G - Physics – 05 – D
Patent
G - Physics
05
D
G05D 1/00 (2006.01) G05D 1/06 (2006.01) G05D 1/08 (2006.01)
Patent
CA 2316244
A control system for small unmanned rotorcraft (100) compensates for vehicle pitch control saturation caused by the need for sudden vehicle pitch attitude correction, in turn often caused by wind gusts. The rotorcraft has a pitch- variable rotor (60) system responsive to a vehicle pitch servo command (psc) for cyclically controlling rotor pitch and responsive to a collective servo command (csc) for collectively controlling rotor pitch. A compensating signal (cs) derived from the unlimited vehicle pitch servo command signal (upsc) is cross-connected to the unlimited collective servo command signal (ucsc) to compensate for pitch control saturation, typically by reducing the magnitude of the resulting collective servo command signal (csc). The compensating signal is derived by passing the unlimited vehicle pitch servo command signal through a dead band (132) which responds as the signal approaches saturation and by preferably also then providing high and low frequency shaping to that signal.
Système de commande destiné à un petit giravion télépiloté (100), qui compense la saturation de la commande de l'axe de tangage du véhicule due à la nécessité de corriger soudainement l'attitude de tangage dudit véhicule, elle-même due à des rafales de vent. Le giravion comporte un système de rotor (60) à inclinaison longitudinale variable, qui réagit à une servocommande de tangage du véhicule (psc), destinée à commander cycliquement l'inclinaison du rotor, et à une servocommande collective (csc), destinée à commander collectivement ladite inclinaison. Un signal de compensation (cs), dérivé du signal de la servocommande du tangage du véhicule non limitée (upsc), est interconnecté avec le signal de la servocommande collective non limitée (ucsc), de façon à compenser la saturation de la commande du tangage, typiquement en réduisant l'amplitude du signal de la servocommande collective obtenu (csc). On obtient le signal de compensation en faisant passer le signal de la servocommande du tangage du véhicule non limitée dans une bande neutre qui réagit quand le signal approche de la saturation et aussi, de préférence, en mettant alors en forme ledit signal dans les fréquences hautes et basses.
Driscoll Joseph T.
Gold Phillip J.
Ogilvy Renault Llp/s.e.n.c.r.l.,s.r.l.
Sikorsky Aircraft Corporation
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