JP3600151B2 - Gust control system for rotorcraft - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a gust control for a rotary wing aircraft that improves the riding comfort by accurately detecting unsteady displacement of the rotor blade when a sudden external force such as a gust in a rotary wing aircraft such as a helicopter acts on the rotor blade. Equipment related.
[0002]
[Prior art]
A typical prior art is Japanese Patent No. 2886135 (JP-A-10-16896), which accurately detects unsteady displacement of a rotor blade when a sudden external force such as a gust in a rotary wing aircraft acts on the rotor blade. And thereby the ride comfort can be improved. In this prior art, a reflecting means such as a metal foil or a reflecting mirror is fixed to a lower surface of a blade, and a plurality of sensors composed of a combination of a light projecting means and a light receiving means are attached to the fuselage. The light is reflected by the reflection means and received by the light receiving means, whereby the displacement of the rotor blade is optically detected with high precision. Based on the output of this sensor, the displacement of the rotor blade due to the gust is corrected.
[0003]
In this prior art, since the sensor for detecting the rotor blade has an optical configuration, the sensor malfunctions during rainy weather or snowfall. Therefore, all-weather detection is desired. Also, in the prior art, when sunlight directly enters the sensor, malfunction occurs. Further, in order to correct the displacement due to the gust of the rotor blade, the pitch angle of the rotor blade is changed, and when the angle of attack of the rotor blade is changed, the position of the reflecting means fixed to the lower surface of the rotor blade changes, This causes an error in the detection output of the sensor. Further, such an optical sensor has a problem that the configuration is relatively complicated and expensive. Further, it is necessary to calculate the amount of displacement of the rotor blade detected by these sensors to obtain a steering amount for correcting the inclination of the fuselage in the front-rear direction and the left-right direction, and to obtain a steering amount in the vertical direction. There is a problem that it becomes complicated, takes time, and results in a delay in control of the rotor blade.
[0004]
[Problems to be solved by the invention]
An object of the present invention is to provide an unsteady displacement at the time of the action of a sudden external force due to a gust of a rotor blade or the like, regardless of bad weather such as rainy weather or snowfall, in all weather, and without being adversely affected by sunlight. Detection is possible, and even if the pitch angle of the rotor blade changes and the angle of attack changes, the displacement can be accurately detected, and the configuration can be made as simple and inexpensive as possible. To provide a gust control device for a rotary wing aircraft.
[0005]
[Means for Solving the Problems]
According to the present invention, the base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis are connected by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
An optical sensor that is provided at a fixed position of the fuselage in a rotor mast having a light shielding property and detects a displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement of the rotor blade due to gusts in response to the output of the optical sensor.
[0006]
In addition, the present invention also couples the base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
In a rotor mast having a light shielding property, an optical sensor provided on the rotor mast and detecting the displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement of the rotor blade due to gusts in response to the output of the optical sensor.
[0007]
In accordance with the present invention, the proximal ends of one or more pairs of rotor blades are joined by an elastically deformable hub plate, and within the upper portion of the rotor mast, the hub plate is supported at a pivot 22 support position described below. Thus, the hub plate is swingable in the vertical direction with respect to the rotor rotation surface, and is rigidly supported on the upper portion of the rotor mast so as not to be displaced in the vertical direction of the rotation surface and in the torsional direction around the axis of the rotor blade in the front-back direction. You. A sensor that detects the displacement of the hub plate along the axis of rotation of the rotor in a non-contact manner is disposed in the rotor mast and is provided at a fixed position of the fuselage or on the rotor mast. Accordingly, such a sensor may be of an optical type, and may have a configuration provided with, for example, a laser source that generates laser light and a light receiving unit that receives the laser light reflected by the hub plate. A sensor using a simple laser beam has a simple configuration and is realized at low cost.
[0008]
The rotor mast is made of, for example, metal and has a light shielding property. Thus, the optical environment in the rotor mast provided with the optical sensor does not change due to the weather. Therefore, it is possible to prevent the adverse effect of sunlight from occurring, and even in bad weather such as rainy weather or snowfall, the displacement of the hub plate can be detected by the optical sensor, and it is possible to detect all weather.
[0009]
Further, the sensor detects the displacement of the hub plate, so that even if the angle of attack due to the pitch angle of the rotor blade changes, no error occurs in the detected displacement, and the displacement can be performed with high accuracy. In this way, when a sudden external force such as a gust of the rotor blade acts, the displacement of the hub plate, and therefore the rotor blade, is accurately detected with high accuracy, and thus the unsteady displacement of the rotor blade is accurately detected. Thus, a gust control device for a rotary wing aircraft with improved ride comfort is realized.
[0010]
By providing the sensor at a fixed position of the body, it is not necessary to use an electrical connection means such as a slip ring for guiding the output of the sensor, and the configuration can be simplified.
[0011]
Also, by providing the sensor on the rotor mast instead of providing the sensor on the body as described above, an electrical connection means such as a slip ring is required, but the displacement of the hub plate is always and continuously detected. This makes it possible to drive the rotor blade accurately.
[0012]
In addition, the present invention also couples the base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
In the rotor mast, provided at a fixed position of the fuselage, a sensor that detects the displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement due to gusts of the rotor blade in response to the output of the sensor,
The gust control system for a rotary wing aircraft, wherein the sensors include circumferential sensors 78 and 82 disposed on both sides with respect to the rotor rotation axis corresponding to each pair of rotor blades.
In addition, the present invention also couples the base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
A sensor that is provided on the rotor mast and detects a displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement due to gusts of the rotor blade in response to the output of the sensor,
The gust control system for a rotary wing aircraft, wherein the sensors include circumferential sensors 78 and 82 disposed on both sides with respect to the rotor rotation axis corresponding to each pair of rotor blades.
[0013]
According to the invention, the displacement of the hub plate connecting the paired rotor blades arranged on both sides with respect to the rotor rotation axis is shown in FIG. 6 (2) by the circumferential sensors 78, 82 on both sides of the rotor rotation axis. Thus, for example, the inclination of the rotor rotation surface of the rotary wing aircraft in the front-rear direction or the left-right direction can be accurately grasped.
[0014]
Further, the invention is characterized in that the circumferential direction sensor is arranged at a radial center position between the rotor rotation axis and the pivot position.
[0015]
According to the present invention, it is possible to accurately grasp a state in which the rotor rotation surface is inclined, for example, in the front-rear direction or the left-right direction of the body.
[0016]
Further, according to the present invention, the control means includes:
The pair of circumferential sensors 78, 82; 80, 84 detect the displacements δ78, δ82; differences δS1, δS2 from δ80, δ84, respectively, as gust displacements in the inclination direction.
The pitch angle of the rotor blade is controlled based on the gust displacement in the tilt direction.
[0017]
According to the present invention, the gust displacements δS1 and δS2 in the front-back direction or the left-right tilt direction are detected by the outputs of the pair of circumferential sensors 78, 82; 80, 84 shown in FIG. Thus, the cyclic pitch angle of the rotor blades can be controlled, and the riding comfort of the rotary wing aircraft can be improved.
[0018]
In addition, the present invention also couples the base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
In the rotor mast, provided at a fixed position of the fuselage, a sensor that detects the displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement due to gusts of the rotor blade in response to the output of the sensor,
The gust control apparatus for a rotary wing aircraft, wherein the sensor includes an on-axis sensor arranged on a rotor rotation axis.
In addition, the present invention also couples the base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
A sensor that is provided on the rotor mast and detects a displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement due to gusts of the rotor blade in response to the output of the sensor,
The gust control apparatus for a rotary wing aircraft, wherein the sensor includes an on-axis sensor arranged on a rotor rotation axis.
[0019]
According to the present invention, as shown in FIG. 6A, an on-axis sensor is arranged on the rotation axis, thereby accurately and easily detecting a state in which the rotor rotation surface of the rotor blade moves in the vertical direction. Will be able to do it.
[0020]
Further, according to the present invention, the control means includes:
The displacement amount δC detected by the on-axis sensor 86 is detected as a vertical gust displacement amount, and the pitch angle of the rotor blade is controlled as a vertical steering amount based on the vertical gust displacement amount. .
[0021]
According to the present invention, the displacement δC detected by the on-axis sensor 86 is detected as the vertical gust displacement of the rotor rotation surface, and the collective pitch angle is controlled by the control means. Without doing so, the vertical displacement of the rotor surface due to the gust can be easily corrected.
[0022]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a partial cross-sectional view of a helicopter 1 according to one embodiment of the present invention. The helicopter 1 is an example of a rotary wing aircraft, and a base end 6 of a rotor blade 2 forming a pair on both sides with respect to a rotor rotation axis 3 is connected by a hub plate 10. The hub plate 10 is supported in the upper portion of the hollow rotor mast 11 at a support position near a pivot 22 that is displaced in the radial direction (the left-right direction in FIG. 1) from the rotor rotation axis 3 of the hub plate 10. The hub plate 10 can swing vertically with respect to the rotor rotation surface 4 (see FIG. 2 below) at a support position near the pivot 22 above the rotor mast 11, The rotor blade 2 is rigidly supported by the rotor mast 11 so as not to be displaced in the torsion direction around the axis. The rotor mast 11 is made of, for example, metal or a composite material, and is therefore light-shielding.
[0023]
FIG. 2 is an explanatory diagram showing the relationship between the body elevation angle and the air resistance. When the helicopter 1 flies at the forward speed V, the rotor blade 2 rotates around a rotor rotation axis 3 with a fixed trajectory. This is called a rotor rotating surface 4 because it looks like a single disk. The thrust vector L generated by the rotor is generated perpendicular to the rotating surface 4. The thrust vector L is balanced with the resultant force of the weight W of the fuselage, the air resistance D, and the downward fuselage lift ΔL generated due to the forward lean of the fuselage.
[0024]
The helicopter 1 is preferably as horizontal as possible because the resistance D decreases as the forward inclination decreases and the downward fuselage lift ΔL decreases. In this case, the rotor rotation shaft 3 is not perpendicular to the rotor rotation surface 4. Now, when one rotor blade 2 is observed while standing on the rotor rotation shaft 3, the rotor blade 2 moves up and down at an angle β during one rotation. This angle β is called a flapping angle.
[0025]
The hub plate 10 is made of, for example, a composite material using glass or the like as a reinforcing fiber, and is formed in a leaf spring shape that can be elastically deformed. When the rotor blade 2 rotates, the centrifugal force acting on the rotor blade 2 is supported by the hub plate 10 and balances with each other.
[0026]
FIG. 3 is a horizontal sectional view of the rotor mast 11 shown in FIG. 1 and its vicinity. The rotor blade 2 has a plurality of (for example, 4 in this embodiment) rotor blades 2 arranged at equal intervals of 90 degrees in the circumferential direction around the rotor rotation axis 3. 10a. The hub plates 10, 10a may be designated generally by the reference numeral 10. The hub plates 10 of each pair of rotor blades 2 are orthogonal in this embodiment, and the hub plates 10 are vertically spaced apart so as not to contact each other.
[0027]
The hub plate 10 is wound around a hinge line HL of the lead lug hinge 20, and a damper 24 is interposed between a torsion element 23 and a cuff 21 wrapping an outer portion near the hinge 20 of the hub plate 10, Prevent ground resonance and air resonance which are unstable vibration phenomena of helicopter. A droop stop 25 is provided to prevent the rotor blade 2 from hanging when the rotation on the ground is stopped. The pivot 22 provided radially inward of the cuff 21 allows angular displacement of the hub plate 10 in the lead lug direction, and is rigid against displacement in the thickness direction. The hub plate 10 is disposed in an internal space 9 between the rotor mast main body 7 of the rotor mast 11 and an upper mast portion 8 attached to an upper portion of the rotor mast main body 7. Thus, the rotor mast 11 has a smooth aerodynamic outer shape, and has a shape with reduced air resistance as a whole.
[0028]
The lower portion of the rotor mast 11 is supported by a large-diameter ring-shaped bearing 27, and further driven by being engaged with a ring gear 28. The bearing 27 transmits the lift and the hub moment generated by the rotor blade 2 to the gear box 29, and finally supports the body 5. The gear box 29 has a hollow ring shape, and steering actuators 30 and 30a are arranged in an inner space thereof. The lower ends of the steering actuators 30 and 30a are fixed to the gear box 29. The upper ends of the steering actuators 30 and 30a are connected to a rotor control 31. The pilot moves the rotor control 31, and the movement is transmitted to the base end of the rotor blade 2 by the pitch ring 32, and the pitch angle of the rotor blade 2 is changed. The pitch angle of the rotor blade 2 is also automatically controlled so as to correct the displacement caused by the gust. The rotation torque of the rotor mast 11 is transmitted to the cuff 21 via the pivot 22, and the rotor blade 2 is driven to rotate.
[0029]
A mounting member 14 having a mounting surface 13 perpendicular to the rotor rotation axis 3 is fixed to the body 5. A plurality of (for example, four in this embodiment) circumferential sensors 78, 80, 82, 84 and an on-axis sensor 86 are mounted on the rotor rotation axis 3 on the mounting surface 13 of the mounting member 14. These circumferential sensors 78, 80, 82, 84 are arranged at equal intervals in the circumferential direction of the rotor rotation axis 3, and the amount of displacement of one of the hub plates 10 is detected by the circumferential sensors 78, 82. The amount of displacement of the hub plate indicated by the other reference numeral 10a, which is disposed below and perpendicular to the plate 10, is detected by the circumferential sensors 80 and 84. In one embodiment of the present invention, at least two circumferential sensors 78, 82 are provided at 180 ° intervals around the rotor rotation axis 3, and in another embodiment, further circumferential sensors 78, 82 are provided. Direction sensors 80 and 84 are provided, and in still other embodiments, more, for example, about ten circumferential sensors may be arranged.
[0030]
FIG. 4 is a perspective view showing the sensors 78 to 86 and the hub plate 10. The circumferential sensors 78 to 84 are arranged on one virtual circle 16 centered on the rotor rotation axis 3. The sensors 78 to 86 are constituted by a combination of a laser source for generating a laser beam and a light receiving means for receiving the reflected light, and the blades 10 and 10a are provided with the above-described virtual circle 16 centered on the rotor rotation axis 3. On the same virtual circle 17, reflecting means 38 to 44 such as metal foil or reflecting mirrors for reflecting the laser light from the sensors 78 to 84 are arranged. Further, the reflecting means 46 is fixed to the lower hub plate 10a on the rotor rotation axis 3 corresponding to the output of the on-axis sensor 86. The reflection means 38 to 46 may be omitted. Thus, in another embodiment of the present invention, electromagnetic waves such as visible light, infrared light, and radio waves may be used instead of laser light, and ultrasonic waves may be used.
[0031]
FIG. 5 is a diagram showing an output signal of the circumferential direction sensor 78. Two hub plates 10, 10a connecting the two pairs of rotor blades 2 are detected by the circumferential direction sensor 78, and a total of four detection data are obtained for each rotation of the rotor blades 2. The other circumferential sensors 80 to 84 also derive output waveforms similar to those of the circumferential sensor 78.
[0032]
FIG. 6 is a simplified diagram showing a state in which the hub plate 10 is elastically deformed. FIG. 6A shows a state in which the rotor rotation surface has moved upward. The hub plate 10 bends convexly downward. The displacement amount δC of the reflection means 46 on the rotation axis 3 is detected by the on-axis sensor 86. Thus, the collective pitch is measured. The detected displacement amounts δ78, δ80, δ82, δ84 of the reflection means 38 to 44 detected by the circumferential sensors 78 to 84 are all equal.
[0033]
FIG. 6B is a simplified view showing a state in which the hub plate 10 is elastically deformed in a state where the rotor rotation surface is inclined at the flapping angle β. The detected displacement amounts δ 78 and δ 82 along the rotor rotation axis 3 by the circumferential sensors 78 and 82 disposed in the front-rear direction of the body 5 have the same positive and negative absolute values. The detected displacement amounts δ80 and δ84 of 80 and 84 do not change and are zero. The amount of displacement δ86 of the reflection means 46 detected by the on-axis sensor 86 does not change and is zero. Thus, the cyclic pitch of the hub plate 10 is measured.
[0034]
FIG. 7 is a diagram showing a simulation experiment result of the present inventor. When the collective pitch shown in FIG. 6A is measured with the total weight of about 3 tons, as shown by the line 48, the detected displacement amount δC per flapping angle β of the rotor blade 2 in the vertical direction = 2 degrees is about 5 0.0 mm. At the time of measuring the cyclic pitch shown in FIG. 6B, as shown by the line 49, the detected displacement amounts δ78 and δ82 per left and right flapping angle β = 2 degrees of the rotor blade 2 are about 3.5 mm. is there.
[0035]
FIG. 8 is a block diagram showing an electrical configuration of the embodiment of the present invention shown in FIGS. Each output of the circumferential sensors 78 to 84 and the on-axis sensor 86 is given to a processing circuit 51 realized by a microcomputer or the like. The processing circuit 51 responds to the output of the on-axis sensor 86 by measuring the collective pitch described above in connection with FIG. A signal indicating a vertical steering amount for performing the correction is derived. In addition, the processing circuit 51 derives a signal representing a steering amount for correcting the displacement amount of the body 5 in each of the forward and backward directions x and the left and right directions y in response to the outputs of the circumferential sensors 78 to 84. The flight control circuit 52 uses the output from the processing circuit 51 and the commanded amount of movement of the rotor rotation surface of the rotor blade 2 by the operation of the control stick by the operator from the control means 53 to determine the unsteady external force, that is, The actuator 30 is driven by deriving a signal for correcting the pitch angle of the rotor blade 2 so as to correct the undesired displacement of the rotating surface. As a result, the displacement of the rotor blade 2 due to a gust or the like is automatically corrected in a short time, and the helicopter 1 is hardly affected by a gust or the like, so that the riding comfort of the helicopter 1 is improved.
[0036]
In another embodiment of the present invention, the processing circuit 51 calculates the vertical displacement amount δC shown in FIG. 6A based on the output of the on-axis sensor 86. Further, as shown in FIG. 6 (2), the processing circuit 51 generates a gust in the front-rear direction based on the detected displacement amounts δ78, δ82 of the circumferential sensors 78, 82 arranged in the front-rear direction x which is the base axis of the machine body 5. The displacement amount δS1 can be obtained.
δS1 = δ78−δ82 (1)
[0037]
Similarly, the gust displacement δS2 in the left-right direction y can be calculated and obtained based on the outputs of the circumferential sensors δ80, δ84 arranged in the left-right direction y of the machine body 5.
δS2 = δ80−δ84 (2)
[0038]
In this embodiment, the measurement of the collective pitch and the measurement of the cyclic pitch can be individually performed by the on-axis sensor 86 and the circumferential sensors 78 to 84, whereby the rotor blade 2 in the flight control circuit 52 can be measured. Can be easily controlled.
[0039]
FIG. 9 is a partial sectional view of a helicopter 1 according to another embodiment of the present invention. This embodiment is similar to the embodiment shown in FIGS. 1 to 8 described above, and corresponding parts are denoted by the same reference numerals. It should be noted that in this embodiment, the circumferential sensors 78 to 84 and the on-axis sensor 86 are fixedly attached to the upper mast 8 fixed to the upper part of the rotor mast main body 7 of the rotor mast 11. Therefore, these sensors 78 to 86 are rotated around the rotor mast rotation axis 3 together with the hub plates 10 and 10 a and the rotor mast 11. The circumferential sensors 78 and 82 detect the displacement by irradiating the reflecting means 38 and 42 formed on the hub plate 10 with laser light and receiving the reflected light. Similarly, the circumferential sensors 80 and 84 similarly detect the amount of displacement of the reflection means 40 and 44 provided on the other hub plate 10a. Further, the on-axis sensor 86 is located on the rotor rotation axis 3 and detects the displacement of the reflecting means 46 mounted on the hub plate 10. Outputs of the respective sensors 78 to 86 are derived through electrical connection means including a slip ring coaxially fixed to the rotor mast 11 and a brush fixed to the body 5 and sliding on the slip ring. . According to the embodiment of FIG. 9, the displacement of the hub plates 10 and 10 a is constantly detected, whereby the gust displacement can be constantly detected by the above-described equations 1 and 2, and therefore, the pitch of the rotor blades 2 can be determined. The control of the angle can be performed continuously, and the riding comfort can be further improved.
[0040]
In another embodiment of the present invention, in FIG. 9, the electrical connection means may include a slip ring fixed to the body 5 and a brush fixed to the rotor mast 11 and sliding on the slip ring.
[0041]
【The invention's effect】
According to the first aspect of the present invention, the displacement along the rotor rotation axis of the hub plate provided in the hollow rotor mast having a light-shielding property is detected by an optical sensor in a non-contact manner, so that it can be used in the case of rain, snow, etc. It is not adversely affected by the weather, is all-weather, and has a hub plate and therefore low
The amount of displacement of the tab blade can be detected. In addition, the sensor is provided in the rotor mast, so that there is no adverse effect due to sunlight, and no malfunction due to sunlight occurs. Furthermore, the hub plate does not have any adverse effect due to the angle of attack due to the change in the pitch angle of the rotor blades, since the rotor blade only swings in the supporting position and generates a flapping movement that flies. The displacement of the blade can be detected with high accuracy, and errors can be suppressed.
[0042]
The sensor is configured to use, for example, a laser beam, whereby the configuration can be simplified, realized at low cost, and has high measurement accuracy.
[0043]
Further, since the sensor detects the displacement of the hub plate in the rotor mast having high rigidity, the adverse effect due to the vibration of the airframe is small, and the displacement can be measured with high accuracy. Furthermore, a plurality of sensors, for example, up to about ten sensors, can be arranged in the rotor mast so that the unsteady displacement of the rotor blade when a sudden external force such as a gust acts on the rotor blade can be accurately detected. To control the pitch angle of the rotor blade and the like, thereby improving the responsiveness.
[0044]
The sensor is provided at a fixed position of the fuselage, and therefore does not require an electrical connection means for guiding the output of the sensor such as a slip ring, which can also simplify the configuration.
[0045]
According to the second aspect of the present invention, the mounting of the sensor on the rotor mast requires an electrical connection means such as a slip ring for guiding the output from the sensor. Therefore, the effect is achieved that the displacement of the rotor blade can be measured in all weather, without being affected by sunlight, and without causing an error due to the angle of attack of the rotor blade. By attaching the sensor to the rotor mast, the displacement of the hub plate can be detected continuously and continuously during the rotation of the rotor mast, whereby the control for correcting the gust displacement of the rotor blade can be performed more accurately.
[0046]
According to the third and fourth aspects of the present invention, similarly to the first and second aspects, the displacement amount of the rotor blade can be detected with high accuracy as described above, and the first or second rotor blades disposed on both sides of the rotor rotation axis can be detected. A plurality of pairs of rotor blades are provided with the circumferential sensors 78 and 82 for each pair, so that the inclination of the rotor rotation surface in the front-rear direction and the left-right direction can be detected by an easy calculation process.
[0047]
According to the present invention, the circumferential sensors are arranged at the radial center position between the rotor rotation axis and the pivot position, so that the circumferential sensors 78 and 82 corresponding to each pair of the rotor blades. Based on the detection output, it is possible to easily grasp the state of inclination of the rotor rotation surface in the front-rear direction and the left-right direction.
[0048]
According to the invention of claim 6, the output of the circumferential sensors 78, 82; 80, 84 corresponding to each pair of rotor blades arranged on both sides of the rotor rotation axis, the hub plate and thus the body of the rotor blade. In this way, the pitch angle of the rotor blade is controlled by detecting the amount of gust displacement in the front-back or left-right tilt direction, and thus the control of the rotor blade caused by a sudden external force such as a gust can be achieved by relatively simple arithmetic processing. become able to.
[0049]
According to the seventh and eighth aspects of the present invention, similarly to the first and second aspects, the displacement amount of the rotor blade can be detected with high accuracy as described above, and the rotation of the rotor blade as shown in FIG. By disposing the on-axis sensor on the axis, it is possible to accurately and easily detect a state in which the rotor rotation surface of the rotor blade has moved in the vertical direction.
[0050]
According to the ninth aspect of the present invention, the amount of displacement δC detected by the on-axis sensor 86 is detected as the amount of vertical gust displacement of the rotor rotation surface, and the control means controls the collective pitch angle. It is possible to easily correct the vertical displacement of the rotor surface due to the gust without performing a complicated calculation process.
[Brief description of the drawings]
FIG. 1 is a partial cross-sectional view of a helicopter 1 according to an embodiment of the present invention.
FIG. 2 is an explanatory diagram showing a relationship between a body elevation angle of the helicopter 1 and air resistance.
FIG. 3 is a horizontal sectional view of the rotor mast 11 shown in FIG. 1 and its vicinity.
FIG. 4 is a perspective view showing sensors 78 to 86 and a hub plate 10;
5 is a diagram showing an output signal of a circumferential direction sensor 78. FIG.
FIG. 6 is a simplified diagram showing a state in which the hub plate 10 is elastically deformed.
FIG. 7 is a diagram showing a simulation experiment result of the present inventor.
FIG. 8 is a block diagram showing an electrical configuration of the embodiment of the present invention shown in FIGS. 1 to 7;
FIG. 9 is a partial cross-sectional view of a helicopter 1 according to another embodiment of the present invention.
[Explanation of symbols]
1 Helicopter
2 Rotor blade
3 Rotor axis
4 Rotor rotation surface
5 aircraft
6 Base end
7 Rotor mast body
8 Upper mast section
10,10a Hub plate
11 rotor mast
78, 80, 82, 84 Circumferential sensor
86 On-axis sensor

Claims (9)

The base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis are connected by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
An optical sensor that is provided at a fixed position of the fuselage in a rotor mast having a light shielding property and detects a displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement of the rotor blade due to gusts in response to the output of the optical sensor. The base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis are connected by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
In a rotor mast having a light shielding property, an optical sensor provided on the rotor mast and detecting the displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement of the rotor blade due to gusts in response to the output of the optical sensor. The base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis are connected by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
In the rotor mast, provided at a fixed position of the fuselage, a sensor that detects the displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement due to gusts of the rotor blade in response to the output of the sensor,
A gust control system for a rotary wing aircraft, wherein the sensors include circumferential sensors 78, 82 disposed on opposite sides of the rotor rotation axis for each pair of rotor blades. The base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis are connected by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
A sensor that is provided on the rotor mast and detects a displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement due to gusts of the rotor blade in response to the output of the sensor,
A gust control system for a rotary wing aircraft, wherein the sensors include circumferential sensors 78, 82 disposed on opposite sides of the rotor rotation axis for each pair of rotor blades. The gust control device for a rotary wing aircraft according to claim 3 or 4, wherein the circumferential direction sensor is disposed at a radial center position between the rotor rotation axis and the pivot position. The control means is
The pair of circumferential sensors 78, 82; 80, 84 detect the displacements δ78, δ82; differences δS1, δS2 from δ80, δ84, respectively, as gust displacements in the inclination direction.
The gust control device for a rotary wing aircraft according to any one of claims 3 to 5, wherein a pitch angle of the rotor blade is controlled based on a gust displacement amount in a tilt direction. The base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis are connected by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
In the rotor mast, provided at a fixed position of the fuselage, a sensor that detects the displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement due to gusts of the rotor blade in response to the output of the sensor,
The gust control device for a rotary wing aircraft, wherein the sensor includes an on-axis sensor arranged on a rotor rotation axis. The base ends of the rotor blades forming a pair on both sides with respect to the rotor rotation axis are connected by an elastically deformable hub plate,
In a gust control device for a rotary wing aircraft, which supports a hub plate at a support position radially offset from a rotor rotation axis of the hub plate in an upper portion of a hollow rotor mast,
A sensor that is provided on the rotor mast and detects a displacement of the hub plate along the rotor rotation axis in a non-contact manner,
Control means for correcting displacement due to gusts of the rotor blade in response to the output of the sensor,
The gust control device for a rotary wing aircraft, wherein the sensor includes an on-axis sensor arranged on a rotor rotation axis. The control means detects the detected displacement δC of the on-axis sensor 86 as a vertical gust displacement,
The gust control device for a rotary wing aircraft according to claim 7 or 8, wherein the pitch angle of the rotor blade is controlled as a vertical steering amount based on the vertical gust displacement amount.

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