FR2601326A1 - APPARATUS FOR AUTOMATICALLY AUTOMATIC AUTOMATION OF A HELICOPTER ROTOR - Google Patents
APPARATUS FOR AUTOMATICALLY AUTOMATIC AUTOMATION OF A HELICOPTER ROTOR Download PDFInfo
- Publication number
- FR2601326A1 FR2601326A1 FR8610219A FR8610219A FR2601326A1 FR 2601326 A1 FR2601326 A1 FR 2601326A1 FR 8610219 A FR8610219 A FR 8610219A FR 8610219 A FR8610219 A FR 8610219A FR 2601326 A1 FR2601326 A1 FR 2601326A1
- Authority
- FR
- France
- Prior art keywords
- signal
- providing
- rotor
- yaw
- representing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 10
- 230000001133 acceleration Effects 0.000 claims description 13
- 230000000977 initiatory effect Effects 0.000 claims 1
- 125000004122 cyclic group Chemical group 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/56—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement characterised by the control initiating means, e.g. manually actuated
- B64C27/57—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement characterised by the control initiating means, e.g. manually actuated automatic or condition responsive, e.g. responsive to rotor speed, torque or thrust
-
- 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
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/105—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for unpowered flight, e.g. glider, parachuting, forced landing
Landscapes
- 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)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
LA PRESENTE INVENTION CONCERNE UN APPAREIL DE MISE AUTOMATIQUE EN AUTOROTATION DU ROTOR D'UN HELICOPTERE COMPORTANT UN SYSTEME DE COMMANDE AUTOMATIQUE DU VOL. CET APPAREIL EST CARACTERISE EN CE QU'IL COMPREND DES MOYENS 10 POUR FOURNIR UN SIGNAL DE DEFAILLANCE DU MOTEUR INDIQUANT UNE TELLE DEFAILLANCE, DES MOYENS 21 POUR FOURNIR UN SIGNAL D'ORDRE DE COMMANDE COLLECTIVE TH, DES MOYENS 28 POUR FOURNIR UN SIGNAL DE PAS BS, DES MOYENS 34 POUR FOURNIR UN SIGNAL D'ORDRE DE ROULIS AS ET DES MOYENS 40 POUR FOURNIR UN SIGNAL D'ORDRE DE LACET TH, CES SIGNAUX ETANT APPLIQUES A UN SYSTEME DE COMMANDE AUTOMATIQUE DU VOL 26.THE PRESENT INVENTION CONCERNS AN APPARATUS FOR AUTOMATICALLY STARTING IN AUTOROTATION OF THE ROTOR OF A HELICOPTER INCLUDING AN AUTOMATIC FLIGHT CONTROL SYSTEM. THIS APPARATUS IS CHARACTERIZED IN THAT IT INCLUDES 10 MEANS FOR PROVIDING A SIGNAL OF ENGINE FAILURE INDICTING SUCH A FAILURE, 21 MEANS FOR PROVIDING A COLLECTIVE CONTROL ORDER SIGNAL TH, 28 MEANS FOR PROVIDING A NOT SIGNAL BS, MEANS 34 FOR PROVIDING A ROLLS ORDER SIGNAL AS AND MEANS 40 FOR PROVIDING A LACET ORDER SIGNAL TH, THESE SIGNALS BEING APPLIED TO AN AUTOMATIC FLIGHT CONTROL SYSTEM 26.
Description
t- 260 1326 La présente invention concerne un appareil de miseThe present invention relates to a setting apparatus
automatique en autorotationd'un rotnr d'un hélicoptère. automatic autorotation of a rotnr of a helicopter.
La tendance à l'utilisation de rotors de plus faible inertie dans les hélicoptères modernes se traduit par une 5 réduction du niveau d'énergie cinétique emmagasinée dans le rotor et renu celui-ci plus susceptible de variations iraportantes de la vitesse de rotation pendant des manoeuvres rapides. Par conséquent il est généralement connu d'assurer une intégation de la commande et de la propulsion. Ceci est l1 étudié, par exemple, dans un article paru dans la revue Technoloyy Today vol. 30, No. 6, ayant pour titre "Rotorcraft Flight-Propulsion Control Integration". En dépit The tendency to use lower rotor rotors in modern helicopters results in a reduction in the level of kinetic energy stored in the rotor and makes it more susceptible to irrespective rotational speed variations during maneuvers. fast. Therefore it is generally known to provide integration of control and propulsion. This is discussed, for example, in an article in the journal Technoloyy Today vol. 30, No. 6, entitled "Rotorcraft Flight-Propulsion Control Integration". Despite
de cette connaissance générale, il existe de nombreux problèmes particuliers dont il faut tenir compte et l'invention 15 concerne l'un d'entre eux. From this general knowledge, there are many particular problems which must be taken into account and the invention concerns one of them.
Pendant un vol à grande vitesse, le moteur transmet des niveaux maximaux de couple au rotor. La défaillance d'un moteur dans une disposition plusieurs moteurs ou bien encore, ce qui est plus significatif, la défaillance de tous 20 les moteurs provoque une chute rapide de la vitesse ou rotor, et si rapide en fait que le pilote est incapable d'amorcer une autorotation afin de conserver la vitesse du rotor. La perte de puissance supprime également la nécessité de l'équilibrage anti- couple par le rotor de queue. Par 25 conséquent l'aéronef effectue des embardées rapides et, par suite du couplage roulis/ylissade, il s'ensuit un roulis rapide. Par conséquent un but de la présente invention est de produire des entrées de commande automatique qui contre30 balancent les effets aérodynamiques défavorables qui font immédiatement suite à une défaillance du moteur, en assurant ainsi un passage automatique en autorotation et une conmmande d'attitude beaucoup plus rapidement que ne pourrait le faire un pilote. A la suite du passage automatique en autorota35 tion, le pilote peut reprendre la commande et atterrir en During a high-speed flight, the engine transmits maximum torque levels to the rotor. The failure of an engine in a multiple engine arrangement or even more significantly, the failure of all the engines causes a rapid drop in speed or rotor, and so fast in fact that the pilot is unable to initiate autorotation to maintain rotor speed. The loss of power also eliminates the need for tail rotor anti-torque balancing. As a result, the aircraft performs rapid lurching and, as a result of roll / ylissade coupling, rapid rolling is ensured. It is therefore an object of the present invention to provide automatic control inputs which counterbalance the adverse aerodynamic effects which immediately follow an engine failure, thus ensuring automatic autorotation and attitude control much faster. than could a pilot. Following the autorotational passage, the pilot can resume control and land in
autorotation d'une manière normale. autorotation in a normal way.
oo
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Suivant 1'invention pendant les toutes premières secondes après une défailliance d'un moteur, le passage en autorotation est établi automatiquement en fournissant des ordres de cormmiande collective, de pas, de roulis et de lacet 5 à un système de commande automatique du vol de manière à régler la commande collective en vue de maintenir une vitesse du rotor désirée, à coimmarnder le pas de manière à oelaeurer dans des limites de contrainte, à contrôler le roulis de manière à éviter des changements d'attitude en roulis, et à 10 contrôler le lacet de manière à éviter une embardée transitoire indésirable qui sans cela résulterait d'une défaillance du moteur (aucune commande anti-couple n'étant plus requise). Des signaux indiquant la vitesse et l'attitude existantes sont traités afin de fournir les ordres précités 15 au système de commande automatique du vol. On décrira ci-après,à titre d'exemples non limitatifs, diverses formes d'exécution de la présente invention, en référence au dessin annexé sur lequel: La figure unique est un schéma synoptique du According to the invention during the first few seconds after a failure of an engine, autorotation is automatically established by providing collective command, pitch, roll and yaw commands to an automatic flight control system. in order to adjust the collective control in order to maintain a desired rotor speed, to step the pitch so as to lie within stress limits, to control the roll so as to avoid roll attitude changes, and to control the yaw so as to avoid unwanted transient lurching which would otherwise result from a motor failure (no anti-torque control is no longer required). Signals indicative of the existing speed and attitude are processed to provide the above orders to the automatic flight control system. The following will be described by way of non-limiting examples, various embodiments of the present invention, with reference to the accompanying drawing in which: The single figure is a block diagram of the
dispositif de commande suivant l'invention. control device according to the invention.
La figure du dessin représente un détecteur de défaillance d'un moteur 10 tel que décrit dans le brevet US-4 454 754. Unri signal indiquant une défaillance ou moteur est fourni sur une ligne 12. La sortie du détecteur est 25 appliquée à quatre interrupteurs 14,16,1b,2U qui arment un contrôle logique afin de compléter la logique de passage The figure of the drawing shows a failure detector of a motor 10 as described in US-4,454,754. A signal indicating a fault or motor is provided on a line 12. The output of the detector is applied to four switches. 14,16,1b, 2U which arm a logic control to complete the logic of passage
automatique en autorotation suivant. automatic autorotation.
Les paramètres suivants sont surveillés, en boucle fermée, conformément à des techniques de détection bien 30 connues: NR: vitesse du rotor; NR: accélération du rotor; NZ: facteur de charge; Q: taux du pas; v: vitesse vers l'avant (vitesse propre); P: accélération angulaire de roulis; The following parameters are monitored, in a closed loop, in accordance with well-known detection techniques: NR: rotor speed; NR: rotor acceleration; NZ: load factor; Q: step rate; v: speed forward (own speed); P: angular acceleration of roll;
R: accelération de lacet.R: lace acceleration.
Un circuit conformateur 21 répond à la vitesse du A shaping circuit 21 responds to the speed of the
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rotor (iNI), àa l'uccélératioi du rotor (NR) et à une vitess du rotor désirée 22, choisie par le pilote, afin de fournir un signal d'ordre de commande collective sur une ligne 24, à travers l'interrupteur 14 lorsque celui-ci est armé, en 5 direction du canal de commande collective d'un système de commande automatique du vol 26, afin d'ajuster automatiquement le pas collectif du rotor de manière à maintenir une vitesse du rotor désirable en autorotation, telle que 100D NR. rUn circuit conformateur 28 réponr d au facteur cie charge (Nz), au taux du pas (Q), à la vitesse propre (v) et à une référence 30 indiquant une limite du facteur de charge, de manière à fournir un signal d'ordre cyclique longitudinal (pas) Lls, au canal de pas du système de corm15 mande automatique du vol 26, sur une ligne 32, à travers rotor (iNI), at the rotor uceling (NR) and at a desired rotor speed 22, selected by the pilot, to provide a collective control command signal on a line 24, through the switch 14 when it is armed, in the direction of the collective control channel of an automatic flight control system 26, to automatically adjust the collective pitch of the rotor so as to maintain a desirable rotor speed in autorotation, such as 100D NR. A shaping circuit 28 is responsive to the load factor (Nz), the step rate (Q), the eigen speed (v), and a reference 30 indicating a load factor limit, so as to provide a signal. longitudinal cyclic order (not) Lls, at the flight channel of the automatic flight control system of flight 26, on a line 32, through
l'interrupteur 16, afin de commnander l'attitude du pas pendant le passage en autorotation, en évitant ainsi des contraintes excessives sur l'aéronef pendant cette manoeuvre. the switch 16, to order the attitude of the pitch during the passage autorotation, thus avoiding excessive stresses on the aircraft during this maneuver.
Un circuit conformateur 34 répond à l'accélération 20 angulaire en roulis (P) et à une référence de roulis 36 A shaper circuit 34 responds to the angular acceleration in roll (P) and to a roll reference 36
égale à zéro afin de fournir un signal d'ordre cyclique latéral (roulis) Als, sur une ligne 3b, en direction du canal de roulis du système de commande automatique du vol, à travers l'interrupteur l1, afin de maintenir un vol "au 25 niveau des ailes" pendant le passage en autorotation. equal to zero in order to provide a lateral cyclic (roll) signal Als, on a line 3b, in the direction of the roll channel of the automatic flight control system, through the switch 11, in order to maintain a flight " at the wing level "during autorotation.
Un circuit conformateur 40 répond à l'accélération en laeet (R) et à une référence de lacet 42, qui est nominialement égale à zéro, afin de fournir un signal d'ordre de lacet ( eTR), sur une ligne 44, au canal de lacet du 30 système de commande automatique du vol 26, à travers l'interrupteur 18, de ranière à commander le pas collectif du rotor de queue et à empêcher une correction de lanet erronée pendant le passage en autorotation, commre il a été A shaper circuit 40 responds to the lae acceleration (R) and to a yaw reference 42, which is nominally zero, to provide a yaw order signal (eTR), on a line 44, to the channel of the yarn 26 of the automatic control system of the flight 26, through the switch 18, raie to control the collective pitch of the tail rotor and to prevent an incorrect correction of the lanet during the passage in autorotation, how it has been
indiqué précédemment.indicated previously.
La coilmanue automiatique décrite ci-dessus stabilise l'aéronef et amorce une autorotation dans des circonstances (défaillance du moteur) dans lesquelles le pilote ne pourrait pas réagir suffisamment rapidement, et elle fournit des The above-described auto-torque coil stabilizes the aircraft and initiates an autorotation under circumstances (engine failure) in which the pilot could not react quickly enough, and provides
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signaux d'entrée de commande semblables à ceux que le pilote aurait émis dans des circonstanees moins critiques. Les entrées de commande sont plus rapides qu'un pilote iais elles sont bien situées dans les limites des systèmes connus de vol ou de stabilité automatique. control input signals similar to those that the pilot would have issued in less critical circumstances. The control inputs are faster than a pilot but they are well within the limits of known flight or automatic stability systems.
Un court moment après l'établissement de l'autorotation, par exemple au bout de deux à trois secondes, les signaux d'ordres ( 60, bis, Als, OTR) provenant de ee système peuvent être éliminés ou supprimés de manière à fournir 10 une commande affirmative au pilote. A short time after the autorotation is set up, for example after two to three seconds, the command signals (60, bis, Als, OTR) from that system can be eliminated or deleted in order to provide 10 an affirmative order to the pilot.
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Claims (2)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB8616150A GB2192163B (en) | 1986-07-02 | 1986-07-02 | Rotorcraft automatic autorotation entry device |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2601326A1 true FR2601326A1 (en) | 1988-01-15 |
FR2601326B1 FR2601326B1 (en) | 1988-10-21 |
Family
ID=10600453
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR8610219A Expired FR2601326B1 (en) | 1986-07-02 | 1986-07-11 | APPARATUS FOR AUTOMATICALLY AUTOROTATING A HELICOPTER ROTOR |
Country Status (3)
Country | Link |
---|---|
DE (1) | DE3622031C2 (en) |
FR (1) | FR2601326B1 (en) |
GB (1) | GB2192163B (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1544102A1 (en) * | 2003-12-18 | 2005-06-22 | Eurocopter | Device for automatically lowering the collective pitch of the main rotor blades of a rotorcraft during an engine failure |
EP2965988A1 (en) | 2014-07-03 | 2016-01-13 | Airbus Helicopters | Method for regulating the speed of rotation of the main rotor of a multi-motor rotorcraft in case of failure of one of the engines |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4420059C2 (en) * | 1994-06-08 | 2000-12-14 | Leubner Hans Peter | Take-off and landing guidance system for rotary wing aircraft and other high-flyers |
FR2766158B1 (en) * | 1997-07-18 | 1999-10-01 | Bonnans Sa | PROCEDURE AND DEVICE TO ASSIST THE CONTROL, BY THE PILOT, OF THE POWER LIMITATIONS OF THE TURBOMOTOR (S) AND / OR OF THE ROTOR SPEED OF THERMOPROPULATED HELICOPTERS |
US6885917B2 (en) * | 2002-11-07 | 2005-04-26 | The Boeing Company | Enhanced flight control systems and methods for a jet powered tri-mode aircraft |
US8651425B2 (en) | 2009-11-24 | 2014-02-18 | Merlin Technology Inc. | Emergency collective actuator and method for a helicopter |
US8360369B2 (en) * | 2009-11-24 | 2013-01-29 | Merlin Technology, Inc. | Emergency collective actuator and method for a helicopter |
US9193450B2 (en) | 2012-02-24 | 2015-11-24 | Bell Helicopter Textron Inc. | System and method for automation of rotorcraft entry into autorotation and maintenance of stabilized autorotation |
US9352831B2 (en) * | 2013-05-08 | 2016-05-31 | Bell Helicopter Textron Inc. | Variable lower limit collective governor to improve recovery |
FR3028839B1 (en) | 2014-11-26 | 2016-11-18 | Airbus Helicopters | METHOD OF ASSISTING NAVIGATION OF A MULTI-ENGINE ROTOR IN THE EVENT OF AN ENGINE FAILURE, IN THE CONTEXT OF A VARIABLE SPEED TRAINING OF A MAIN ROTOR OF THE GIRAVION |
US9957041B2 (en) | 2015-05-21 | 2018-05-01 | Merlin Technology, Inc. | Advanced emergency collective actuator with friction pull-off and method for a helicopter |
FR3041606B1 (en) * | 2015-09-25 | 2017-09-29 | Airbus Helicopters | DEVICE FOR REGULATING THE ROTATION SPEED OF A ROTOR OF GIRAVION, GIRAVION EQUIPPED WITH SUCH A DEVICE AND METHOD OF REGULATING THE SAME |
US11194349B2 (en) | 2016-06-27 | 2021-12-07 | Sikorsky Aircraft Corporation | Automated autorotation and pilot aiding system |
FR3061142B1 (en) | 2016-12-22 | 2019-01-25 | Airbus Helicopters | DEVICE FOR REGULATING THE ROTATION SPEED OF A TREE OF A GIRAVION TURBOMOTEUR GAS GENERATOR, GIRAVION EQUIPPED WITH SUCH A DEVICE AND METHOD OF REGULATING THE SAME |
FR3065756B1 (en) | 2017-04-28 | 2019-04-26 | Airbus Helicopters | DEVICE FOR CONTROLLING A SETTING OF A ROTATION SPEED OF A ROTOR OF A GYROVAN, ROTOR EQUIPPED WITH SUCH A DEVICE AND METHOD OF REGULATING THE SAME |
US10703470B2 (en) | 2018-02-09 | 2020-07-07 | Textron Innovations Inc. | System and method for rotorcraft autorotation entry assist |
US11168621B2 (en) | 2019-03-05 | 2021-11-09 | Pratt & Whitney Canada Corp. | Method and system for operating an engine in a multi-engine aircraft |
US11352900B2 (en) | 2019-05-14 | 2022-06-07 | Pratt & Whitney Canada Corp. | Method and system for operating a rotorcraft engine |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2961052A (en) * | 1958-06-03 | 1960-11-22 | Sperry Rand Corp | Speed control system for helicopters |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3126967A (en) * | 1964-03-31 | sudrow | ||
US2941605A (en) * | 1956-08-29 | 1960-06-21 | United Aircraft Corp | Automatic pitch control and release |
US2996122A (en) * | 1957-11-29 | 1961-08-15 | Vyzk A Zkusebni Letecky Ustav | Automatic cyclic pitch control mechanism for rotor blades of helicopter aircraft |
US4454754A (en) * | 1982-05-26 | 1984-06-19 | Chandler Evans, Inc. | Engine failure detector |
-
1986
- 1986-07-01 DE DE3622031A patent/DE3622031C2/en not_active Expired - Fee Related
- 1986-07-02 GB GB8616150A patent/GB2192163B/en not_active Expired
- 1986-07-11 FR FR8610219A patent/FR2601326B1/en not_active Expired
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2961052A (en) * | 1958-06-03 | 1960-11-22 | Sperry Rand Corp | Speed control system for helicopters |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1544102A1 (en) * | 2003-12-18 | 2005-06-22 | Eurocopter | Device for automatically lowering the collective pitch of the main rotor blades of a rotorcraft during an engine failure |
FR2864028A1 (en) * | 2003-12-18 | 2005-06-24 | Eurocopter France | DEVICE FOR PROVIDING ASSISTANCE TO THE PILOT OF A GIRAVION DURING MOTOR FAILURE |
US7223071B2 (en) | 2003-12-18 | 2007-05-29 | Eurocopter | Device for providing assistance to the pilot of a rotorcraft in the event of engine failure |
EP2965988A1 (en) | 2014-07-03 | 2016-01-13 | Airbus Helicopters | Method for regulating the speed of rotation of the main rotor of a multi-motor rotorcraft in case of failure of one of the engines |
US9463874B2 (en) | 2014-07-03 | 2016-10-11 | Airbus Helicopters | Method of regulating the speed of rotation of the main rotor of a multi-engined rotorcraft in the event of one of the engines failing |
Also Published As
Publication number | Publication date |
---|---|
DE3622031C2 (en) | 1995-11-30 |
FR2601326B1 (en) | 1988-10-21 |
GB8616150D0 (en) | 1986-08-06 |
GB2192163B (en) | 1989-12-13 |
GB2192163A (en) | 1988-01-06 |
DE3622031A1 (en) | 1988-01-07 |
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