DE1406448C - Control device for stabilizing the flight position of a helicopter - Google Patents

Description

1 2

The invention relates to a control device for a double-acting limiter, on a stabilization the attitude of a helicopter, the most often a double anode zener diode, provided, one between the hand control lever and the rotor which or which the condenser one in the Actuator inserted servomotor controls and a lead-lag circuit included, integrating Contains speed gyro, which is connected in parallel to one of the rotating 5 7? C-link. The leading speed of the helicopter by a main lag circuit points between input and output axis Proportional signal generated, which expediently two parallel circuit lead-lag circuit in a gear branches into two signal components for the two signal components whose

is split, of which one of the other the former a first work resistance and their

lags behind and both of them via an amplifier to the i ° second in series a DC voltage amplifier,

Servomotor can be switched on. the resistance of the integrating /? C-element and

Such a control device is made up of a second working resistor,
French patent 1 234 939 known. In order to achieve an optimal stabilizing effect on the flight position, the servomotor works in the inventive limitation of the signal component running at the same time via a swash plate on the respective 15-speeding signal component, the time constant has been found to be the appropriate position of the rotor blades of the main rotor of the lift of the inteschraubers. The arrangement is made in such a way that the grading AC element and the gain factor are selected so that the effect of the control device of the DC voltage amplifier can be selected in such a way that the manual control of the helicopter is additive that the lag time constant is superimposed on the lead-lag, so that its attitude is independent of the circuit is at least 10 seconds and less control device is always influenced by hand at least by a factor of 6 greater than the lead can be. Due to the lead-lag circuit in is time constant.

the control device ensures that this

per se unstable flight position of the helicopter similar drawings to exemplary embodiments

moderately good compared to short-term, higher- 25 explained.

frequent as well as longer-lasting, low- F i g. 1 and 2 graphically show the root frequencies, respectively Stabilized interference. This has an- locus of the equations of longitudinal motion one as both sides the disadvantage that after a game selected rotation-stabilized helicopter longer lasting, in the context of a normal of the kind mentioned in forward flight and let the Flight maneuvers intentionally brought about flight attitude - 3 ° effects of increased amplification during the pre-change, to recognize the known control device downward loop in the event that the result is natural also reacts with a rule intervention, which is not applied;

a relatively long time elapses before this in itself is un- F i g. 3 graphically illustrates the root locus

intended control intervention has subsided again. Except for low frequencies for the longitudinal movement

In such flight maneuvers it can even be preceded by a helicopter chosen as an example.

come that the servomotor up to a limit above the type described during the forward

its control range and thereby the control flight and leaves the effect of the invention

facility becomes completely ineffective. recognize compensated stabilization of the flight attitude;

Accordingly, the object of the invention is to- Fig. 4 shows an embodiment of an invention

basic, the well-known control device with simple 40 according to two-axis flight stabilization device

To develop means so that the control device for a helicopter;

FIG. 5 illustrates a preferred training standard even after long flight maneuvers Effect resumes very quickly and forms a three-axis line according to the invention Complete ineffectiveness of the regulating control device for the flight position of a lifting device is certainly avoided. 45 screwdriver.

In all figures, similar parts are each given the type mentioned above, this task is denoted by reference numbers that are identical to the invention,
is solved in that the trailing signal The dynamic flight stability of a lifting component is limited by means of a limiter to a screwdriver in which the control organs feedback approximately half the range of the servomotor 50 according to the speed of the speaking value. Changes in attitude can be fed

In the regulating device according to the invention, as a function of the degree of gain of the control, by limiting the trailing signal components using methods for ananente, on the one hand it is achieved that the energy consumption Ivse of servo devices is examined. To these of the lagging-effecting memory and thus 55 processes also includes the root location process, which is also responsible for the delivery of the absorbed energy z. B. in the work "Control System Dynamics", required time to an acceptable value is described by McGraw-Hill (1954). This is entangled, so that the control device also provides means for examining the poles of the long-lasting flight maneuvers relatively quickly characteristic calibration, e.g. B. the denominator has normal stabilizing effect again. ⁶ ° roots, one applies to a closed loop - In addition, it is achieved that the actuator for long the transfer function. Thus, one cannot control the constant changes in flight attitude through the variation of these roots for a given rushing component component up to the limit of the load-bearing function with an open loop as a function of its control range and therefore always examine the gain of the open loop In other words, for a given set of compensation short-term changes in flight attitude, the instantaneous signal component can be influenced by poles and zero points in an open loop. one can see the way of the hike

In a preferred embodiment of the invention, the poles of the closed loops from the poles of the

3 4

open loops to the zero points of the open In F i g. 2 you can see a diagram of the gco loops. A root location diagram for the metric location of the roots for the low-frequency tilting movements of a speed behavior of the helicopter stabilized for a closed loop is shown in FIG. 1 shows a representative flight condition for the tilting motion equations for the example. 1 shows a diagram of the local screwdriver according to FIG Double circle reproduced, equations for the tilting movement with a loading and two complex conjugate poles 22 and 23 are entered along with the tilting speed stabilized stroke with negative damping. The complex screwdriver of known design with only one main conjugation is indicated by the fact that the rotor loops the two values above and below the axis as a function of the gain of the forwards. The zero points or numerators of the system lie with for real values, while the negative damp open loop are denoted by Q, while the function characteristics are denoted by the position of the two values, poles or denominator roots, by X. In FIG. 15 in the right half-plane, that is to say on the right side the one in FIG. 1 are the dynamic poles of the point of origin and the axis of the imagi-values, ie the roots 8 and 9, a representative value, is displayed. The two branches 24, including the native actuation system, by means of and 25 of the low-frequency location which is achieved for an approximation of a critically damped dy- sene loop that is considered to be a closed pole or denominator root of the second order, 20 go according to FIG. 2 of the poles that are valid for the open loop whose natural frequency is about 14 rad / sec or that are applicable and migrate in the direction of above. The remaining roots shown, the double zero applicable to the open loop, are the roots of the movement glide point21 if the degree of gain of the system corresponds to the airframe chosen as an example. is increased. It should be noted, however, that the we-one recognizes that the branches 10 and 11 of the place, 25 k with an increase in the degree of gain only that of the two poles 8 and 9 close to -14 rad / sec consists in the size of these roots go down, end in negative infinity (through which is set, ie that the natural frequency of branch 12 is designated) and that a zero point 13 for Schwingungsverha'tens is reduced, while an open loop in the left half-plane of the damping is not significantly influenced . Root location diagram, ie on the left side of the 30 path of the upper limits for the degree of reinforcement, the origin point. Since the branches 10 and 11 are located according to FIG. 1 for high frequencies, for all values of the degree of amplification in the left is also the extent to which the lower half-plane lies and a relatively good frequency oscillation through an increase in the attenuation even for the state for which the degree of amplification of the system shows The lowest damped gain also applies, as in 35 if restricted. Therefore, the speed shown operating with gees through the slight inclination of the tangent 14 connected loop, which is to be stabilized from the point of origin from the helicopter system according to FIG. 1 and 2, these branches play a system without application of the invention which is irrelevant with regard to the stability problem. poor dynamic response shows and bsi However, branches 15 and 16 show that of the 40 poles 18 and 19 of the helicopters, which a skilled pilot needs considerable effort, in order to start the helicopter along the transmission function, stabilize it sufficiently as its flight path increases. It has now been shown that the flight, the divergence of the branches 15 and 16 compared to the position stabilization of a helicopter with only one axis of the real values, that is to say by the movement 45 of the main rotor, can be considerably improved if one below and above the ordinate. measure F i g. 3 with the speed stabilization-When the gain K is increased from 0.1 to 0.4 feedback signal becomes a lagging lead, it actually turns out that the frequency or signal shaping combines.

the size of the vibrating root pair increases, FIG. 3 shows a root position diagram of the low while the damping decreases, the 5 ° frequency oscillation behavior of the value pair as an example becoming unstable, ie with a frequency selected system according to FIG. 2. Transitions into the fenced half-plane at double the rate of about 8 rad / sec. Zero value 21 and the poles 22 and 23 according to FIG. 2 In addition, it can be seen that the unstable load is a pole 26 at 0.10 rad / sec corresponding to a range above this value of 8 rad / sec. A lag time constant of 10 seconds has been added, which represents a frequency range 55, and also, a zero has been added well beyond the 0 27 range at 0.6 rad / sec, with roots 26 to 3 rad / sec, within which an aircraft leader and 27 the low frequency lag leader is an unstable one Behavior has grown. Da- represent signal. Since the signals are formed, a maximum gain K of approximately low frequencies takes place, ie completely within 0.1 to be preferred to the frequency of the slightly damped half of the area 17 in FIG. 1, causes the combined oscillation of the branches 15 and 16 on a freed effect of the roots 25 and 26 no change frequency within the limit of 3 rad'see to be limited high-frequency behavior of the closed zen and to ensure a usable damping. The long-period or low-frequency roots of high frequency are mutually canceled out, the equations for the tilting movements of the lift 17 the low-frequency behavior according to FIG. 2 and are shown in FIG. 2 can be seen more clearly, since F i g. 2 and 3 is assigned. is drawn to a larger scale. The addition of roots 26 and 27 has a double

bearing effect. Firstly, the negatively attenuated filter frequencies 23 and 24 are shown in FIG. 2 in the from FIG. 3 changed by the branches 24 and 25 'in such a way that they show an oscillation behavior with improved negative damping at degrees of amplification of over 0.0313, the maximum damping occurring in the amplification range of 0.112 </ C <() .288. This gain range lies within the gain range 0.1 <iK <iOA, as shown on the high-frequency branches 15 and 16 of FIG. 1, so that it therefore represents an optimal gain which ensures good response at both high and low frequencies.

The second effect of adding roots 26 and 27 in Fig. 3 is to create a branch 27 results, which starts at pole 25 and ends at zero point 26. Because of the small distance between the zero point 26 and the pole 25, these roots have a substantially compensatory or compensatory effect self-extinguishing, which explains their lack of effect on the high-frequency behavior according to FIG. 1.

An examination of the dynamics of numerous available helicopters of known design having only one main rotor has shown that one can achieve attitude - rate of change - stabilization using a lag time constant of at least 10 seconds and a lead time constant with no more than one sixth of the size of the lead time constant for the stabilization around the transverse axis or the longitudinal axis is required if the advantages of an improved Controllability and a reduction in pilot fatigue are to be achieved.

One embodiment of a stabilization device according to the invention for helicopters is shown in FIG Fi g. 4 shown.

In Fig. 4 shows an embodiment of a two-axis flight stabilization device for helicopters. Here, a tilt actuator 30 and a roll actuator 31 are provided, which are shown in the dashed line Lines indicated in a mechanical series connection between the manually operated control column 32 for the cyclical control and the tilting input or the Roller input of the control devices 33 for the cyclical control of the swash plate of a helicopter are arranged with only one main rotor. The influence of the maximum range of at Adjusting movements available to these servomotors is chosen so that it is considerably smaller than that full influence of both the control devices for the swash plate and the control column for the cyclic Actuation (measured on the control devices for the swash plate); on the reasons for this is discussed in more detail below.

The device further comprises a first source 34 and a second source 35 of speed signals indicative of the tilt speed and the Show the helicopter's roll speed. These signal sources can be, for. B. to one first and second speed gyros of known construction, which are opposite to the Vehicle are oriented so that they angular velocity wedge signalc supply, by means of which the tipping speed or the rolling speed of the vehicle is displayed.

The electrical output signals of the tilt rate signal source 34 and the roll speed signal source 35 are the tilt actuator 30 or the roll servomotor 31 is supplied. A lag-lead network 36 is between the electrical input of each servomotor 30 and 31 and the associated angular velocity gyroscopes 34 and 35 respectively arranged; each of these networks has a lag time constant of at least 10 seconds and a lead time constant, the size of which is no more than one sixth of the Delay time constant so that the attitude stabilization of the vehicle increases significantly can be, whereby the control behavior improves and the pilot's fatigue is decreased. Each lag-lead network may e.g. B. an input terminal 37 further comprise an output terminal 38 and a common input-output terminal or a Earth connection, wherein according to FIG. 4 circuit connections are provided which comprise means to a add the first signal and a second signal, which is an amplified and time-delayed version of the first signal. Furthermore, a summation network is provided that at least a first summing resistor 39 and a second summing resistor 40; at each of these resistors is one of the terminals in common with the output terminal 38 of the lag-lead network connected, while the other terminal of the first resistor 39 to the input terminal 37 of the lag-lead network connected. Furthermore, a DC amplifier 41 is provided, the input of which with the input terminal 37 of the network 36 is connected, with a series resistor 42 the output of the Amplifier 41 connects to the other terminal of the second summing resistor 40 and where a shunt capacitor 43 between the other terminal of the second summing resistor 40 and the common ground terminal of the network.

The fact that the network 36 behaves in the manner of a lag-lead network can be seen from the fact that at low frequencies the high gain of the amplifier 41 at the input of the summing point 38 provides a lag signal of high level, while at high frequencies the amplitude of the lag signal with respect to the input of the summing resistor 39 is attenuated so that the composite signal at summing point 38 appears as if it had been traced back to the phase shift zero with respect to the input signal at input terminal 37. This lag-lead characteristic can also be found in an analytical treatment of the network 36 according to FIG. 4 recognize. If the output voltage at terminal 38 is designated e ₀ and the input voltage at terminal 37 e _h , the output signal e "can be expressed with the aid of the input signal e as follows:

«·" ---- C ₁ + ei K

C ₁ S

Λ, +

C _x s

If one solves for the transfer function ^<0 (.v)

on, so you get

+ 1

5 + 1

I * ^{s + 1}

is therein

T ₁ -R ₁ C ₁ ,

T ₂ =

X ₊ I

It can be seen from this that the lag time constant T _{1 is based} on R ₁ and C ₁ , these quantities being determined by the circuit elements 42 and 43 in FIG. 4, and that the lead time constant T _{2 is inherently less than T 1} for any finite value of X and is determined by both T ₁ and X when X denotes the gain of amplifier 41. With this result, it is assumed that the resistance values of the summing resistors 39 and 40 are mutually equal. Examples of electrical values used to achieve the desired values T ₁ = 10 seconds and T ₂ ZT ₁ - Ve are given below:

C ₁ = 100 microfarads
R ₁ = 100,000 ohms

X> 5V / V

The lag-lead network 36 of FIG. 4 also includes a bipolar clipping circuit which, for reasons to be explained the trailing output component of the network 36 bridged. The value or level of this Signal limitation is chosen so that it has half the influence of the associated actuator 30 and 31 respectively.

This bipolar limiting circuit includes a two-anode zener diode 44 which the Shunt capacitor 43 bridged. The desired limit value is determined by suitable Choice of the commercially available Zener diode with double anode used. The limiting circuit is in the form of a Zener diode Double anode has been described, but it should be noted that any other equivalent known Means to achieve this double-ended signal limiting function.

Furthermore, according to FIG. 4 a first electromechanical Clutch unit 45 and a second electromechanical clutch unit 46 are provided, which are fixedly arranged on the helicopter and in Fi g. 4 are shown in the de-energized state; These clutch units work mechanically with the control column 32 for the cyclical control, around reference points for the tilt position for the control devices 33 of the swash plate or to deliver the rolling position. These clutch units each include * an electromagnetic winding 47 and a rotatable member 48 which is biased so that there is one rotation about a single one Prevents the reference axis from the coupling unit; this arrangement is known as such and therefore only shown schematically in FIG. This electromechanical clutch or brake can

ίο e.g. resemble the FFRB-960-1B model that is used by the General Electromechanical Corporation of New Jersey. During normal operation and when the solenoid winding 47 is turned on, overcomes the resulting Magnetomotor force essentially the bias of the rotatable member, so that it can move freely around the reference axis with respect to the Clutch unit can move; after turning off the windings, the organ faces the unit again. The windings 47 of the clutch units 45 and 46 are electrically parallel and are switched together with the aid of a trim switch designed as a push-button switch 49 actuated, which is connected in series with the voltage source 50 and the windings 47. It it should be noted that in the event of a coupling unit failure, the support platform is retained would remain, which for an associated servo actuator by the combination of relevant coupling is formed with a still to be described transformer 51, and that this Failure would only affect the adjustability of the reference position of the support platform.

According to FIG. 4, two double-acting pretensioned transducers 51 α and 51 & are also provided, which are provided in a mechanical series connection between the control column 32 for the cyclical control and the first clutch 45 or the second clutch 46. The two transformers are of the same construction. These transmitters, which work as position force transmitters, are known as such and are used to apply a double-acting pretensioning force. Such a device may comprise a rigid longitudinal member 52 having a first shoulder 53 and a second shoulder 54 separated by a longitudinal distance and limiting the longitudinal movement of two slidable discs or spring plates 55 and 56 disposed between the shoulders. A helical spring 57 pushed onto the element 52 between the disks 55 and 56 is kept tensioned by the interaction of the disks 55 and 56 and the shoulders 53 and 54, the longitudinal distance between the shoulders 53 and 54 being smaller than the free length of the spring 57 and wherein the outer diameter of the disks 55 and 56 is greater than the diameter of the spring 57. The rigid outer housing 38 is slidably mounted on the spring-loaded disks 55 and 56 and encloses the disks, the inner longitudinal dimension of the housing being a limitation in the Forms longitudinal direction. The inner longitudinal dimension of the housing 58 is preferably equal to the longitudinal dimension between the shoulders 53 and 54. The one end dos transformer 51 and is mechanically connected through the l.ängsorgan 52 with the Kupplungsnggrcgut 45, the / uesstelluim provides a fixed He, while the other linde iihei that

9 10

Housing 58 and in F i g. 4 with dashed lines control by switching off the stabilization radio

indicated mechanical connections with the tion and a trim to be effected by hand

Control column 32 for cyclical control or a mung.

The source for a mechanical input signal is connected. The first mode of operation is the angle. The transmitter 51 b is constructed similarly to 5 speed signals from each of the speed and corresponding speed gyroscopes 34 and 35 with the clutch unit 46 with the help of a lagging device. The control column 32 is gimbal-mounted so that the retractable servomotor 30 or 31 can be pivoted in any direction. One leads. Each of the servomotors 30 and 31 works component of the movement of the control column 32 around the io against the bias of an associated transfer axis AA causes a movement gers 51 according to FIG Input signal to vary during a movement component of the control column. The resulting 32 about the axis BB causes a movement of the housing response of the control devices for the Taumeides transmitter 51 b to the right or left. 15 disk provides increased attenuation of the tilting If an attempt is made to control column 32 and roll disturbances in straight horizontal flight, so during operation compared to the reference position that the pilot needs less force to move the z. B. to steer the vehicle by means of the clutch 45, from which a considerable amount is correct, one must apply force to the control column 32 to improve the control behavior of the vehicle which is sufficient to produce the pressure preload.

tion of the spring 57 to overcome and this spring to compress in the second mode of operation or in the hand farther. According to FIG. 4 requires the controller to be connected in series with the z. B. a movement of the housing 58 to the right worked the extendable servomotor, the Stel-applying a control force on the control column according to the development of the support platform for the servomotor varies right, which is sufficient to move the housing 58 in such a way that the input signal for the control device paths, that the first disk or the left suspension of the swashplate is the sum of the control plates 55 is moved to the right, column movement of the spring 57 and the adjustment of the servomotor represented further together against the second disk 56.

squeeze, which is prevented by the shoulder 54. Since the signals of the speed gyroscope, to move in relation to the organ 52. A 30 strives for a movement of the servomotors-bringing about movement of the housing 58 to the left opposite the feed through which the angular velocity position the control column for the control force zero changes of the helicopter balanced or requires one on the steering column to the left to counteract these changes in angular velocity Force sufficient to act around the housing 58, which affects the position or movement to cause the second disc or the right 35 of the control column to be returned, requires the Move spring plate 56 to the left in order to carry out the spring by the pilot A-57 Against the first disc 55 further converged maneuvers that the control column from its squeeze, which moves through the shoulder 53 in its trimmed position out by an amount Location is held. Thus, a movement greater than the influence or limit is required the control column 32 for the cyclical control a 40 of the servomotor movement during execution Minimum force equal to the pre-tensioning force of the over- such a maneuver. This way, at carrier plus an amount of force is which one of the manual controls selects the automatic control function the spring constant, d. H. the relocation rend rendered ineffective for the short period of time the tax pillar, is. This way the control becomes the maneuver needed. As for one maneuver only 45 a short time is required against movement against the opposite column the organ 48 of the clutch unit inhibits the saturated influence on the automatic flight stabilization, if the clutch unit has absolutely no objection to it. With small control input switches State. Signals also allows the increased deflection of the joystick or that to turn off the Autodaß this force is greater than the 5 ° required preload force the control device swashplate actuation force, which is supplied by the device in manual operation aircraft pilots from less extendable servomotor 30 or 31, experience appear less sensitive from what so that a support platform is available, which also means an improvement in controllability which results in the actuation device when the helicopter is operated.

of the control devices for the swash plate 55 The effect of the speed of change of flight

is mechanically supported. That, leverage ratio keitsstabilisierung in the form of a counteraction against

between the control column 32 and the transmitter 51 gusts of wind or atmospheric anomalies that

however, it is chosen so that there is a guarantee that it will be encountered during the straight horizontal flight

that the effective force will be by a pilot, d. H. not for special flight maneuvers,

can be applied, which calls the control column with 60 a transition regarding the height change

operated by hand, with the result of the spring speed, which is an adjustment to

constant of the transmitter brought into effect allows another probable course attitude.

Force gradient an artificial feeling for the path of the large time constant of the ÄC delay

provides improvement in hand control properties. combination of the network 36, d. H. because of the

The arrangement according to FIG. 4 can have three capacitance C of the capacitor 43 of different sizes.

fulfill their functions, namely a stabilizing capacitor in the manner of an integrator. This

improvement around two axes, namely the integration effect of the capacitor 43 is

Tilt axis and roll axis, furthermore a hand strives to bring the vehicle back to its original position

11 12

Course attitude attributed after a disturbance In Fig. 5 one recognizes a preferred instructor mentioned type occurred. In one form of flight, three-axis control for the flight maneuvers however, the integration effect of a helicopter's location tends to be. The facility includes Capacitor 43, an increasing charge on a tilting actuator motor 31, a rolling actuator motor 32, to build that the time integral of the constant angle 5 a control column 32 for the cyclical control with speed of the maneuver. If one is a trim switch 49, two electromechas such large load does not avoid or reduce niche clutches 45 and 46, which are each one the charge of the capacitor would be assigned to transformer 51; all of these parts are 43 after completion of the maneuver a large one, but essentially designed and arranged in the same way slowly decaying preload signal component like the correspondingly designated parts in FIG. 4th present, which would presumably continue, the In addition, a control pedal 60 is provided, the Actuating device during the straight scales- serves to close the auxiliary rotor of the helicopter right flight to saturate immediately after the maneuver, and a servo actuation system 61 is in gen and at least the stabilization signals before a mechanical series connection between the Tighten until the pretension has subsided. 15 output of the control pedal and the input of the

This pretensioning effect is considerably reduced. Control devices for the auxiliary rotor are arranged,

and practically to a still permissible value. The control pedal 60 forms part of the normal

brought as the limiting circuit elements for painting equipment of known helicopters; From the-

The effect of the shunt condensate is the pedal only as part of a block diagram

bridge the sator 43. Thus, the entire charge 20 is displayed.

or the stored voltage, which is also present during an azimuth sensing device 62 Maneuver in the capacitor 43 builds up, on see the opposite of the reference trajectory of the lifting stones The amount that half of the screwdriver hold is oriented in such a way that it is a match associated servomotor 30 or 31 corresponds. nungssignal supplies, which the deviation of the Be-Auf this shortens the period of time which indicates a train trajectory from a desired course; is required, -to the bias of the condenser- is still a gimbal-mounted vertical sator to unload, so that a fixed still sensing device 63 is provided, the suspension of which is permitted Value results, and the axes of the servomotor compared to the reference trajectory of the lift-guided The input signal is oriented with the summing screwdriver so that it has a first and Approximate resistance 39 appearing speed 30 delivers a second direct current signal, this signal synchronized that needs to be compensated. Signals the attitude of the helicopter, based on In this way, the shunted axis can indicate the transverse axis or the longitudinal axis. The delay circuit possibly together with similar devices are known and are available in commercially available input circuits of conventional design. Therefore, they are shown in FIG. 5 of the network 36 the intended function is only indicated schematically.

more and after completion of a maneuver with die on the transverse axis and the longitudinal axis smaller Meet delay. drawn output signals of the vertical sensor

The third function, namely the regulation of the device 63 is supplied to the associated servomotors 30 and the trimming to be effected by hand or to the position 31. Between each of the mentioned Auslung the control column for the control force zero, ie 40 gears and an associated servo-actuation system of the reference position of the support platform for the actuating a control network 64 is arranged, which is a commotor, is effected in such a way that the speed of change of flight in connection with the treatment is stable the cooperation of the system and, at the choice of the pilot, additional clutches 48 and the trim switch 49 lent a control of the flight attitude delivers,
was written. During normal operation 45 The control network may e.g. B. an input supply includes the de-energized state of each clutch terminal 65, also an output terminal aggregate a fixed mechanical reference point 66 and a common input-output terminal or a support platform for the associated extend or a ground connection, the circuit ble servomotor. When the trim button 49 is actuated as shown in FIG. 5 is formed. The circuit elements, as a result of which the windings 47 of the clutches 50 comprise means for differentiating and delaying 45 and 46 are switched on, inhibit the coupling of an input signal and, alternatively, the organ 48 no longer lungs, so that the supporting means including the first mentioned platform or the mechanical reference point continued means for adding the input signal to the falls. While the trim button is depressed for the differentiated input signal and for common use, the pilot can then delay both signals. There is a Diffe control column and thus also the mechanical renzierungs circuit provided, which bring a first connected member 48 of each clutch into the resistance 67 and a first capacitor 68 desired trim position and then grips between the input terminal 65 and the trim button 49 enable, whereupon the coupling output terminal 66 are connected in series. Furthermore, lungs are switched off and the support platform 60, a second resistor 69 and a third resistor of the desired mechanical reference or stand 70 are provided, and one terminal of this trim position is brought into effect again. Resistances are applied to the output terminal 66. closed. A second capacitor 71 is between

The stabilization and hand clamp according to the invention of the other terminal of the second resistor 69 control system according to FIG. 4 can according to FIG. 5 and the common ground connection of the network to an improved three-axle mechanism 64. In addition, a changeover switch 72 is pilot control for the attitude of a helicopter, one of which is in contact with the input terminal create. 65 is connected while the other contact is

13 14

is grounded. The second terminal of the third resistance signal of the desired sign and with the ge-70 is connected to the armature of the switch 72, provides the desired size and is known to be the second terminal of the third resistance. In the embodiment according to Fig. 5 stand 70 alternatively with the input terminal 65, these means can include a tapped in the middle (closed position of the switch 72) or with the 5 potentiometer 78, which is connected to the terminals F. earth connection of the network 64 (open position - A battery 79 with center tap connected development of the switch 72) can connect. is, the center taps of the potentiometer when the switch 72 is open and the battery is connected to the common arrangement with the circuit elements 67, 68, input output terminal or the ground terminal 69, 70 and 71 a lag-lead network io of network 64 are connected. The contact with a natural filter effect. The first bracket of the potentiometer 78 is connected to the input capacitor 68 and the grounded third resistor 70 is connected to terminal 65 of the network 64,
deliver a phase lead or a difference- The output signal of the azimuth sensor 62 nmgswirkung with respect to an input signal, while inputs of both the control network 64 in the end of the second capacitor 71 and the second 15 rolling movement channel as well as the servomotor 61 for resistor 69 will cause a lag. Supplied through the auxiliary rotor. Between the servomotor, suitable selection of the electrical values of the circuit 61 and the azimuth sensor 62, a differential element is arranged to achieve a certain delay or filter network 74, the delay time constant 7 " _r ^ which is greater than the largest provides a signal which the Rate of change lead time constant T " ( _{e.g. T 1} > 10 seconds 20 indicates the speed of rotation around the vertical axis. This and TJT _x <Ve), the desired flight position signal should dampen or reduce the rotation of the helicopter around the speed stabilization of the helicopter vertical axis. the stability of the attitude bcrs can be achieved as well as with the system in the azimuth direction. It has been established according to Fig. 4. The first capacitor 68, which is placed in that the dynamics with regard to the response in series between the attitude signal input 25 of a helicopter with regard to its course the attitude sensor and the override controls of the auxiliary rotor is not so critical circuit elements 69, 70 and 71, it appears that a special signal shaping of the signal filtering effect, so that the circuit is not required to respond to rate change signals, signals for a constant flight attitude in order to achieve better damping. Thus, the signal shaping characteristic of the rotational speed can only respond to changes in the flight attitude when the switch 72 is open. With the switch 72 closed, the third indicator is therefore a delay or differentiation status 70 with the input terminal 65 and the switch-off similar to the circuit of the network 64 output terminal 66 of the network 64 connected, so when switch 72 is open.

that the filter effect is omitted and the control of the 35 The DC voltage output signal of the azimuth attitude the function of the flight attitude change filling device 62 is also assigned to the network 64 of the speed stabilization is superimposed and rolling motion channel fed, and the Drehuhgsdie Device automatically controls the cruise. signal is associated with the DC roll motion below are examples of the electrical signal of the sensing device 63 with the help of summing values of the circuit elements mentioned, in which 4 ° approximately resistors 75 and 76 combined. The Besieh the desired time constants result: actuation of the servomotor 31 by the supplied

Input signals thus provides a stabilization

^K i ^{28 7ÜÜ Onm} the longitudinal axis, a control of the longitudinal

R " 11 000 Ohm axis-related attitude and a control of the

_R ~ 42 000 Ohm ⁴⁵ Fhjg ' ^a £ ^em with reference to the vertical axis. At the pre

^{: 1} upward flight of the helicopter performs a lateral

Ci 12 microfarad component of the lift vector of the main rotor in-

C ₁ 130 microfarads follow a small roll trim angle in conjunction

with the forward speed component being

The network 64 of FIG. 5 comprises a bi- 5 ° caused by a small tilt trim angle polar limiting circuit 44 ', which is the second, bridged to a rotational speed or a capacitor 71 and from the same rotation of the trajectory. Therefore, the trimming reason is provided like the bipolar signal signal device 73, which in connection with the limiting elements, which converts the capacitor 43 into a DC voltage rolling motion signal of the vertical figure. 4 bridge. This bipolar restriction 55 filling device 63 is used, with the hand held device 44 'comprises two sets of placed in series, and. by adjusting the contact arm, similarly polarized semiconductors or diodes, of the potentiometer 78 switched during the flight to bridge the capacitor, each set of rotation speed being zero when the polarity of the other set is opposite. The limiting value desired by the helicopter in the desired azimuth direction is achieved in that 60 moves or its course corresponds to the course set with the aid of the azimuth man, the number of diodes in each set increased filling device 62, or reduced. It should be noted, however, that any difference between the roll point of the circuit element 44 'and any angle signal from the sensing device 63 and the trim signal device 73 associated with the known equivalent signal limiting means could then be turned. 65 speed damping effect to avoid azimuth errors.
Means 73 are provided, which provide an adjustable preload. The switch 72

opened, so that the automatic control of the cruise is interrupted and a stabilization attitude around the trim position. The forward speed of the helicopter will increase Set to zero by making a nominal adjustment of the tilt trimmer 73, the is assigned to the tilt output of the vertical sensing device 63, and thereby the attitude monitored by hand with the help of the control column 32. The lateral displacement of the helicopter is influenced in a similar way. However, the rotation of the helicopter becomes in the azimuth direction controlled around the main rotor axis by the rotational speed signal that the servomotor 61 by the network 74 is supplied; here the 15 · pedals 60 are operated in the desired manner in order to cause a rotation or the desired azimuth change.

Claims (5)

Claims: 20 1. Control device for stabilizing the flight attitude of a helicopter, which has a between The servomotor inserted into the hand control lever and the rotor actuator controls and a speed gyro which generates a signal proportional to the rotational speed of the helicopter about a main axis, which in a lead-lag circuit is split into two signal components, of which the one lags behind the other and both are connected to the servomotor via an amplifier are, characterized in that the trailing signal component by means of a Limiter (44) to approximately half the setting range of the servomotor (30; 31) corresponding Value is limited. 2. Control device according to claim 1, characterized in that a double-acting limiter (44) is provided, which the capacitor (43) one in the lead-lag circuit (36) contained, integrating /? C element is connected in parallel. 3. Control device according to claim 2, characterized in that a double-anode Zener diode as a limiter (44) is provided. 4. Control device according to claim 2 or 3, characterized in that the lead-lag circuit (36) between input (3) and output (38) two parallel circuit branches for the has two signal components, the former having a first working resistance (39) and the second in series a DC voltage amplifier (41), the resistor (42) of the integrating i? C element and a second working resistor (40) contains. 5. Control device according to claim 4, characterized in that the time constant of the integrating i? C element and the gain factor of the DC voltage amplifier (41) such are chosen that the lag time constant of the lead-lag circuit (36) at least 10 seconds and at least 6 times greater than the lead time constant is. For this purpose 2 sheets of drawings 109 651/24