DK3111286T3 - Fremgangsmåder til styring af et luftfartøjs stilling - Google Patents
Fremgangsmåder til styring af et luftfartøjs stilling Download PDFInfo
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- DK3111286T3 DK3111286T3 DK14893562.0T DK14893562T DK3111286T3 DK 3111286 T3 DK3111286 T3 DK 3111286T3 DK 14893562 T DK14893562 T DK 14893562T DK 3111286 T3 DK3111286 T3 DK 3111286T3
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- aircraft
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C15/00—Attitude, flight direction, or altitude control by jet reaction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
- B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
- B64C29/0025—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being fixed relative to the fuselage
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Claims (15)
1. Fremgangsmåde til styring af et luftfartøjs stilling, hvilken fremgangsmåde omfatter: (a) beregning af en eller flere luftfartøjskonfigurationsparametre baseret på en eller flere fysiske karakteristika ved et luftfartøj (900, 1000), (b) modtagelse, ved en processor, af et signal, som er vejledende for en målstilling af luftfartøjet (900, 1000), (c) generering, ved hjælp af processoren, af et kommandosignal, der skal leveres til i det mindste en aktuator på luftfartøjet (900, 1000), og som er koblet til luftfartøjets (900, 1000) en eller flere fremdrivningsenheder (902, 904, 906, 908, 1006), hvorved denne generering er baseret på (1) signalet, som er vejledende for målstillingen under (b), og (2) en eller flere luftfartøjskonfigurationsparametre under (a), og hvor genereringen yderligere anvender et feedbackstyresystem, som omfatter (1) en vinkelaccelerationssløjfe med vinkelaccelerationsfeedback, og (2) fremadvirkningsberegning baseret på en målacceleration, (d) måling, ved hjælp af en eller flere sensorer (1008), som funktionsmæssigt er koblet til luftfartøjet (900, 1000), af luftfartøjets drivkraft som resultat af aktiveringen af en eller flere fremdrivningsenheder (902, 904, 906, 908, 1006), og (e) tilføring af drivkræfterne til processoren med henblik på at opnå feedbackstyresystemet, som indstiller eller bekræfter kommandosignalet ifølge (c).
2. Fremgangsmåde ifølge krav 1, og som yderligere omfatter: som reaktion på modtagelsen af en ændret fysisk parameter i forbindelse med luftfartøjet (900,1000), genberegning af de en eller flere luftfartøjskonfigurationsparametre, som er baseret på luftfartøjets (900, 1000) modtagne ændrede fysiske parametre for at tage hensyn til ændringen.
3. Fremgangsmåde ifølge krav 1, hvorved luftfartøjet omfatter et antal aktuato-rer, som funktionsmæssigt er koblet til et antal fremdrivningsenheder (1006), hvorved fremdrivningsenhederne (1006) omfatter rotorer (902, 904, 906, 906, 908), som genererer løftning til luftfartøjet (900, 1000).
4. Fremgangsmåde ifølge krav 1, hvorved signalet, som er vejledende for en målstilling for luftfartøjet (900,1000), modtages fra en fjern styreindretning (1012) via en trådløs forbindelse (1016).
5. Fremgangsmåde ifølge krav 1, hvorved luftfartøjets (900,1000) en eller flere fysiske karakteristika omfatter en fysisk dimension og vægt.
6. Fremgangsmåde ifølge krav 5, og som yderligere omfatter beregning af et aerodynamisk midtpunkt og luftfartøjets (900, 1000) tyngdepunkt.
7. Fremgangsmåde ifølge krav 2, hvorved luftfartøjets (900, 1000) fysiske parameter omfatter i det mindste en ud af en rumlig dimension af luftfartøjet (900, 1000), en morfologi i forbindelse med luftfartøjet (900,1000) eller en vægt af luftfartøjet (900, 1000).
8. Fremgangsmåde ifølge krav 1, og som yderligere omfatter beregning af et inertimoment for luftfartøjet (900, 1000), hvorved fremadvirkningsberegningen anvender luftfartøjets (900, 1000) inertimoment.
9. Fremgangsmåde ifølge krav 1, hvorved beregningen, som anvender feedbackstyresystemet, foretages for luftfartøjsstillingen omkring en hældningsakse, rulleakse og drejningsakse.
10. Fremgangsmåde ifølge krav 9, og som yderligere omfatter kombinering, ved brug af en blandeindretning, af resultater fra beregningerne omkring hældningsaksen, rulleaksen og drejningsaksen, og en luftfartøjskonfigurationsparameter til at beregne det styresignal, som skal leveres til den i det mindste ene aktuator.
11. Fremgangsmåde ifølge krav 10, hvorved luftfartøjskonfigurationsparameteren er en afstand fra aktuatoren til et aerodynamisk centrum for luftfartøjet (900, 1000).
12. Fremgangsmåde ifølge krav 1, hvorved luftfartøjets drivkræfter omfatter luftfartøjets (900, 1000) stilling i forhold til i det mindste en akse, vinkelhastigheden i forhold til i det mindste en akse og vinkelaccelerationen i forhold til i det mindste en akse.
13. Fremgangsmåde ifølge krav 1, og som yderligere omfatter: vurdering, ved hjælp af processoren, af en ikke-lineær forbindelse imellem aktuatorens fremdrift og aktuatoroutputtet, og hvorved genereringen også er baseret på det ikke-lineære forhold.
14. Fremgangsmåde ifølge krav 13, hvorved det ikke-lineære forhold beregnes under en kalibrering af luftfartøjets (900, 1000) en eller flere aktuatorer.
15. Fremgangsmåde ifølge krav 13, og som yderligere omfatter beregning af et aerodynamisk midtpunkt og luftfartøjets (900, 1000) tyngdepunkt baseret på en eller flere fysiske karakteristika i forbindelse med luftfartøjet (900, 1000), yderligere omfatter beregning af et inertimoment for luftfartøjet (900, 1000) baseret på luftfartøjets (900, 1000) fysiske karakteristika, hvorved beregningen ved brug af feedbackstyresystemet omfatter en fremadvirk-ningsberegning, som anvender luftfartøjets (900, 1000) inertimoment.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2014/078999 WO2015180171A1 (en) | 2014-05-30 | 2014-05-30 | Aircraft attitude control methods |
Publications (1)
Publication Number | Publication Date |
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DK3111286T3 true DK3111286T3 (da) | 2019-02-25 |
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Application Number | Title | Priority Date | Filing Date |
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DK14893562.0T DK3111286T3 (da) | 2014-05-30 | 2014-05-30 | Fremgangsmåder til styring af et luftfartøjs stilling |
Country Status (7)
Country | Link |
---|---|
US (3) | US9958874B2 (da) |
EP (1) | EP3111286B1 (da) |
JP (1) | JP6207746B2 (da) |
CN (2) | CN106462167B (da) |
DK (1) | DK3111286T3 (da) |
ES (1) | ES2708579T3 (da) |
WO (1) | WO2015180171A1 (da) |
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CN118376373A (zh) * | 2024-04-23 | 2024-07-23 | 哈尔滨工业大学 | 飞行器气动特性和参数的确定方法及实验装置 |
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US5992383A (en) | 1996-05-28 | 1999-11-30 | U.S. Philips Corporation | Control unit having a disturbance predictor, a system controlled by such a control unit, an electrical actuator controlled by such a control unit, and throttle device provided with such an actuator |
WO2003067351A2 (en) * | 2002-02-07 | 2003-08-14 | Levitation Technologies Ltd. | Stabilisation and control of aircraft and other objects |
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EP1901153A1 (en) * | 2006-09-12 | 2008-03-19 | OFFIS e.V. | Control system for unmanned 4-rotor-helicopter |
CN101033973B (zh) * | 2007-04-10 | 2010-05-19 | 南京航空航天大学 | 微小型飞行器微惯性组合导航系统的姿态确定方法 |
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WO2015180171A1 (en) | 2015-12-03 |
EP3111286A4 (en) | 2017-04-12 |
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