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1. 发明公开

KR1020210009545A 수직 이착륙형 PAV의 착륙지원 시스템 有权
公开(公告)号：KR1020210009545A
公开(公告)日：2021-01-27
申请号：KR1020190086210
申请日：2019-07-17
申请人： 한국항공우주산업 주식회사
发明人： 양인석 , 김종섭 , 고기옥
IPC分类号： B64D45/08 , B64D43/00 , B64D47/08 , H04N5/232 , H04N5/225 , G05D1/00
摘要： 본발명은, PAV의전방측과후방측에각각구비되는카메라, 카메라에서획득된영상이표시될 수있도록구성되는디스플레이부및 조종사의입력에의해착륙모드로전환되는경우카메라로부터하측방향의영상을획득하여디스플레이부에표시할수 있도록구성되는영상처리부를포함하는수직이착륙형 PAV의착륙지원시스템에관한것이다. 본발명에따른수직이착륙형 PAV의착륙지원시스템은착륙시안정적으로착륙지점에대한정보를전달하고, 위험요소가존재하는경우이를조종사에게인지시킬수 있으므로착륙시에사각지역에서발생할수 있는충돌을방지할수 있는효과가있다.

2. 发明公开

KR1020140094787A 항공기의 운항 제어 방법 및 이러한 방법을 수행하는 장치 无效
标题翻译：控制飞机飞行的方法和使用该飞机的装置
公开(公告)号：KR1020140094787A
公开(公告)日：2014-07-31
申请号：KR1020130007241
申请日：2013-01-23
申请人： 한국항공우주산업 주식회사
发明人： 김종섭
IPC分类号： B64C13/16 , G05D1/10 , G05B13/00 , G08G5/00
摘要： Disclosed are a method for controlling an airplane and an apparatus for performing the same. The method for controlling a flight of the airplane comprises the steps of automatically detecting whether the airplane stalls based on information on a flight state of the airplane; and performing automatic pitch rocking based on automatic stall recovery information if the airplane stalls. Therefore, the present invention may automatically and safely recover the airplane from the stall and prevent an airplane accident due to a flight operation of an unskilled pilot.
摘要翻译：公开了一种用于控制飞机的方法和用于执行该飞机的装置。用于控制飞机飞行的方法包括以下步骤：根据飞机的飞行状态信息，自动检测飞机是否失速; 如果飞机失速，则基于自动失速恢复信息执行自动俯仰摇摆。因此，本发明可以自动安全地从失速恢复飞机，并且防止由于不熟练飞行员的飞行操作引起的飞机事故。

3. 发明公开

KR1020130102705A 항공기 페이더 및 그 페이더를 이용한 페이딩 방법 有权
标题翻译：用于飞机的倒角和使用其的方法
公开(公告)号：KR1020130102705A
公开(公告)日：2013-09-23
申请号：KR1020120023732
申请日：2012-03-08
申请人： 한국항공우주산업 주식회사
发明人： 김종섭
IPC分类号： G05D1/00 , G06F19/00 , B64C13/18
CPC分类号： G05D1/00 , B64C13/18
摘要： PURPOSE: An aircraft fader and a fading method using the fader remove a transition response without configuring a system complicatedly. CONSTITUTION: An aircraft fader includes a switching time determination module (100) outputting a switching signal to a switching module (200) according to a switching command inputted from the outside and the switching module selecting and finally outputting a first output or a second output according to the switching signal inputted from the switching time determination module. [Reference numerals] (1) Switching order; (10) First output; (20) Second output; (220) Switching controlling unit; (30) Final output; (AA) Switching time
摘要翻译：目的：使用推子的飞机推子和衰落方法会在没有复杂配置系统的情况下移除转换响应。构成：飞行器推子包括切换时间确定模块（100），根据从外部输入的切换命令和切换模块的选择，将切换信号输出到切换模块（200），并最终输出第一输出或第二输出涉及从切换时间确定模块输入的切换信号。（附图标记）（1）切换顺序; （10）第一输出; （20）第二输出; （220）切换控制单元; （30）最终输出; （AA）切换时间

4. 发明公开

KR1020130088368A 고 신뢰도의 속도 유지모드 자동 작동을 제공하는 비행체 제어 방법 및 그 방법을 구현하기 위한 프로그램을 기록한 컴퓨터 판독가능한 기록매체 无效
标题翻译：提供高可靠性的速度维护模式和计算机可读记录媒体存储程序的空气动力控制方法
公开(公告)号：KR1020130088368A
公开(公告)日：2013-08-08
申请号：KR1020120009568
申请日：2012-01-31
申请人： 한국항공우주산업 주식회사
发明人： 김종섭 , 이승덕
IPC分类号： B64C13/18 , G05D1/10 , B64D43/00
摘要： PURPOSE: A flying vehicle control method providing a high reliability automatic speed maintaining mode operation and a computer-readable recording medium for recording a program implementing the same are provided to enable a pilot to detect the situation which requires a speed maintaining mode with a high reliability. CONSTITUTION: A flying vehicle control method is as follows. The operation state information of a flying vehicle is received (S101). Whether the angular speed of the fuselage of the flying vehicle is in the range of a predetermined numeric value range or not is determined based on the received operation state information (S102). Whether the piloting input information of a pilot is in the range of a predetermined numeric value range or not is determined in case the angular speed of the fuselage of the flying vehicle is in the range of the predetermined numeric value (S103). Whether the vertical speed of the flying vehicle is in a predetermined numeric value range or not is determined in case the piloting input information of a pilot is in the range of the predetermined numeric value (S104). Whether the roll angle of the fuselage of the flying vehicle is in the range of a predetermined numeric value range or not is determined in case the vertical speed of the flying vehicle is in the range of the predetermined numerical value (S105). A signal which operates the automatic speed maintaining mode of the flying vehicle is generated in case the roll angle of the fuselage of the flying vehicle is in the range of the predetermined numeric value (S106). [Reference numerals] (AA,CC,EE,GG) No; (BB,DD,FF,HH) Yes; (S101) Receive operation state information of a flying vehicle; (S102) Is the angular speed (P,Q,R) of the fuselage of the flying vehicle within a predetermined numeric value range?; (S103) Is the piloting input information of a pilot within a predetermined numeric value range?; (S104) Is the vertical speed (V-2) of the flying vehicle within a predetermined numerical value range?; (S105) Is the roll angle of the fuselage of the flying vehicle in a predetermined numeric value range?; (S106) Generate a signal for operating an automatic speed maintaining mode
摘要翻译：目的：提供一种提供高可靠性自动速度保持模式操作的飞行器控制方法和用于记录实现该程序的程序的计算机可读记录介质，以使飞行员可以检测需要具有高可靠性的速度保持模式的情况。构成：飞行器控制方法如下。接收飞行器的操作状态信息（S101）。基于接收到的操作状态信息来确定飞行器的机身的角速度是否处于预定数值范围的范围内（S102）。在飞行器的机身的角速度在预定数值的范围内（S103）的情况下，确定飞行员的引导输入信息是否在规定的数值范围的范围内。在飞行员的引导输入信息处于预定数值的范围内的情况下，确定飞行器的垂直速度是否处于预定数值范围内（S104）。在飞行器的垂直速度在预定数值的范围内的情况下，确定飞行器的机身的侧倾角是否处于预定数值范围的范围内（S105）。在飞行器机身的侧倾角处于预定数值的范围内的情况下，产生运行飞行器的自动速度保持模式的信号（S106）。（附图标记）（AA，CC，EE，GG）否; （BB，DD，FF，HH）是; （S101）接收飞行用车辆的运转状态信息; （S102）飞行器的机身的角速度（P，Q，R）在预定的数值范围α内; （S103）导频的导频输入信息是否在预定的数值范围α内; （S104）飞行器的垂直速度（V-2）是否在规定的数值范围α内; （S105）飞行器的机身的侧倾角为规定的数值范围α; （S106）生成用于操作自动速度保持模式的信号

5. 发明公开

KR1020130026162A 중력 가속도로 인한 조종사의 의식 상실 감지 방법 无效
标题翻译：用于感应重力加速的飞机导弹的有害的感觉的方法
公开(公告)号：KR1020130026162A
公开(公告)日：2013-03-13
申请号：KR1020110089609
申请日：2011-09-05
申请人： 한국항공우주산업 주식회사
发明人： 김종섭
IPC分类号： G06F19/00 , B64D47/00
CPC分类号： G05D1/101 , B64D47/00
摘要： PURPOSE: A method for sensing loss of consciousness of a pilot due to the acceleration of gravity is provided to apply an algorithm which monitors the frequency of control stick use of the pilot and the change of vertical acceleration to a flight control system, thereby automatically sensing the loss of the consciousness of the pilot. CONSTITUTION: When a GLOC(Gravity nduced Loss Of Consciousness) entry condition is not satisfied, a gravity acceleration change monitor and a pilot power monitor control block initialize variables of a TMS(Time Monitoring Signal), a WTS(Warning Tone Signal), and an ARS(Attitude Recovery Signal). Monitoring time for warning and recovery is scheduled based on an altitude and vertical speed. A gravity acceleration change analysis device which determines the GLOC is designed. When the TMS is activated and operated, the gravity acceleration change analysis device monitors frequency of control stick use. [Reference numerals] (AA,CC) Starting monitoring; (BB) +Nz threat level >= TBD g's; (DD,FF) Consciousness; (EE) Loss of Consciousness; (GG) Control stick force; (HH) Control stick force window; (II) ±TBD 1bs(pitch & roll)
摘要翻译：目的：提供一种用于感测由于重力加速引起的飞行员意识丧失的方法，以应用将飞行员的控制杆使用频率和垂直加速度的变化监测到飞行控制系统的算法，从而自动感测飞行员意识的丧失。构成：当不满足GLOC（重力诱导的意识丧失）进入条件时，重力加速度改变监视器和导频功率监视器控制块初始化TMS（时间监控信号），WTS（警告音信号）和 ARS（态度恢复信号）。根据高度和垂直速度安排警告和恢复的监视时间。设计确定GLOC的重力加速度变化分析装置。当TMS被激活和操作时，重力加速度变化分析装置监视控制杆使用的频率。（标号）（AA，CC）起动监视; （BB）+ Nz威胁等级> = TBD g; （DD，FF）意识; （EE）意识丧失; （GG）控制棒力; （HH）控制棒力窗; （II）±TBD 1bs（俯仰和滚动）

6. 发明授权

KR101222544B1 다양한 고정익 형상을 갖는 비행체의 비행 제어 소프트웨어에 적용할 수 있는 프로그램을 기록한 컴퓨터로 판독가능한 기록 매체 및 이를 이용한 방법 有权
标题翻译：计算机可读记录介质用于应用具有各种固定配置的飞行对象的飞行控制软件的程序和使用其的方法
公开(公告)号：KR101222544B1
公开(公告)日：2013-01-16
申请号：KR1020110089611
申请日：2011-09-05
申请人： 한국항공우주산업 주식회사
发明人： 김종섭
IPC分类号： G06F9/44 , G06F19/00 , B64C13/16
CPC分类号： G06F19/00 , B64C13/16 , B64C13/18 , G06F8/30 , G06F9/44
摘要： PURPOSE: A computer-readable recording medium including a program applied to flight control software of a flight vehicle having various fixed wing shapes and a method using the same are provided to calculate a model based control parameter and automatically calculates the modeling of various shapes of flight vehicles with only shape information. CONSTITUTION: The trim and linearization of a flight vehicle is implemented by using models included in the vehicle and a database about the vehicle. A standard control rule applied to the vehicle is implemented by using a control command of a pilot and information of the vehicle measured from the models. A model based optimal control parameter is calculated by using a control advantage calculated in a standard control rule module. A control design standard of the vehicle is analyzed in a frequency area based on the parameter in order to be evaluated. The control design standard of the vehicle is simulated in a time area based on the parameter and the database in order to be evaluated. [Reference numerals] (110) Automatic modeling module; (120) Trim and activation module; (130) Standard control rule module; (140) Automatic control parameter computing module; (150) Frequency domain analysis module; (160) Time domain simulation module; (170) Automatic software program code generating module; (180) Modeling linearity improvement module
摘要翻译：目的：提供一种包括应用于具有各种固定翼形的飞行器的飞行控制软件的程序的计算机可读记录介质和使用其的方法，以计算基于模型的控制参数并自动计算各种形状的飞行的建模车辆只有形状信息。规定：飞行器的修剪和线性化是通过使用车辆中包含的模型和关于车辆的数据库实现的。应用于车辆的标准控制规则通过使用飞行员的控制命令和从模型测量的车辆的信息来实现。通过使用在标准控制规则模块中计算的控制优势来计算基于模型的最优控制参数。基于参数对频率区域分析车辆的控制设计标准，以进行评估。根据参数和数据库，在时间范围内模拟车辆的控制设计标准，以进行评估。（附图标记）（110）自动建模模块; （120）修剪和激活模块; （130）标准控制规则模块; （140）自动控制参数计算模块; （150）频域分析模块; （160）时域仿真模块; （170）自动软件程序代码生成模块; （180）建模线性改进模块

7. 发明公开

KR1020110022880A 항공기의 실속 상태 자동 회복 제어 시스템 无效
标题翻译：飞机停机自动恢复控制系统
公开(公告)号：KR1020110022880A
公开(公告)日：2011-03-08
申请号：KR1020090080372
申请日：2009-08-28
申请人： 한국항공우주산업 주식회사
发明人： 김종섭
IPC分类号： B64C13/18 , G05D1/08 , B64C13/16 , G05D1/04
摘要： PURPOSE: An automatic recovery control system for aircraft stall is provided to automatically create stall recovery commands using state information of an aircraft, thereby reducing the burden of a pilot and achieving stable recovery. CONSTITUTION: An automatic recovery control system for aircraft stall comprises a pitch rate input retardation filter(20), a gain amplifier(30), a stall position selector(40), a stall recovery command limiter(50), and a transient response preventing device(60). The pitch rate input retardation filter receives pitch rates and delays a signal in order to compensate the stall recovery property caused by phase delay. The stall position selector receives the stall recovery commands from the gain amplifier and determines the position of an aircraft in order to automatically select an upright or inverted stall. The stall recovery command limiter receives the signals from the stall position selector and limits the maximum and minimum values of the stall recovery commands. The transient response preventing device switches the output signals of the stall recovery command limiter to horizontal tail plane command signals based on the comparison between the absolute value and the set value of the pitch rate input to the retardation filter.
摘要翻译：目的：提供用于飞机失速的自动恢复控制系统，以使用飞机的状态信息自动创建失速恢复命令，从而减轻飞行员的负担并实现稳定的恢复。构成：用于飞机失速的自动恢复控制系统包括俯仰速率输入延迟滤波器（20），增益放大器（30），失速位置选择器（40），失速恢复指令限制器（50）和防止瞬变响应装置（60）。俯仰速率输入延迟滤波器接收俯仰速率并延迟信号，以补偿由相位延迟引起的失速恢复特性。失速位置选择器从增益放大器接收失速恢复命令，并确定飞行器的位置，以便自动选择直立或倒置的档位。失速恢复命令限制器从失速位置选择器接收信号，并限制失速恢复命令的最大值和最小值。瞬态响应防止装置基于绝对值与输入到延迟滤波器的俯仰速率的设定值之间的比较，将失速恢复指令限制器的输出信号切换到水平尾翼指令信号。

8. 发明授权

KR102093744B1 항공기 세로축 안정성 및 비행성 충족을 위한 파라미터 최적화 방법 有权
公开(公告)号：KR102093744B1
公开(公告)日：2020-03-26
申请号：KR1020180103861
申请日：2018-08-31
申请人： 한국항공우주산업 주식회사
发明人： 김종섭 , 양인석 , 고기옥 , 김병수
IPC分类号： B64C13/04 , G05D1/08

9. 发明授权

KR102033122B1 항공기 조종면의 하중분배 최적화 방법 有权
公开(公告)号：KR102033122B1
公开(公告)日：2019-10-16
申请号：KR1020170094155
申请日：2017-07-25
申请人： 한국항공우주산업 주식회사
发明人： 양인석 , 강명수 , 김종섭 , 조인제
IPC分类号： B64C13/04 , B64D43/00

10. 发明授权

KR101461489B1 회전익 항공기의 모델 추종 제어 방법 및 이를 이용한 시스템 有权
标题翻译：使用该方法的转子和系统的控制方法
公开(公告)号：KR101461489B1
公开(公告)日：2014-12-04
申请号：KR1020130071292
申请日：2013-06-21
申请人： 한국항공우주산업 주식회사
发明人： 조인제 , 김종섭
IPC分类号： G05D1/04 , G05D1/08
CPC分类号： G05D1/101 , G05D1/042
摘要： 회전익 항공기의 모델 추종 제어 방법 및 이를 이용한 시스템이 제공된다.
회전익 항공기의 모델 추종 제어 방법은 조종간에 의한 조종 변위에 따른 동적 응답을 생성하여 이상적인 제어각 및 이상적인 고도를 산출하는 명령 모델 단계, 상기 이상적인 제어각과 상기 이상적인 고도를 역운동 모델에 적용하여 역모델링된 조종 변위를 산출하는 역운동 모델 단계, 상기 이상적인 제어각, 상기 이상적인 고도와 실제 비행에서 검출된 실제 제어각, 실제 고도 간의 오차에 따른 상기 조종 변위의 오차를 산출하고, 상기 조종 변위의 오차로 싱기 역모델링된 조종 변위를 피드백 보상하는 궤환 보상 단계 및 상기 피드백 보상된 조종 변위에 기초하여,, 비행 제어 응답치로서의 제어각 및 고도를 산출하는 운동 모델 단계를 포함한다.
摘要翻译：提供了一种用于旋翼飞机及其使用的系统的模型跟随控制方法。用于旋翼飞机的模型跟随控制方法包括：命令模型步骤，用于根据控制棒的控制位移产生动态响应并计算理想的控制角和理想的高度; 逆运动模型步骤，用于计算通过将理想控制角和理想高度应用于反向运动模型而反向建模的反向控制位移; 反馈补偿步骤，用于根据理想控制角与实际飞行中检测到的实际控制角之间的误差以及理想高度与实际高度之间的误差计算控制位移的误差，并反馈补偿逆向建模使用控制位移误差控制位移; 以及运动模型步骤，用于基于所述反馈补偿的控制位移来计算控制角度和高度作为飞行控制响应值。

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