WO2006075096A1 - Dispositif d'orientation de la tete de rotor pour helicoptere - Google Patents
Dispositif d'orientation de la tete de rotor pour helicoptere Download PDFInfo
- Publication number
- WO2006075096A1 WO2006075096A1 PCT/FR2006/000067 FR2006000067W WO2006075096A1 WO 2006075096 A1 WO2006075096 A1 WO 2006075096A1 FR 2006000067 W FR2006000067 W FR 2006000067W WO 2006075096 A1 WO2006075096 A1 WO 2006075096A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotor head
- head
- fuselage
- rotor
- helicopter
- Prior art date
Links
- 238000005259 measurement Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009257 reactivity Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
Definitions
- the present invention relates first of all to the realization of the means for orienting the rotor head of a pendulum - controlled helicopter.
- the rotor head generally comprises two counter-rotating rotors and is fixed to the fuselage by means of a ball joint which enables it to be oriented in roll and pitch, relative to said fuselage, by a steering control, at the same time. help of cylinders for example.
- This invention also applies to conventional helicopters whose movements of the rotor plane are controlled by cyclic variations of the pitch of the blades. It also applies to any vertical take - off aircraft equipped with rotors whose orientation or orientation could be varied with respect to the structure.
- US Patent No. 5,791,592 discloses a pendulum-controlled helicopter whose orientation of the rotor head is controlled by two hydraulic cylinders.
- French Patent No. 2,801,034 describes a pendulum-controlled helicopter whose rotor head is also controlled by two jacks but which is characterized by a displacement of said rotor head greater than ⁇ 10 ° and by its automatic control means. the orientation of said head.
- the steering control device of the rotor head according to the invention provides a decisive advantage because, not only does it provide a very high level of redundancy of the said control, but it guarantees a very high reactivity of the machine and makes it possible to measure gusts of wind. This last feature is particularly advantageous for facilitating takeoff and landing maneuvers on a boat.
- the invention consists in using at least three jacks and preferably six jacks in order to carry out the steering control of the rotor head, to use a measurement of the force exerted by the jacks to calculate the horizontal wind and to introduce into the calculation of the cylinder control a combination of angular velocities of the fuselage and the rotor head to increase the responsiveness of the helicopter.
- the invention applies to any aircraft for which the direction of action of propellers or rotors relative to the fuselage is changed.
- the invention applies both to non-piloted aircraft and to piloted aircraft, with thermal or electric engines.
- the invention therefore relates to a device for orienting the rotor head for a helicopter with pendulum steering of the type comprising;
- orientation means comprise at least three jacks.
- FIG. 1 is a cutaway perspective view of a pendular pilot helicopter according to the prior art
- FIG. 2 is a perspective view of a first embodiment of the device according to the invention
- FIG. 3 is an enlarged view of the rotor head of FIG.
- FIG. 4 is a block diagram of the control of the jacks of the device of FIG. 2,
- FIG. 5 is a schematic representation of the angles of rotation of the rotor head with respect to the fuselage
- FIG. 6 is a variant of the block diagram of the control of the jacks of the device of FIG. 2
- FIG. 7 is a perspective view of a preferred embodiment of the device according to the invention.
- FIG. 8 is an enlarged view of the rotor head of the device of FIG. 6, and
- FIG. 9 is a diagram of the control of the jacks of the device of FIG. 7.
- FIG. 1 shows an example of an unmanned embodiment of a pendulum-controlled helicopter according to the prior art. It comprises :
- a rotor head 2 connected to the fuselage 1 by a ball joint 3, - two cylinders, respectively 4 and 5, connecting the fuselage 1 to the rotor head 2, so as to control the orientation of said rotor head, pitch and roll, with respect to said fuselage 1,
- the fuselage, mounted on a landing gear 8, comprises:
- This helicopter comprises: a fuselage 1 having a reference trihedron of which a first axis 29 is the roll axis of the machine, a second axis 30 is the pitch axis and a third axis 31 is the yaw axis, a rotor head 12, having an axis 28, equipped with two rotors 13 and 14 counter-rotating and a control plate
- Guidance 15 preferably circular and perpendicular to the f axis 28 of the rotor head, a joint, of cardan type, not visible in the figure, between said fuselage 1 and said rotor head 12 and having a center or point articulation 16 preferably located in the plane of the orientation control plate 15, at least three cylinders 17, 18 and 19, preferably electric, but which can be hydraulic or pneumatic, fixed on the fuselage for example via a plate 20 and acting, with the aid of at least three control rods 21, 22 and 23, hinged on at least three points of application of the forces 24, 25 and 27 located on the periphery of the
- the three points of application of the forces 24, 25 and 27 of the control rods 21, 22 and 23 of the jacks are located substantially at 120 ° from each other on the periphery of the orientation plate 15. of the rotor head 12.
- the cylinders are positioned on the plate 20 and thus on the fuselage so that their control rods 21, 22 and 23 are substantially parallel to the axis 28 of the rotor head when the latter is in an average position, c ie when said axis 28 is substantially perpendicular to the roll axes 29 and pitch 30 of the helicopter.
- One of the cylinders 17 is preferably placed in the plane of symmetry of the fuselage and therefore acts directly on the pitch control of the rotor head.
- the other two cylinders 18 and 19 act mainly on the roll but also on the pitch.
- the cylinders 17, 18 and 19 can indifferently be linear or rotary.
- They are preferably each equipped with a position sensor, respectively 32, 33 and 34, which provide information a, b and c from which it is possible to deduce values of three angles A, B and C that the plate of orientation relative to the fuselage, to the right of the three attachment points 24, 25 and 27 of the control rods 21, 22 and 23.
- angles A, B and C are substantially equal to:
- A Arcsinus (a / R)
- B Arcsinus (b / R)
- C Arcsinus (c / R)
- R is the distance separating each attachment point from the center of the orientation plate and or a
- b and c are the linear displacements of the cylinders.
- the control means comprise: a generator 38 with two angles ⁇ c and ⁇ c to be controlled at the rotor head, a generator 39 with two pitch angles ⁇ and roll ⁇ of the fuselage, - a generator Angular velocities ⁇ 'and ⁇ ' in pitch and roll of the fuselage, - a control computer 41 for the actuators a servo electronics 42, 43 and 44 for each cylinder, preferably provided with a current measuring device, respectively, 45, 46 and 47, consumed by said cylinder, and which provides the power necessary to ensure the control of the cylinder at one of three angles A, B or C, the three cylinders 17, 18 and 19.
- the rotor head takes the orientations ⁇ and ⁇ with respect to a reference trihedron 48 having two horizontal axes 49 and 50 and a vertical axis 51.
- This trihedron is such that the axis of roll 29 of the machine is contained in the plane formed by its axes 49 and 51.
- the two pitch angles ⁇ and roll ⁇ of the fuselage are determined relative to the reference trihedron 48.
- the angle generator ⁇ and ⁇ 39 and the angular velocity generator ⁇ 'and ⁇ ' 40 may be constituted by an attitude unit or preferably by an inertial navigation unit.
- FIG. 5 shows the relationships between the angles A, B and C and the angles ⁇ ⁇ and ⁇ ⁇ which are identical to those existing between the controlled angles Ac, Bc and Cc and the controlled angles ⁇ ⁇ c and ⁇ p c.
- an ellipse 52 represents the plane of the roll axes 29 and pitch 30 of the machine
- an ellipse 53 represents the plane perpendicular to the axis 28 of the head of the machine.
- rotor The angle ⁇ ⁇ is the angle made by the two ellipses in the plane of roll axes 29 and yaw 31 of the machine.
- the angle ⁇ ⁇ is the angle that the two ellipses make in the plane of the pitch and lace axes 31 of the machine.
- the angle A measured by the sensor 32 of the jack 17 is substantially equal to ⁇ ⁇ .
- the angles B and C are the angles formed by the two ellipses in planes containing the yaw axis 31 of the machine and making respectively 120 ° and 240 ° with the roll axis 29. The angles thus described, their mathematical relations are easily deduced.
- the controlled angles must be corrected for any nonlinearity errors induced by the mechanism linking each cylinder and the head orientation plate.
- this device thus makes it possible to overcome most electrical failures in which a jack no longer acts.
- the current measurement devices of the cylinders 45, 46 and 47 provide the information necessary to identify this type of failure.
- a failure of a position sensor of one of the cylinders or of a mechanical connection between one of these cylinders and the orientation plate of the rotor head renders the values of ⁇ calculated incoherent.
- a processing of the information available at the level of the control unit of the cylinders makes it possible to identify a good part of the failures and to decide on the continuation of the mission.
- the means for measuring the external forces exerted on the rotor head 12 are, for example, made using force or torque sensors. They can detect the gusts of wind to which the helicopter is subjected. Indeed, in steady flight, stationary or not, the orientations of the head 12 and the fuselage 1 are such that the lift of the rotors balances all the forces acting on the machine. When a gust of wind occurs, the streaks of the rotor head 12 and the fuselage 1 are modified and, because of the relatively low inertia of the rotor head 12 relative to that of the fuselage 1, the latter tends to move more quickly that said fuselage. There then appears a couple around the point of articulation 16 which tends to turn the head.
- a preferred method of the invention is to use the current measuring devices 45, 46 and 47 in the cylinders 17, 18 and 19 as a force sensor. These in fact provide three pieces of information which are the images of the pairs developed by each cylinder and therefore efforts they have to provide to maintain the rotor head 12 in the controlled position and overcome the forces that tend to move it.
- the sensors 32, 33 and 34 detect the rotation and the servo electronics 42, 43 and 44, to maintain the head at its position, modify the control currents of the cylinders so as to counter the torque.
- the currents measured by the measuring devices 45, 46 and 47 contain then the parameters of the wind gust.
- a processing of the current measurements is then made in the computer 41 to output said parameters of the burst.
- FIG. 6 is a preferred variant of that of FIG. 4, in which the servocontrol in position of the rotor head 12 is no longer ensured by servocontrol of each jack through a servo electronics 42, 43 and 44 specific to said cylinders but by the control computer 41 of the cylinders itself.
- the servo electronics 42, 43 and 44 are replaced by power amplifiers 53, 54 and 55 also provided with current measuring devices 45; 46 and 47.
- the cylinders are no longer controlled independently of each other by the difference between the controlled angles, Ac, Bc and Cc and the measured angles A, B and C but by only two independent deviations ⁇ ⁇ c - ⁇ ⁇ and ⁇ pc - ⁇ p between the angles that must make the head 12 relative to the fuselage 1 and those they actually do.
- G is a servo transfer function possibly accompanied by a frequency corrector and where the coefficients K1 and K2 are preferably taken respectively equal to V3 / 2 and 0, 5 so that, taking into account the effects of Lever due to the angles of 120 and 240 ° of the position of the cylinders 18 and 19, the torques exerted by the motors, on each axis of roll and pitch, are equal to 1, 5 times the torque exerted by a single engine.
- This solution has the advantage of avoiding the necessary nonlinearity corrections in the preceding case without risking working the motors against each other.
- the device described above can be realized with 4 or 5 jacks by applying the same principles. In the case of 5 cylinders, it becomes possible to identify for sure, at least one and theoretically two failures of one of the cylinder sensors or one of the mechanical links between a jack and the head orientation plate. rotor.
- the preferred solution of the invention consists, in FIGS. 7 and 8, in using 6 jacks 17, 18, 19, 56, 57 and 58, which transmit their forces, through the control rods 21, 22, 23, 62, 63 and 64 and whose points of application of the forces 24, 25, 27, 65, 66 and 67 are also distributed around the orientation plate 15 of the rotor head 12, substantially every 60 °, thus forming a hexagon of regular preference.
- the six cylinders are also each equipped with a position sensor, respectively 32, 33, 34, 59, 60 and 61, which provide six information al, bl, cl, a2, b2, c2 which is deduced, as previously according to it is about linear or rotary cylinders, six values of angles A1, B1, C1, A2, B2, C2 of orientation of the control plate of the head at the point of attachment of the six control rods.
- angles to be controlled at each jack are:
- control computer 41 for the jacks produces six control voltages as follows:
- VAl G. ( ⁇ ⁇ c - ⁇ ⁇ )
- VB1 G. ( ⁇ / 3/2. ( ⁇ ⁇ c - ⁇ p ) - 0, 5. ( ⁇ ⁇ c - ⁇ ⁇ ))
- These voltages are sent to the motors of the cylinders 17, 18, 19, 56, 57 and 58 by six power amplifiers 53, 54, 55, 62, 63 and 64 preferably provided with six current measuring devices 45, 46. , 47, 65, 66 and 67.
- angle values A1, B1, C1, A2, B2, C2 deduced from the information provided by the cylinder sensors are dependent on each other and can be combined in many ways to determine possible failures of one or more these sensors or possible failures of mechanical connections between the cylinders and the rotor head.
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0712603A GB2436258B (en) | 2005-01-14 | 2006-01-12 | Device for orientation of the rotor head for helicopters |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0500393A FR2880866B1 (fr) | 2005-01-14 | 2005-01-14 | Dispositif d'orientation de la tete de rotor pour helicoptere |
FR0500393 | 2005-01-14 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2006075096A1 true WO2006075096A1 (fr) | 2006-07-20 |
WO2006075096A8 WO2006075096A8 (fr) | 2007-04-05 |
Family
ID=34953455
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2006/000067 WO2006075096A1 (fr) | 2005-01-14 | 2006-01-12 | Dispositif d'orientation de la tete de rotor pour helicoptere |
Country Status (3)
Country | Link |
---|---|
FR (1) | FR2880866B1 (fr) |
GB (1) | GB2436258B (fr) |
WO (1) | WO2006075096A1 (fr) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7662013B2 (en) | 2006-01-19 | 2010-02-16 | Silverlit Toys Manufactory Ltd. | Helicopter with horizontal control |
US7815482B2 (en) | 2006-01-19 | 2010-10-19 | Silverlit Toys Manufactory, Ltd. | Helicopter |
US7883392B2 (en) | 2008-08-04 | 2011-02-08 | Silverlit Toys Manufactory Ltd. | Toy helicopter |
US8002604B2 (en) | 2006-01-19 | 2011-08-23 | Silverlit Limited | Remote controlled toy helicopter |
US8052500B2 (en) | 2008-11-25 | 2011-11-08 | Silverlit Limited | Helicopter with main and auxiliary rotors |
US8308522B2 (en) | 2006-01-19 | 2012-11-13 | Silverlit Limited | Flying toy |
US8357023B2 (en) | 2006-01-19 | 2013-01-22 | Silverlit Limited | Helicopter |
EP2931604A4 (fr) * | 2012-12-14 | 2016-08-24 | Raymond George Carreker | Rotor de vecteur d'orientation directe |
CN110104170A (zh) * | 2019-05-17 | 2019-08-09 | 深圳市智旋科技有限公司 | 一种用于远程控制的交通疏导无人机装置及使用方法 |
DE102020128799A8 (de) | 2020-11-02 | 2022-07-07 | Flynow Aviation Gmbh | Antriebseinheit für einen Drehflügler und Drehflügler |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2427373A2 (fr) * | 2009-05-07 | 2012-03-14 | Heliscandia Aps | Procédé de compensation des forces gyroscopiques d'un rotor dans un hélicoptère |
US9169012B2 (en) | 2012-02-21 | 2015-10-27 | Textron Innovations Inc. | Coaxial counter-rotating rotor system |
JP5260778B1 (ja) * | 2012-10-08 | 2013-08-14 | ヒロボー株式会社 | 無人ヘリコプタ |
JP5260781B1 (ja) * | 2012-10-08 | 2013-08-14 | ヒロボー株式会社 | 無人ヘリコプタ |
US10526077B2 (en) * | 2016-05-11 | 2020-01-07 | Sikorsky Aircraft Corporation | Multi-objective control system with control allocation |
DE102019123725B4 (de) * | 2019-09-04 | 2022-04-28 | Flynow Aviation Gmbh | Auftriebs- und Flugsteuerungseinheit für ein Fluggerät und Fluggerät |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5791592A (en) | 1995-01-18 | 1998-08-11 | Nolan; Herbert M. | Helicopter with coaxial counter-rotating dual rotors and no tail rotor |
EP1070571A1 (fr) * | 1999-02-10 | 2001-01-24 | Sony Corporation | Dispositif et procede de commande d'un mecanisme d'assemblage, dispositif d'assemblage, dispositif robotique et procede de commande d'un tel dispositif robotique |
FR2801034A1 (fr) * | 1999-11-12 | 2001-05-18 | Salaberry Bernard Lucien Charl | Helicoptere a pilotage pendulaire a haute stabilite et a grande manoeuvrabilite |
GB2375090A (en) * | 2001-01-17 | 2002-11-06 | David Henry Foote | Rotor tilting system, eg for helicopters |
US20030029965A1 (en) * | 1998-11-16 | 2003-02-13 | Tom Kusic | Telescopic vertical take-off aircraft |
-
2005
- 2005-01-14 FR FR0500393A patent/FR2880866B1/fr not_active Expired - Fee Related
-
2006
- 2006-01-12 GB GB0712603A patent/GB2436258B/en not_active Expired - Fee Related
- 2006-01-12 WO PCT/FR2006/000067 patent/WO2006075096A1/fr active Search and Examination
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5791592A (en) | 1995-01-18 | 1998-08-11 | Nolan; Herbert M. | Helicopter with coaxial counter-rotating dual rotors and no tail rotor |
US20030029965A1 (en) * | 1998-11-16 | 2003-02-13 | Tom Kusic | Telescopic vertical take-off aircraft |
EP1070571A1 (fr) * | 1999-02-10 | 2001-01-24 | Sony Corporation | Dispositif et procede de commande d'un mecanisme d'assemblage, dispositif d'assemblage, dispositif robotique et procede de commande d'un tel dispositif robotique |
FR2801034A1 (fr) * | 1999-11-12 | 2001-05-18 | Salaberry Bernard Lucien Charl | Helicoptere a pilotage pendulaire a haute stabilite et a grande manoeuvrabilite |
GB2375090A (en) * | 2001-01-17 | 2002-11-06 | David Henry Foote | Rotor tilting system, eg for helicopters |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7662013B2 (en) | 2006-01-19 | 2010-02-16 | Silverlit Toys Manufactory Ltd. | Helicopter with horizontal control |
US7815482B2 (en) | 2006-01-19 | 2010-10-19 | Silverlit Toys Manufactory, Ltd. | Helicopter |
US8002604B2 (en) | 2006-01-19 | 2011-08-23 | Silverlit Limited | Remote controlled toy helicopter |
US8308522B2 (en) | 2006-01-19 | 2012-11-13 | Silverlit Limited | Flying toy |
US8357023B2 (en) | 2006-01-19 | 2013-01-22 | Silverlit Limited | Helicopter |
US7883392B2 (en) | 2008-08-04 | 2011-02-08 | Silverlit Toys Manufactory Ltd. | Toy helicopter |
US8052500B2 (en) | 2008-11-25 | 2011-11-08 | Silverlit Limited | Helicopter with main and auxiliary rotors |
EP2931604A4 (fr) * | 2012-12-14 | 2016-08-24 | Raymond George Carreker | Rotor de vecteur d'orientation directe |
US10183742B2 (en) | 2012-12-14 | 2019-01-22 | Raymond George Carreker | Direct orientation vector rotor |
CN110104170A (zh) * | 2019-05-17 | 2019-08-09 | 深圳市智旋科技有限公司 | 一种用于远程控制的交通疏导无人机装置及使用方法 |
DE102020128799A8 (de) | 2020-11-02 | 2022-07-07 | Flynow Aviation Gmbh | Antriebseinheit für einen Drehflügler und Drehflügler |
DE102020128799B4 (de) | 2020-11-02 | 2022-09-01 | Flynow Aviation Gmbh | Antriebseinheit für einen Drehflügler und Drehflügler |
Also Published As
Publication number | Publication date |
---|---|
GB2436258B (en) | 2009-12-23 |
GB2436258A (en) | 2007-09-19 |
FR2880866B1 (fr) | 2008-08-22 |
FR2880866A1 (fr) | 2006-07-21 |
WO2006075096A8 (fr) | 2007-04-05 |
GB0712603D0 (en) | 2007-08-08 |
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