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21. 发明公开

EP1037130A3 Flight control apparatus for helicopters 审中-公开
标题翻译：直升机飞行控制装置
公开(公告)号：EP1037130A3
公开(公告)日：2002-04-24
申请号：EP99204380.2
申请日：1999-12-17
申请人： Advanced Technology Institute of Commuter-Helicopter, Ltd.
发明人： Tomio, Takeshi, Advanced Technology Institute of , Shirasaya, Hideki, Advanced Technology Inst. of , Tobari, Shigeru, Advanced Technology Institute of , Sudo, Ikuo, Advanced Technology Institute of , Kubo, Yoshihara, Advanced Technology Institute of
IPC分类号： G05D1/08 , G05D1/00
CPC分类号： G05D1/0825 , G05D1/0858
摘要： A flight control apparatus for a helicopter is configured by: a control unit (10) controlled by the pilot; a steering mechanism (14) for generating an aerodynamic control force; a link mechanism (12) for mechanically transmitting an amount of control Ma in the control unit (10) to the steering mechanism (14), thereby driving the steering mechanism (14); an amount-of-control sensor (30) for detecting the amount of control Ma in the control unit (10) and for supplying a control signal Sa; a flight control law calculation unit (32) for calculating a flight control law of the helicopter based on the control signal Sa, and for supplying a driving signal Sb for the steering mechanism (14); a difference calculation unit (33) for subtracting the control signal Sa from the driving signal Sb, and for supplying a difference signal Sc; a precision servo actuator unit (20) for adding the amount of control Ma transmitted via the link mechanism (12), to an amount of difference Mc corresponding to the difference signal Sc; and the like. According to this configuration, the apparatus can be easily applied to a mechanical control transmission mechanism of an existing helicopter, and the characteristics and performance of the control transmission mechanism can be remarkably increased.

22. 发明公开

EP1037130A2 Flight control apparatus for helicopters 审中-公开
标题翻译： FlugsteuerungsvorrichtungfürHubschrauber
公开(公告)号：EP1037130A2
公开(公告)日：2000-09-20
申请号：EP99204380.2
申请日：1999-12-17
申请人： Advanced Technology Institute of Commuter-Helicopter, Ltd.
发明人： Tomio, Takeshi, Advanced Technology Institute of , Shirasaya, Hideki, Advanced Technology Inst. of , Tobari, Shigeru, Advanced Technology Institute of , Sudo, Ikuo, Advanced Technology Institute of , Kubo, Yoshihara, Advanced Technology Institute of
IPC分类号： G05D1/08
CPC分类号： G05D1/0825 , G05D1/0858
摘要： A flight control apparatus for a helicopter is configured by: a control unit (10) controlled by the pilot; a steering mechanism (14) for generating an aerodynamic control force; a link mechanism (12) for mechanically transmitting an amount of control Ma in the control unit (10) to the steering mechanism (14), thereby driving the steering mechanism (14); an amount-of-control sensor (30) for detecting the amount of control Ma in the control unit (10) and for supplying a control signal Sa; a flight control law calculation unit (32) for calculating a flight control law of the helicopter based on the control signal Sa, and for supplying a driving signal Sb for the steering mechanism (14); a difference calculation unit (33) for subtracting the control signal Sa from the driving signal Sb, and for supplying a difference signal Sc; a precision servo actuator unit (20) for adding the amount of control Ma transmitted via the link mechanism (12), to an amount of difference Mc corresponding to the difference signal Sc; and the like. According to this configuration, the apparatus can be easily applied to a mechanical control transmission mechanism of an existing helicopter, and the characteristics and performance of the control transmission mechanism can be remarkably increased.
摘要翻译：用于直升机的飞行控制装置由以下部分构成：由飞行员控制的控制单元（10）用于产生空气动力学控制力的转向机构（14）; 用于将控制单元（10）中的控制量Ma机械地传递到转向机构（14）的连杆机构（12），从而驱动转向机构（14）; 用于检测控制单元（10）中的控制量Ma并用于提供控制信号Sa的控制量传感器（30）用于基于控制信号Sa计算直升机的飞行控制定律并提供用于转向机构（14）的驱动信号Sb的飞行控制律计算单元（32）。差分计算单元，用于从驱动信号Sb中减去控制信号Sa，并提供差分信号Sc; 精密伺服致动器单元（20），用于将经由所述连杆机构（12）传递的控制量Ma与所述差分信号Sc对应的差值M m相加; 等等。根据该结构，该装置可以容易地应用于现有直升机的机械控制传动机构，并且可以显着提高控制传动机构的特性和性能。

23. 发明授权

EP0357660B1 CORRECTION OF ERRORS IN AUTOPILOTS 失效
标题翻译：自动校正错误的校正
公开(公告)号：EP0357660B1
公开(公告)日：1993-06-30
申请号：EP88903897.2
申请日：1988-05-05
申请人： SECRETARY OF STATE FOR DEFENCE IN HER BRITANNIC MAJESTY'S GOV. OF THE UNITED KINGDOM OF GREAT BRITAIN AND NORTHERN IRELAND
发明人： BOOTH, Thomas, Brindley
IPC分类号： G05D1/08 , G05D1/00
CPC分类号： G05D1/0825 , G05B13/04 , G05D1/0875
摘要： A system (1) responds to inputs (2) in parallel with a state estimator (4). The controller (6) provides the inputs (2) in response to ordered state inputs (14) and state estimator inputs. An external disturbance vector (f) affects the system (1) so that the observed values of the state variables are not the same as the estimated values. The estimated and measured values are compared (8) to give an error signal (9). The error values are fed to an Ordered State Corrector (11) which computes the error that the ordered state variable would have in the steady state and applies it in the opposite sense to increment the input ordered state (14). If more than one state variable is to be corrected, the correction is applied directly to the control inputs using Multi-State Correction, in which the steady state errors are used to find the control inputs which would cause the errors and then a correction is applied to the control inputs.

24. 发明公开

EP0293018A3 Aircraft modal suppression system 失效
标题翻译：飞机模式抑制系统
公开(公告)号：EP0293018A3
公开(公告)日：1990-01-31
申请号：EP88200190.2
申请日：1988-02-03
申请人： THE BOEING COMPANY
发明人： Chakravarty, Abhijit Jitendra Mohan , Cooper, Steven Roy , Ho, John Koon-Hung , Tran, Chuong Bot
IPC分类号： G05D1/08
CPC分类号： G05D1/0825
摘要： Accelerations due to excitation of the natural modes of an aircraft's body are suppressed by an active suppression system. Dedicated accelerometers are positioned in the aircraft at optimal locations for sensing modal induced lateral accelerations. The accelerometer produced signals are processed through control logic which, in response thereto, and in response to aircraft velocity and altitude related signals produces output control signals. The control signals effect rudder deployment creating forces to suppress the natural mode induced accelerations.

25. 发明授权

EP2411972B1 TRAJECTORY TRACKING FLIGHT CONTROLLER 有权
标题翻译：轨迹跟踪飞行控制器
公开(公告)号：EP2411972B1
公开(公告)日：2018-01-03
申请号：EP10780958.4
申请日：2010-03-25
申请人： Ohio University
发明人： ZHU, Jianchao , ADAMI, Tony, M.
IPC分类号： G08G5/00 , G01C21/12 , G01C21/20 , G05D1/08 , G05D1/10
CPC分类号： G05D1/08 , G01C21/12 , G01C21/20 , G05D1/0808 , G05D1/0825 , G05D1/085 , G05D1/101
摘要： A six degree-of-freedom trajectory linearization controller (TLC) architecture (30) for a fixed-wing aircraft (46) is set forth. The TLC architecture (30) calculates nominal force and moment commands by dynamic inversion of the nonlinear equations of motion. A linear time-varying (LTV) tracking error regulator provides exponential stability of the tracking error dynamics and robustness to model uncertainty and error. The basic control loop includes a closed-loop, LTV stabilizing controller (12), a pseudo-inverse plant model (14), and a nonlinear plant model(16). Four of the basic control loops (34, 36, 40, 42) are nested to form the TLC architecture (30).

26. 发明公开

EP3260945A1 DRONE COMPRENANT DES AILES PORTANTES 审中-公开
标题翻译：无声包括便携式的翅膀
公开(公告)号：EP3260945A1
公开(公告)日：2017-12-27
申请号：EP17176713.0
申请日：2017-06-19
申请人： Parrot Drones
发明人： MARI MARI, Marc , LAVAGEN, Gauthier , BENATAR, Yoni
IPC分类号： G05D1/08 , B64C29/00
CPC分类号： G05D1/0825 , B64C13/16 , B64C27/26 , B64C29/00 , B64C2201/00 , B64C2201/088 , B64C2201/104 , B64C2201/108 , B64C2201/165 , G05D1/0202 , G05D1/0808 , G05D1/085 , G05D1/0858
摘要： L'invention concerne un procédé de contrôle dynamique d'attitude d'un drone à voilure tournante comprenant un corps de drone (12) comprenant une carte électronique contrôlant le pilotage du drone, quatre bras de liaison (16), chaque bras comprenant fixé solidairement un bloc propulseur (14). Les bras de liaison (16) forment des ailes portantes. Le drone vole en utilisant la portance des ailes, l'attitude du drone est contrôlée par l'envoi de commandes différenciées à un ou plusieurs desdits blocs propulseurs de manière à produire une rotation du drone autour de l'axe de roulis et/ou de tangage et/ou de lacet du drone depuis une position angulaire courante à une position angulaire finale, ces axes étant définis dans le repère du drone. L'invention concerne également un drone à voilure tournante (10) apte à mettre en oeuvre le procédé de contrôle dynamique.
摘要翻译：本发明涉及一种用于动态地控制旋翼无人机的姿态的方法，所述方法包括：包括控制无人机的转向的电子卡的无人驾驶飞机本体（12），四个连杆臂（16），每个臂包括牢固地固定推进单元（14）。连接臂（16）形成承重翼。无人驾驶飞机飞行使用无人驾驶飞机姿态的翼的升力是通过发送分化命令到一个或多个所述控制推进器块，以便产生无人驾驶飞机绕侧倾轴的旋转和/或俯仰和/或偏航无人机从当前角度位置到最终角度位置，这些轴被限定在无人机的参考中。本发明还涉及能够实施动态控制方法的旋翼无人机（10）。

27. 发明授权

EP2196810B1 A method of estimating an angle of attack and an angle of sideslip of an aircraft 有权
标题翻译：估计攻角的方法和航空器漂移角
公开(公告)号：EP2196810B1
公开(公告)日：2015-07-15
申请号：EP09178636.8
申请日：2009-12-10
申请人： Alenia Aermacchi S.p.A.
发明人： Chiesa, Alberto
IPC分类号： G01P13/02 , G05D1/08
CPC分类号： G01P13/025 , G05D1/0825

28. 发明公开

EP2772817A2 Formation flight control 有权
标题翻译：编队飞行控制
公开(公告)号：EP2772817A2
公开(公告)日：2014-09-03
申请号：EP14152637.6
申请日：2014-01-27
申请人： The Boeing Company
发明人： Whitehead, Brian T. , Bieniawski, Stefan R. , Halaas, David , Lavretsky, Eugene
IPC分类号： G05D1/10
CPC分类号： B64C19/00 , G05D1/0202 , G05D1/0825 , G05D1/104
摘要： An apparatus for controlling the formation flight of a trailing aircraft relative to a vortex generated by a leading aircraft includes a position module, peak-seeking module, limiter module, and control module. The position module is configured to determine a position of the vortex relative to the trailing aircraft. The peak-seeking module is configured to determine a desired position of the trailing aircraft for providing desired vortex-induced aerodynamic benefits based on the position of the vortex relative to the trailing aircraft and a mapping function of an individual performance metric. The limiter module is configured to modify the desired position of the trailing aircraft to avoid unintended crossings of the trailing aircraft into the vortex. Finally, the control module is configured to control flight of the trailing aircraft based on one of the desired position of the trailing aircraft and modified desired position of the trailing aircraft.

29. 发明授权

EP2318893B1 VERFAHREN ZUM BEREITSTELLEN EINES PILOTWARN-SIGNALS FÜR EINEN PILOTEN EINES FLUGZEUGES, COMPUTERPROGRAMMPRODUKT UND WARNVORRICHTUNG 有权
标题翻译：一种用于提供飞行员报警信号，用于飞机的飞行员，计算机程序产品和报警装置
公开(公告)号：EP2318893B1
公开(公告)日：2013-09-04
申请号：EP10735288.2
申请日：2010-07-22
申请人： Airbus Operations GmbH
发明人： GIESSELER, Hans-Gerd
IPC分类号： G05D1/08
CPC分类号： G05D1/0825 , B64C13/10 , B64D45/00 , G05D1/0841

30. 发明授权

EP1939703B1 System, computer program product and method for adjusting gain in a control system 有权
标题翻译：系统，计算机程序产品和方法，用于在控制系统中增益控制
公开(公告)号：EP1939703B1
公开(公告)日：2011-05-18
申请号：EP06127281.1
申请日：2006-12-28
申请人： SAAB AB
发明人： Härkegard, Ola , Hillgren, Robert
IPC分类号： G05D1/08 , B64C17/00
CPC分类号： G05D1/0825

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