
ながら飛行状態の姿勢を自動制御することを特徴
として成る、ラジコンヘリコプターにおける姿勢
制御装置。1 Flight by comparing two types of gyros such as a vertical gyro with 2 degrees of freedom and a rate gyro with 1 degree of freedom, a command receiving circuit from the radio control, and signals from the gyros and signals from the command receiving circuit. A mechanism containing electronic circuits and power supplies that control the state is mounted on the aircraft, and signals are sent from the electronic circuit to the servo arc tiator for controlling the swash plate and the servo arc tiator for controlling the tail rotor, which are directly connected to the main rotor. An attitude control device for a radio-controlled helicopter, which is characterized by automatically controlling the attitude of a flight state while transmitting the following information.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59089887A JPS60234683A (en) | 1984-05-04 | 1984-05-04 | Posture controller in radio control helicopter |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59089887A JPS60234683A (en) | 1984-05-04 | 1984-05-04 | Posture controller in radio control helicopter |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS60234683A JPS60234683A (en) | 1985-11-21 |
JPH036829B2 true JPH036829B2 (en) | 1991-01-31 |
Family
ID=13983260
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59089887A Granted JPS60234683A (en) | 1984-05-04 | 1984-05-04 | Posture controller in radio control helicopter |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60234683A (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3166703B2 (en) * | 1998-03-27 | 2001-05-14 | 双葉電子工業株式会社 | Gyro device for remote control helicopter |
US8200375B2 (en) | 2008-02-12 | 2012-06-12 | Stuckman Katherine C | Radio controlled aircraft, remote controller and methods for use therewith |
-
1984
- 1984-05-04 JP JP59089887A patent/JPS60234683A/en active Granted
Also Published As
Publication number | Publication date |
---|---|
JPS60234683A (en) | 1985-11-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6671375B2 (en) | How to fly a drone | |
EP1645505B1 (en) | Unmanned helicopter and landing method for an unmanned helicopter | |
JP4109767B2 (en) | Unmanned helicopter flight control system. | |
US20180354622A1 (en) | Multirotor aircraft and a method for controlling the multirotor aircraft | |
US6789768B1 (en) | Bordered flying tool | |
WO2006098469A1 (en) | Flight control system | |
WO2006106730A1 (en) | Fuselage information display panel | |
US6088633A (en) | Mobile body controlling gear | |
JP2004268730A (en) | Attitude control method for unmanned helicopter | |
JP6592680B1 (en) | Unmanned aerial vehicle | |
JP2001209427A (en) | Remote controller for unmanned airplane | |
KR20000005617A (en) | Gyroscope for remote-controlled helicopters | |
JP2008094278A (en) | Double reversal rotation impeller machine | |
JP2955699B2 (en) | Remote flight control system for unmanned helicopter. | |
CN107891975B (en) | Aerial work robot | |
CN106114817A (en) | A kind of aircraft and flight system | |
JP2008093204A (en) | Co-axial helicopter | |
JPH036829B2 (en) | ||
JP2008201183A (en) | Attitude controlling device | |
JPH0277395A (en) | Remote control helicopter | |
WO2020035715A1 (en) | Aircrafts with controllers and tiltable rotors for attitude-controlled flight | |
Suzuki et al. | Teleoperation of a tail-sitter VTOL UAV | |
JP3185081B2 (en) | Unmanned helicopter attitude control system | |
JP2007106267A (en) | Unmanned helicopter | |
JP2009096369A (en) | Control support device for unmanned radio-controlled helicopter |