JP2001080586A - Bank angle control device for helicopter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the course accuracy by correcting the before-correction target bank angle signal output from a control device with the required bank angle signal computed by a required bank angle computing device on the basis of the wind, to which a helicopter meets when really flying in a virtual course from an own-plane position to the target position, and outputting the corrected target angle signal. SOLUTION: Turning radius for turning at a constant turning ratio in response to the flying speed from a speed sensor, wind direction and wind speed of the wind, to which a helicopter meets when really flying in a virtual course 27 from an own- plane position 21 to a target position 23, are input to a required bank angle computing device. The required bank angle signal for obtaining the appropriate required bank angle in relation to the wind direction and the wind speed for turning the helicopter while drawing an arc in relation to the ground is added to the before-correction target bank angle signal output from a control device by an adding machine so as to obtain the corrected target bank angle signal. With this structure, displacement of the flying course or the arrival position can be made small, and course accuracy is improved, and the feeling of uncomfortableness of a pilot while controlling the bank angle can be eliminated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bank angle control for rotating an airframe around an airframe axis in order to turn the airframe in accordance with a wind direction and a wind speed encountered during flight, and automatically controls a helicopter in flight. The present invention relates to a helicopter bank angle control device for automatically flying from an aircraft position to an arrival position.

[0002]

BACKGROUND OF THE INVENTION helicopter is flying, as shown in FIG. 4, the own apparatus position 21 (X _H, Y _H) of performing course setting position reached 22 (X _G, Y _G) to arrive from the automatic control to Conventionally, when flying, the robot automatically flies to a target point 23 (X _P , Y _P ) defined between the own aircraft position 21 and the arrival position 22, changes the flight course at the target point 23, and further reaches the arrival position 22. Automatic flight has been performed.

For this reason, the helicopter 1 shown in FIG.
The helicopter bank angle control device having the configuration of the schematic block diagram shown in FIG. 5 is mounted. In this helicopter bank angle control device, as shown in FIG. 6 which is a detailed view of FIG. 5, the own position 21 (X _H , Y _H ) input to the course calculation device 29 at the own position 21 and the arrival position 22
(X _G , Y _G ), target point 23, own position course ψ _{H at} own machine position 21, target point course 目標_{P at} target point 23, and velocity provided at the tip of the helicopter 1 as shown in FIG. The own vehicle speed V _H is input from the sensor 11, and a flight course 24 in a windless state shown by a solid line in FIG. 4 is first calculated.

The calculation of the flight course 24 performed by the course calculation device 29 is performed as shown in FIG.
That is, as shown in FIG. 7A, the helicopter 1 flying at the own aircraft position 21 at the own aircraft speed V _H and the own aircraft course ψ _H flies from the own aircraft position 21 to the target point 24. ,
Furthermore, in order to fly from the target point 24 to the arrival position 22,
To change to the target point course ψ _P at the target point 24 and fly to the arrival position 22, as shown in FIG. 7B, (1) the own machine position 21 is used as a contact point and the own machine course ψ _H direction A turning circle C _H having a radius R _H having a straight line parallel to the tangent line is drawn. However, the radius R _H is determined by the size of the turning circle C _H that required to pivot at a fixed turning rate according to ship speed V _H.

(2) Draw a target point turning circle C _P having a radius R _{P with} the target point 23 as a contact point and a tangent to a straight line parallel to the direction of the target point course ψ _P. However, the radius R _P is determined by the size of the turning circle C _P that is required for turning at a constant turn rate depending on the flight speed V _F at the target point 23.

(3) Among the common tangents of the turning circles C _H and C _P , the one that is oriented in the direction in which the helicopter 1 turns is set as the flight course 23.

[0007] In this way, the flight course 2 in a windless state
3 is calculated by the course calculator 29, the course calculator
The lower part 29 of the helicopter 1 shown in FIG.
The wind direction and wind speed sensor 12 provided at
Wind direction of fixed steady wind 28 _WH, Wind speed V_WHThe signal is
Is input as shown in FIG.
Repair the flight course 23 by the amount of the helicopter 1
Correct, the virtual course 27 indicated by the dotted line in FIG. 4 is calculated.
Is done.

In the virtual course 27, the target point is shifted from the target point 23 on the flight course 23 to the virtual target point 26.
(X _i, Y _i) Course deviation 30 to move (X _D,
Together cause Y _D), the flight course is heading deviation [psi _D by moving the line connecting the virtual target point 26 and its own device location 21 from a line connecting the own device location 21 and target point 23 may occur. The course deviation 30 and course deviation [psi _D, the control device is calculated in the course calculation apparatus 29 from the course calculation apparatus 29 31
Is output to Note that with the course change from the flight course 23 to the virtual course 27 in consideration of the steady wind 28, the arrival position 22 is also changed to the virtual arrival position 25 (X _Gi ,
Y _Gi ).

On the other hand, the control device 31, as shown in FIG. 6, course deviation [psi _D from the course calculation apparatus 29 described above with flight speed V _F from the speed sensor 11, is inputted and courses deviation 30, the own A so-called bank angle φ for rotating the helicopter 1 flying from the aircraft position 21 to the virtual target point 26 around the fuselage axis is calculated, and a target bank angle signal before correction for setting the helicopter 1 to this bank angle is calculated. φ _O is output.

The pre-correction target bank angle φ _o signal is subtracted by the subtractor 32 from the airframe bank angle signal φ output according to the actual airframe bank angle at the own airplane position 21, and is subtracted as an actuator command Ac. A virtual course which is inputted to the actuator 33 and controlled by the actuator 13 to control the pitch angle θ of the blade 2 rotating above the fuselage and generating lift, and taking into account the amount of the helicopter 1 flowing by the steady wind 28. through 27, also turning to flight course in a virtual target point 26 becomes the target point course [psi _P, so that flying the virtual arrival position 25 is the final destination.

However, in the above-mentioned conventional helicopter bank control device, the self-device 21 for setting the flight course uses the uncorrected bank angle signal φ _O calculated based on the wind direction ψ _WH , the wind speed V _WH, etc. Since the flight is performed by the bank angle control, the accuracy of the arrival at the course is degraded due to the fluctuation of the wind that fluctuates from the steady wind 28 generated during the flight, and the normal correction to the pilot's wind direction and wind speed Since the control is different from the bank angle control, there is a problem in that the pilot feels strange when flying.

[0012]

SUMMARY OF THE INVENTION According to the present invention, there is a problem with a conventional helicopter bank control device mounted on a helicopter, that is, a wind direction of a wind in order to make a flight from its own position to a target arrival position. A problem that the accuracy of the so-called course arrival deteriorates, such as a deviation of the flight course or a deviation of the arrival position caused by the wind speed fluctuating from the steady wind 28 at the time of the course setting during the flight, or a flight to the arrival position Even though the wind direction and wind speed fluctuate, the wind direction measured at the own aircraft position where the flight course is set, the bank angle calculated based on the wind speed In order to eliminate the problem that the pilot feels strange because the steering is different from the pilot's feeling of steering, which performs corrective steering according to the wind speed, the output from the conventional control device is Set the flight course, set the bank angle calculated by the course calculator and fly along the virtual course in anticipation of course deviation and course deviation based on the wind direction and wind speed measured at the position of the aircraft. The corrected pre-correction target bank angle signal is corrected in accordance with the wind direction and wind speed encountered during the flight, and even if the wind direction and wind speed change during the flight, the accuracy of reaching the course is not deteriorated. During the flight, the pilot can perform corrective steering with the same steering feeling as if the pilot responded to the normal wind direction and wind speed, and the corrected target bank signal that can eliminate the uncomfortable feeling of the pilot's steering There is provided a helicopter bank angle control device in which a control device is provided with a necessary bank angle calculation device for calculating and outputting a required bank angle signal, which changes a bank angle according to a changing wind direction and speed. It is an object of the invention to.

[0013]

Therefore, the helicopter bank angle control device of the present invention has the following means. A wind direction and wind speed sensor installed on the helicopter when flying to a target point set between the current position of the aircraft currently flying and the arrival position which is the flight destination, which sets the course for the helicopter to fly Wind direction and wind speed data at the time of flight detected at, and the flight speed detected at the time of flight with the speed sensor installed on the helicopter, and the turning radius required to turn at a constant turning rate according to the flight speed, Enter the flight course set for flight to the destination position at the target point, and calculate the course deviation, course deviation, own aircraft speed at the time of flight course setting, etc., calculated by the course calculation device when setting the course to fly Set by the target bank angle signal before correction from the control device to output a signal to control the bank angle of the aircraft when flying a virtual course, wind direction actually detected during flight, A required bank angle calculation device is provided in the control device, which calculates the corrected bank angle signal based on the wind direction, wind speed, etc. detected during the flight and outputs the required bank angle signal, which is corrected to a corrected target bank angle signal that controls the bank angle corresponding to the speed. I did it.

As described above, the uncorrected target bank angle signal output from the conventional control device is used to turn around the ground with a required bank angle signal calculated by the required bank angle calculation device. By outputting the corrected target bank angle signal to make the necessary bank angle appropriate for the wind direction / wind speed, when the virtual course actually flies from its own position to the target point, the course is set. The wind direction detected by the wind direction and wind speed sensor at the own position used,
Even if a wind direction and wind speed different from the wind speed are encountered, the target bank angle signal before correction output from the control device is encountered when actually flying the virtual course from its own position to the target point. Is corrected by the required bank angle signal calculated by the required bank angle calculation device according to the wind direction, wind speed, etc. of the wind to be generated, and the corrected target angle signal is output. Can be improved.

In addition, the pre-correction target bank angle signal output from the conventional control device is corrected with the required bank angle signal calculated by the required bank angle calculation device, so that the aircraft bank angle corresponds to the wind direction and wind speed to be encountered. By outputting the corrected target bank signal, the pilot operating the helicopter can control the bank angle of the helicopter in the same way as the normal operation in response to the wind it encounters, thus correcting the virtual course Because the helicopter was controlled by the bank angle signal based on the previous target bank angle signal,
It is possible to eliminate a feeling of uncomfortable steering of the pilot at the time of the bank angle control which may occur.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a helicopter bank angle control device according to the present invention will be described below with reference to the drawings.
The same or similar members as those of the above-described conventional helicopter bank control device are denoted by the same reference numerals and description thereof is omitted. FIG. 1 is a general view showing a helicopter provided with a first embodiment of a helicopter bank control device according to the present invention, and FIG.
3 is a schematic control block diagram of the helicopter bank angle control device of the present invention, and FIG. 3 is a block diagram showing details of the schematic control block diagram shown in FIG.

As shown in FIG. 1, a helicopter 1 on which the helicopter bank angle control device of this embodiment is mounted has a speed sensor 11 and a wind direction / wind speed sensor 12 which fly from its own position 21 and a target point 23. A course calculation device 29 for setting a course to be set; a control device 3 for calculating a required bank angle from the speed sensor 11, the wind direction / speed sensor 12 and the course data to calculate a required operation amount of the actuator 13; And an actuator 13 that can change the pitch angle θ of the blade 2 in response to a signal from the actuator 3.

The helicopter bank angle control device of the present embodiment controls the bank angle of the helicopter 1 to maintain the course accuracy from the position 21 of the own aircraft to the target point 23 and to eliminate the uncomfortable operation of the pilot. the helicopter 1 in order to automatically fly Te, is the control circuit shown in schematic control block diagram shown in FIG. 2, the speed sensor 11 the flying speed V _F of helicopter 1 during flight, wind direction [psi _WF and wind speed V _The wind direction and wind speed sensor 12 detects _WF , and the course deviation ψ _D , the course deviation 30 and the flight speed calculated from the course data calculated from the own position 21 and the target point 23 by the data course calculator 29 of the own position 21 from the own position 21 and the target point 23. V _F ,
From the wind direction ψ _WF and the wind speed V _WF , the control device 3 calculates the bank angle required to fly the predetermined course and the amount of operation of the actuator 13 required to realize the bank angle, and outputs the output from the control device 3. by the operation of the actuator 13 by the actuator command a _C is to control the pitch angle θ of the blade 2 by controlling the bank angle of the helicopter 1, so that implementation of automatic flight to the target point 23.

That is, as shown in the block diagram of FIG. 3, the control device 3 used in the present embodiment is a coarse control block diagram shown in FIG.
Course deviation [psi _O from 9, is entered flight speed V _F of the course deviation 30 and the speed sensor 11, in addition to the control device 31 shown in FIG. 6 so as to output the pre-correction target bank angle signal phi _O The required bank angle signal φ _N to be corrected to the corrected target bank angle signal φ _B for making the pre-corrected target bank angle signal φ _{O an} appropriate required bank angle for turning in an arc with respect to the ground, Required bank angle calculation device 4 that calculates and outputs wind direction _{WF WF} and wind speed V _WF detected during
Is provided.

[0020] The necessary bank angle calculation device 4, flight speed V _F from the speed sensor 11, the turning radius R to pivot with a constant turn rate depending on the flight speed V _F, virtual courses 27
When the aircraft actually flies from its own position 21 to the target point 23, the wind direction 風_WF and wind speed V _WF encountered by the helicopter 1 are inputted, and the wind direction ψ for turning in an arc with respect to the ground is input. _WF / wind speed _VWF , the required bank angle signal φ _N for obtaining the required required bank angle φ
The adder 5 adds the pre-correction target bank angle signal φ _O output from 1 to the post-correction target bank angle signal φ _B.

The required bank angle signal φ _N output from the required bank angle calculation device 4 is output to the adder 5 on the line where the flight speed V input to the conventional control device 31 is applied.
_The bank angle limiter value input to the limiter 35 for turning from _F to a certain turn rate or less is determined by the bank angle signal φ _N
Is provided with a subtractor 6 for subtracting.

As described above, the uncorrected target bank angle signal φ _O output from the conventional control device 31 is a required bank angle signal φ _N , more precisely, a signal obtained by subtracting the limiter value from the required bank angle signal φ _N. It is corrected by, since the corrected target bank angle phi _B is output from the control device 3 virtual course 2
When the aircraft 7 actually flies from its own position 21 to the target point 23, the wind direction ψ _WH detected by the wind direction and wind speed sensor 12 at the own aircraft position 21 used when setting the course, and a wind direction と_WF different from the wind speed V _WH. Even if the wind speed _VWF is encountered, the deviation of the flight course or the deviation of the arrival position is reduced,
Course accuracy can be improved.

Furthermore, since the pilot operating the helicopter 1 can control the bank angle of the helicopter 1 in the same manner as the normal operation in response to the wind encountered, the pilot can change the virtual course to the target bank angle signal φ before correction. _Since the flight is performed by controlling the helicopter's bank angle φ by using _O, it is possible to eliminate a pilot's uncomfortable feeling during the bank angle control that may occur.

[0024]

As described above, the bank angle control device according to the present invention is calculated without considering the wind direction, wind speed, etc. during the flight for setting the bank angle when flying from the position of the own vehicle to the target point. In a helicopter bank angle control device provided with a control device that outputs a pre-correction target bank angle signal, the wind direction during flight detected by a wind direction wind speed sensor, wind speed data,
A required bank angle calculation that inputs the own vehicle speed and own course and corrects the pre-corrected target bank angle signal output from the control device to a required bank angle for the wind direction and wind speed during flight, and outputs a required bank angle signal The device was provided in the control device.

As described above, the uncorrected target bank angle signal output from the conventional control device is used to turn the vehicle in a circular arc with respect to the ground based on the required bank angle signal calculated by the required bank angle calculation device. By using the corrected target bank angle signal to make the necessary bank angle appropriate for the wind direction / wind speed, the virtual course is used when setting the course when actually flying from the own aircraft position to the target point. The wind direction detected by the wind direction and wind speed sensor at the aircraft position, a wind direction different from the wind speed, even if the wind encounters a wind speed during flight, the uncorrected target bank angle signal output from the control device is a virtual Corrected to the target bank angle signal after correction with the required bank angle signal calculated by the required bank angle calculation device according to the wind direction, wind speed, etc. of the wind encountered when actually flying the course from the own aircraft position to the target point Therefore, the deviation of the flight course or the deviation of the arrival position can be reduced, the course accuracy can be improved, and the pilot operating the helicopter can respond to the wind encountered by the helicopter in the same manner as the normal operation. The bank angle control of the helicopter can be performed, so that it is possible to eliminate a feeling of uncomfortable steering of the pilot at the time of the bank angle control which may occur at the time of the bank angle control of the helicopter.

[Brief description of the drawings]

FIG. 1 is an overall view showing a helicopter provided with a first embodiment of a helicopter bank control device of the present invention,

FIG. 2 is a schematic control block diagram showing a helicopter bank angle control device of the present invention;

FIG. 3 is a detailed block diagram showing details of the schematic control block diagram shown in FIG. 2;

FIG. 4 is a diagram for setting a course for flying from the own aircraft position to the arrival position,

FIG. 5 is a schematic control block diagram showing a conventional helicopter bank angle control device;

FIG. 6 is a detailed block diagram showing details of the schematic control block diagram shown in FIG. 5;

FIG. 7 is a diagram showing a specific course setting in the course calculation device for setting a flight course shown in FIG. 4, and FIG. 7 (a) is a diagram showing a relative positional relationship between the own device and a target point; FIG. 7 (b) is a view showing a flight course in which a position between the own aircraft position and the target point is set in a windless state.

[Explanation of symbols]

1 helicopter 2 blade 3 control unit 4 requires a bank angle calculation unit 5 adder 6 subtractor 11 speed sensor 12 wind direction, wind velocity sensor 13 actuator 21 ship position (X _H, Y _H) 22 reaches the position (X _G, Y _G) 23 target point (X _p Y _P) 24 flight path (windless condition) 25 virtual arrival position (X _Gi, Y _Gi) 26 virtual target point (X _i, Y _i) 27 virtual courses 28 steady wind 29 courses computing device 30 courses displacement (X _D, Y _D) 31 control device 32 subtractor V _F flying speed [psi _F flight heading R turning during turning by flight velocity radius a _c actuator command theta (blades) pitch angle phi _N required bank signal phi _O uncorrected target bank angle signal phi _B corrected target bank angle signal phi (aircraft) wind speed V _H ship speed [psi _H ship position course C _H ship position handed in wind direction V _WF flight bank angle [psi in _WF-flight Circle _RH Radius of the position turning circle of the aircraft's own position ψ _WH Wind direction of the aircraft's own position V _WH Wind speed of the aircraft's position ψ _P Target point course C _P Target point turning circle R _D Radius of target point turning circle ψ _D Course deviation

Claims (1)

[Claims] 1. A wind direction and wind speed sensor for detecting a wind direction and wind speed of a wind encountered at the time of flight, a speed sensor for detecting a flight speed, and a flight course when flying from a position of the own vehicle to a target point in a windless state and the position at the own position. Computes and outputs a course deviation and a course deviation from a virtual course when flying from a position of the own vehicle to a target point under a steady leeward calculated by a wind direction and a wind speed from a wind direction and wind speed sensor and the own speed from the speed sensor. A helicopter bank provided with a course calculation device, and a control device that outputs a pre-correction target bank angle signal to be set to a bank angle when actually flying on the virtual course from the course deviation, the course deviation, and the flight speed from the speed sensor. In the angle control device, the control device determines a wind direction at the time of flight detected by the wind direction and wind speed sensor, wind speed data, the flight speed, and the flight speed. A correspondingly set turning radius and flight course are input, and the pre-correction target bank angle signal is corrected to a post-correction target bank angle signal that is set to a required bank angle corresponding to the wind direction and wind speed during the flight. A helicopter bank angle control device provided with a required bank angle calculation device for outputting a required bank angle signal.