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    • 2. 发明授权
    • Servo actuator apparatus and aircraft control apparatus
    • 伺服执行器装置和飞机控制装置
    • US06257529B1
    • 2001-07-10
    • US09461744
    • 1999-12-16
    • Yoshiharu KuboTakeshi Tomio
    • Yoshiharu KuboTakeshi Tomio
    • B64C1304
    • B64C13/42
    • A servo actuator apparatus has: an actuator which relatively displaces an operation unit on the basis of an input signal E1; a position sensor which detects a relative position of the operation unit and outputs a detection signal D1; an actuator which relatively displaces an operation unit on the basis of an input signal E2; a position sensor which detects a relative position of the operation unit and outputs a detection signal D2; a difference calculation unit which subtracts the detection signal D2 from a command signal C1 supplied from a flight control computer, to output the input signal E1; and a difference calculation unit which subtracts the detection signal D1 from a command signal C2 supplied from a flight control computer, to output the input signal E2, where a positive displacement direction of the operation unit is reverse and series to that of the operation unit, and the body units of the actuators are integrally movable, and the actuators can always operate while mutually monitoring the actual operation, and have a function that, when one of the actuators fails and falls in hardover, the other actuator immediately corrects the hardover. In this way, prevention of a hardover or suppression of the degree of a hardover can be realized by a simple configuration.
    • 伺服致动器装置具有:基于输入信号E1相对移动操作单元的致动器; 位置传感器,其检测所述操作单元的相对位置并输出检测信号D1; 基于输入信号E2相对移动操作单元的致动器; 位置传感器,其检测所述操作单元的相对位置并输出检测信号D2; 差分计算单元,从从飞行控制计算机提供的命令信号C1中减去检测信号D2,输出输入信号E1; 以及差分计算单元,从从飞行控制计算机提供的命令信号C2中减去检测信号D1,输出操作单元的正位移方向与操作单元的正位移方向相反的输入信号E2, 并且致动器的主体单元是可整体移动的,并且致动器可以始终在相互监视实际操作的同时操作,并且具有当其中一个致动器故障并且陷入困难时的功能,另一致动器立即校正困难。 以这种方式,通过简单的配置可以实现预防困难或抑制硬化程度。
    • 3. 发明授权
    • Flight control apparatus for helicopters
    • 直升机飞行控制装置
    • US06334592B1
    • 2002-01-01
    • US09468095
    • 1999-12-21
    • Takeshi TomioHideki ShirasayaShigeru TobariIkuo SudoYoshiharu Kubo
    • Takeshi TomioHideki ShirasayaShigeru TobariIkuo SudoYoshiharu Kubo
    • B64C1304
    • G05D1/0825G05D1/0858
    • A flight control apparatus for a helicopter is configured by: a control unit controlled by the pilot; a steering mechanism for generating an aerodynamic control force; a link mechanism for mechanically transmitting an amount of control Ma in the control unit to the steering mechanism, thereby driving the steering mechanism; an amount-of-control sensor for detecting the amount of control Ma in the control unit and for supplying a control signal Sa; a flight control law calculation unit 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; a difference calculation unit for subtracting the control signal Sa from the driving signal Sb, and for supplying a difference signal Sc; and a precision servo actuator unit for adding the amount of control Ma transmitted via the link mechanism, to an amount of difference Mc corresponding to the difference signal Sc. 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.
    • 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; 用于产生空气动力学控制力的转向机构; 用于将控制单元中的控制量Ma机械地传递到转向机构的连杆机构,从而驱动转向机构; 用于检测控制单元中的控制量Ma并用于提供控制信号Sa的控制量传感器; 飞行控制律计算单元,用于基于控制信号Sa计算直升机的飞行控制定律,并为转向机构提供驱动信号Sb; 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; 以及用于将通过链接机构发送的控制量Ma相加到与差分信号Sc对应的差异量的精度伺服致动器单元。 根据该结构,该装置能够容易地应用于现有的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。