KR102368986B1 - Rotorcraft and its control methods with response function for damaged blade - Google Patents

Abstract

The present invention relates to a rotorcraft having a blade damage response function and a control method therefor. An object of the present invention is to maintain the dynamic balance of the blades by cutting a certain part of the broken blade and other selected blades to maintain the dynamic balance of the blade when asymmetrical failure of the blade occurs.

Description

Rotorcraft and its control methods with response function for damaged blade}

The present invention relates to a rotorcraft having a blade damage response function and a control method thereof, and more particularly, to a rotorcraft that cuts the blades to maintain a dynamic balance when the blades are damaged.

In general, aircraft are classified into fixed-wing aircraft with fixed wings, and rotary-wing aircraft that fly by rotating the wing itself with the power of an engine to obtain lift necessary for flight. Aircraft such as passenger planes belong to fixed-wing aircraft, and helicopters, gyroplanes, gyrodynes, cyclogyros, combined helicopters, and convertible aircraft belong to rotary-wing aircraft.

Since rotary wing aircraft gain lift by rotating rotors, vertical take-off and landing are possible because there is no need to obtain lift through a long runway for take-off like a typical passenger aircraft. Moreover, there are unique areas where a rotorcraft is absolutely necessary because it can hover (hover) in the air. In particular, rotorcraft are essential for military and special purposes where mission performance is more important than safety. The characteristics of such a rotorcraft are well shown in Patent Document KR 10-2018970 B1.

However, rotary wing aircraft such as helicopters are relatively slow compared to fixed-wing aircraft and difficult to enlarge, and with the same load, they consume more fuel and thus have a shorter cruising range. Moreover, it is highly affected by wind power, and it is unstable because it is easily out of balance even with small external factors such as a bird collision. In addition, a huge noise is generated, and the risk of a safety accident for occupants or people approaching while the rotor is rotating is much greater than that of a fixed-wing aircraft. Therefore, it has not yet been popularized for passenger transportation.

In addition, the rotorcraft is greatly affected by the gyroscopic presession, making it difficult to control and unstable. Gyroscope Presession is a phenomenon in which when an external force is applied to a rotating object, the direction of the external force appears at a point 90 degrees past the rotational direction. That is, if a helicopter whose rotor rotation direction is counterclockwise tilts the rotor forward to go forward, the helicopter flies to the left. This phenomenon may lead to unexpected crashes.

In particular, when a situation in which the rotor blades of a rotorcraft used for military purposes are asymmetrically damaged in some parts due to bullets or the like is left unattended, the rotation of the rotor blades with the center of gravity deflected causes extreme asymmetric vibrations. Due to this, the rotor and the driving part may be completely destroyed, and if the rotor is destroyed, there is no room for the pilot to respond and minimize the damage, which leads to serious casualties and loss of airframe.

In the case of fixed-wing military aircraft, ejection seats are applied to prevent casualties. When an ejection seat is applied, the entire seat on which the pilot sits rises and separates from the aircraft for the pilot to escape in case of an emergency, and then the pilot lands on the ground using a parachute. However, since the ejection seat must be installed during the design of the aircraft, the installation cost cannot be ignored, and the internal structure is also complicated, reducing the internal space. Moreover, it is very rare for a rotorcraft to have an ejection seat due to the rotor blade provided above the cockpit.

In the case of the conventional Russian Ka-50 and Ka-52 attack helicopters, a structure in which the ejection seat operates after first detonating the rotor equipped with the explosive has been implemented. This enables the normal operation and maintenance of the rotorcraft even when remotely detonable explosives are installed in the rotor part, and by adjusting the amount and location of the installed explosives, the rotor explodes safely without damaging the adjacent cockpit and crew. separation was possible.

However, when the ejection seat is applied after the rotor is separated by blasting, human casualties can be minimized, but the rotorcraft and cargo loaded on the rotorcraft will fall together, resulting in loss of gas and material damage, making it difficult to solve the above problems.

Therefore, when designing a rotor blade, an important design factor to be considered in order to solve this problem is to maintain a dynamic balance of the blade when the blade is damaged. Even if the rotorcraft has suffered serious damage such as engine bullets or power system incapacity, if the lift is maintained at a minimum due to the inertial rotation of the rotor blades, the fall speed can be minimized to minimize damage to passengers, cargo, and airframe due to the fall. .

In addition, in designing a blade capable of maintaining dynamic balance, normal rotorcraft operation and maintenance should be possible, and the safety of the structure to maintain the dynamic balance of the damaged blade must be secured.

In summary, a rotorcraft capable of vertical take-off and landing is used for military and special purposes, but if asymmetrical damage to the rotor blades occurred due to a projectile, etc., the rotorcraft would crash, causing serious problems in life and property damage. In order to solve this problem, when the blade of the rotorcraft is damaged, it is necessary to detect the location of the damage and a corresponding structure to maintain the dynamic balance.

1. Korean Patent Registration No. 102018970 (“Rotary wing aircraft”, 2019.08.30.)

The present invention has been devised to solve the above problems, and an object of the present invention is to provide a rotorcraft having a blade damage response function. Specifically, it is achieved by detecting the broken position of the blade, cutting another selected blade for maintaining the dynamic balance of the rotor part, and also cutting a part of the broken blade.

The present invention for solving the above problems is provided on each of the first to n blades 50, which are radially disposed in the driving part of the rotorcraft, and a damage detection unit ( 100), at least one installed on each of the blades, the first to p cutting parts 200 and the breakage detecting part 100, which are means for applying an external force to the blade so that at least a part of the blade is broken, of the blade It may include a control unit 300 for receiving the state information, and controlling the cutting unit based on the blade state information,

At this time, the control unit is provided at a predetermined position of the x-th blade so that a part of the y-th blade that is at least one of a part of the x-th blade for which the damage is detected and the blade for which the damage is not detected is broken by the damage detecting unit. Controls the xp-th cutting part and the y-th cutting part provided at a predetermined position of the y-th blade, and may be n>1, p>1, 1≤x, y≤n, and 1≤xp, yp≤p.

In addition, the state information of the blade output by the damage detection unit 100 may include damage information and damage location information of the blade.

On the other hand, the control unit 300, based on the damage information and damage location information of the blade received from the damage detection unit 100, calculates the cutting position of the x-th blade, and corresponds to the cutting position of the x-th blade It may be to control the xp-th cut part.

In addition, the control unit, based on the damage information and damage location information of the blade received from the damage detection unit 100, the cut position on the side of the rotorcraft drive unit from among the pre-designated cutting positions closest to the damaged position of the blade may be calculated as the cutting position of the blade, and controlling the xp-th cutting unit corresponding to the cutting position of the x-th blade.

In addition, the control unit, based on the damage information and the damage location information of the blade, selects at least one y-th blade to be cut among the blades for which damage is not detected, in order to maintain the dynamic balance of the rotorcraft driving unit, Calculating the cutting position of the y-th blade, and controlling the y-th cutting portion corresponding to the cutting position of the y-th blade.

On the other hand, when the rotorcraft has an even number of blades, the y blade may be one blade provided at a position facing the x blade.

In addition, when the rotorcraft has an odd number of blades, the y-th blade is the two most adjacent blades on the left and right of an extension line of the x-th blade that is the damaged blade, and the cutting position of the y-th blade is, the cutting of the y-th blade The rotational inertia lost when cutting at the position may be determined to be the closest position to the rotational inertia lost due to the breakage of the x-th blade to restore dynamic balance.

Meanwhile, the control unit 300 has an automatic mode for automatically controlling the cutting unit 200 and a manual mode for controlling the cutting unit 200 according to a user's input, and a manual mode or an automatic mode by a user's input may be selectable.

At this time, when the control unit is in the automatic mode, based on the damage information and the damage location information of the blade received from the damage detection unit 100, the cutting position of the x-th blade, the y-th blade and the cutting of the y-th blade It is possible to calculate the position, and control the xp-th cutting unit corresponding to the cutting position of the x-th blade and the y-th cutting unit corresponding to the cutting position of the y-th blade.

Also at this time, when the control unit is in the manual mode, based on the damage information and the damage location information of the blade received from the damage detection unit 100, the cutting position of the x-th blade, the y-th blade and the y-th blade calculating the cutting position of the, transmitting the cutting approval request information to the input/output means, and receiving the cutting approval information from the input/output means, the xp-th cutting unit corresponding to the cutting position of the x-th blade and the cutting position of the y-th blade It is possible to operate the yp-th cutting unit corresponding to .

In addition, the control unit 300, in order to maintain the dynamic balance of the cutting position of the x-th blade and the rotorcraft driving unit, based on the cutting position of the y-th blade and the y-th blade, which are at least one of the blades for which damage is not detected, to be cut. Thus, by simulating the case in which the xp-th cutting part and the yp-cutting part corresponding to the cutting position are cut, the dynamic balance simulation information of the rotorcraft is calculated, and the calculated simulation information is transmitted to the input/output means can

In addition, the control unit determines the cutting position of the y-th blade and the y-th blade, which is at least one of the blades for which damage is not detected, to be cut in order to maintain the dynamic balance of the cutting position of the x-th blade and the rotorcraft driving unit server 400 to receive, from the server 400, the dynamic balance simulation information of the rotorcraft when the xp cut part and the yp cut part corresponding to the cutting position are cut, respectively, and transmit it to the input/output means there is.

Meanwhile, when the damage information and damage location information of the blade are output from the damage detection unit 100, the control unit 300 transmits a mode selection signal for selecting the manual mode and the automatic mode to the input/output means, and a predetermined input If the selection signal is not received from the input/output means during the waiting time, the automatic mode may be automatically switched.

On the other hand, in the control method of the rotorcraft having a blade damage response function, the damage detection unit 100 outputs damage information and damage location information of the damaged blade when at least one blade among a plurality of blades of the rotorcraft is damaged. In the damage detection step (S50), the control unit calculates the cutting position of the x-th blade that is the damaged blade based on the damage information and the damage location information of the blade, and in order to maintain the dynamic balance of the rotorcraft drive unit, the damage is At least one of the unsensed blades to be cut, the y-th blade, and the cutting target calculating step (S100) for calculating the cutting position of the y-th blade, and the control unit at the cutting position of the x-th blade and the cutting position of the y-th blade, respectively It may include a cutting step (S200) of controlling the corresponding xp-th cutting unit and the yp-th cutting unit.

In addition, after the step of calculating the cutting target, the method further includes a control selection step (S110) in which the control unit switches to a manual mode or an automatic mode according to a user's input, and switches from the control selection step (S110) to the manual mode (S120) In one case:

The step of outputting dynamic balance simulation information of the rotorcraft (S130), the step of transmitting the dynamic balance simulation information of the rotorcraft to the input/output means (S140), the steps of transmitting the cutting approval request information to the input/output means (S150), Receiving cutting approval information from the input/output means by a user's input, and a cutting step in which the control unit controls the xp-th cutting unit and the yp-th cutting unit corresponding to the cutting position of the x-th blade and the cutting position of the y-th blade, respectively ( S200) may be included.

In addition, when switching to the automatic mode (S160) in the control selection step (S110):

The control unit may include a cutting step (S200) of controlling the xp-th cutting unit and the yp-th cutting unit corresponding to the cutting position of the x-th blade and the cutting position of the y-th blade, respectively.

On the other hand, the control selection step (S110) is a step of checking whether a selection signal for selecting a manual mode or an automatic mode is input within a preset input waiting time. If the selection signal does not occur within a preset input waiting time, the control unit It may include the step of automatically switching to an automatic mode.

According to the present invention according to the above configuration, by maintaining the dynamic balance of the blades through blast cutting, the generation of lift is reduced as the blade length is shortened compared to the intact state, but the pilot buys time to induce a soft landing. , since it secures enough lift to reduce the fall speed at the moment of landing, there is a great effect in reducing the loss of life and aircraft compared to the case of a fall due to the loss of the entire rotor due to the destruction of the driving unit.

In addition, according to the present invention, since the position of the blade to be cut is determined according to the total number of blades when the blade is damaged, it is possible to effectively maintain the dynamic balance of the blade. This is accomplished by cutting the blades in positions symmetrical to the broken blades when the total number of blades is an even number, and cutting other preset blades according to the breakage positions of the broken blades when the number of blades is odd.

In addition, according to the present invention, the cutting control of the blade can be controlled by selecting the manual mode or the automatic mode. When manual mode is selected, the blade cutting position and blade cutting are simulated and presented to the pilot, so blade cutting is possible by the pilot's judgment and selection.

In addition, in a situation in which the pilot falls into a panic state due to a bullet or the like and cannot select the manual mode or the automatic mode, even if the blade is not cut according to the pilot's judgment, if a selection signal is not input for a certain period of time, the automatic mode is automatically converted to an appropriate mode. It can help you take countermeasures.

Moreover, according to the present invention, the rotorcraft that detects damage and maintains the dynamic balance of the blades can be applied to the existing rotorcraft, and at the same time, normal operation and maintenance of the rotorcraft is possible, thereby obtaining high compatibility and scalability, and cutting the blades Even if it does, it is possible to safely cut the blade so as not to have a dangerous effect on the adjacent cockpit and passengers, which has a great effect of acquiring stability.

In order to more fully understand the drawings recited in the Detailed Description, a detailed description of each drawing is provided.
1 shows a block diagram of a rotorcraft having a blade breakage detection response function of the present invention.
2 shows a block diagram of a blade of the present invention.
3 shows a blade structure according to an embodiment of the sensor unit of the present invention.
Figure 4 shows a blade structure according to an embodiment of the cut portion of the present invention.
5 is a plan view of a blade structure according to an embodiment of the present invention.
6 is a plan view of a blade structure according to another embodiment of the present invention.
7 is a flowchart of a control method of a rotorcraft having a blade breakage detection response function of the present invention.
8 is a flowchart of a method for controlling a rotorcraft according to a manual mode and an automatic mode of the present invention.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and detailed description will be given. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

When a component is referred to as being “connected” or “connected” to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in between. it should be

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, the technical idea of the present invention will be described in more detail with reference to the accompanying drawings.

Since the accompanying drawings are merely examples shown in order to explain the technical idea of the present invention in more detail, the technical idea of the present invention is not limited to the form of the accompanying drawings. Hereinafter, a blade structure for detecting blade breakage of a rotorcraft and maintaining dynamic balance and a control method thereof will be described.

[1] Basic configuration

The blade structure of the present invention is configured in a form capable of cutting the middle portion of the blade so as to detect damage to the blade of the rotor of the rotorcraft and maintain the dynamic balance of the blades. Specifically, it is intended to maintain the dynamic balance of the entire blade by detecting the damaged position when the blade is broken, cutting a certain part of the damaged blade, and also cutting the same position of the other blade selected to maintain the dynamic balance.

Figure 1 is a block diagram of a rotorcraft having a blade damage detection response function of the present invention, Figure 2 is a block diagram of the blade of the present invention. Figure 3 is a blade structure diagram according to an embodiment of the sensor unit of the present invention, Figure 4 shows a blade structure according to an embodiment of the cutting part of the present invention. 5 and 6 are plan views of a blade structure according to an embodiment of the present invention. In addition, FIG. 7 is a flowchart of a control method of a rotorcraft having a blade breakage detection response function of the present invention, and FIG. 8 is a manual view of the present invention. It is a flowchart of the control method of the rotorcraft according to the mode and the automatic mode. In particular, as can be intuitively seen from the blade block diagram of FIG. 2 , the rotorcraft 10 of the present invention has a structure to break at a designated position on the blade, respectively. To explain more specifically, first, the first to n blades 50 radially disposed in the driving unit of the rotorcraft 10 are provided on each of the blades, and the damage detection unit 100 outputs the state information of the blades. ), at least one installed on each of the blades, the first to p cutting parts 200 and the breakage detecting part 100, which are means for applying an external force to the blade so that at least a part of the blade is broken, the state of the blade It may include a control unit 300 that receives the information and controls the cutting unit based on the blade state information.

Here, that the control unit 300 'controls' the cutting unit 200 means that a control signal is sent to the specified cutting unit to operate the blade to be cut at the specified cutting unit 200 .

At this time, the control unit is provided at a predetermined position of the x-th blade so that a part of the y-th blade that is at least one of a part of the x-th blade for which the damage is detected and the blade for which the damage is not detected is broken by the damage detecting unit. Controls the xp-th cutting part and the y-th cutting part provided at a predetermined position of the y-th blade, and may be n>1, p>1, 1≤x, y≤n, and 1≤xp, yp≤p.

where n is the number of blades, p is the number of cuts, x is the number of broken blades, and y is the number of the y-th blade, which is at least one of the blades for which no breakage is detected. In addition, xp is the number of the cutting part corresponding to the cutting position of the x-th blade, and yp is the number of the cutting part corresponding to the cutting position of the y-th blade. Accordingly, the number n of the blades is a value greater than 1, and since at least one cut portion is also designated for each blade, the number p of the cut portions is also a greater value than 1. Since the x-th blade, which is the broken blade, is any one of the first blade to the n-th blade, the number x of the broken blade becomes 1≤x≤n. Similarly, the number y of the y-th blade also satisfies 1≤y≤n, and x and y cannot be the same. Moreover, xp is a cutting part number corresponding to the cutting position of the x-th blade, and yp is a cutting part number corresponding to the cutting position of the y-th blade. Therefore, since the xp th cut is any one of q cuts, 1≤xp≤p is satisfied, and likewise, the ypth cut is any one of the q cuts, so 1≤xp≤p is satisfied, and xp and yp can be the same none.

On the other hand, when the blade is damaged due to being hit, the damage detection unit 100 detects whether the blade is damaged and the location of the damage, and outputs the state information of the blade. The state information of the blade may include damage information and damage location information of the blade, and the blade damage information may indicate whether the blade is damaged and the x-th blade that is the damaged blade. In addition, the breakage position information indicates a broken position of the x-th blade.

The cutting unit 200 maintains a dynamic balance of the blades by cutting the blades based on the control signal sent by the control unit 300 .

At least one of the breakage detecting unit 100 and the cutting unit 200 is provided on each blade, and may be installed in any one of the inner, outer, upper, lower, and both sides of the blade, respectively. When the damage detecting unit 100 and the cutting unit 200 are installed outside the blade, it can be applied to an existing rotorcraft, so compatibility and expandability can be obtained. In addition, when the damage detecting unit 100 and the cutting unit 200 are installed inside the blade, they can be installed inside during the process of laminating the composite material during the blade manufacturing process, and maintenance is easier than when installing it outside the blade.

[2] Specific structure of the damage detection unit

First, the detailed structure of the damage detection unit 100 will be described in more detail.

The damage detection unit 100 includes a sensor unit 120 for detecting damage to the blade, and the damage detection unit 100 may output blade damage information and damage location information based on the sensing data output from the sensor unit. there is. At this time, the sensor unit 120 includes at least one detection sensor 125 that detects the damage of the blade when the blade is damaged and changes the value of the sensed data according to the location where the blade is damaged.

For example, the detection sensor 125 may be installed in parallel at regular intervals in the longitudinal direction to the blade to determine the blade breakage and the blade breakage location. Preferably, as shown in Figure 3, at least one resistor on the blade may be installed in parallel at regular intervals in the longitudinal direction of the blade. In this case, when the blade is broken and a part is cut, the terminal of the resistor installed at the cut position is broken. Therefore, the current value or the internal impedance value flowing through the sensor unit is changed, and this means the blade is damaged. Therefore, information on whether the x-th blade that is the damaged blade is damaged can be output as blade damage information. In addition, since the breakage location can be estimated according to the amount of change in the electrical characteristics, breakage location information can be output.

As another example, the detection sensor 125 may be a laser module, an image sensor, or an ultrasonic sensor that detects a change in the length of the blade and outputs the changed length or amount of change in the length of the blade when the blade is damaged and the length of the blade is changed.

As another example, the detection sensor 125 may be a photoelectric switch, a reed switch, or an air sensor that determines the presence or absence of an object, and may be an electromagnet switch, a tape sensor, or a linear pulse encoder that senses the position of the object. In addition, damage to the blade can be detected with an illuminance sensor or an optical sensor. As such, there are infinitely many sensors capable of detecting the damage of the blade and detecting the location of the damage in such a way that the value of the sensed data output according to the location of the damage is changed.

With this configuration, the damage detection unit 100 outputs damage information and damage location information of the blade. Next, a detailed structure of the cutting unit 200 for receiving a control signal from the control unit to cut the blade will be described in more detail.

[3] Specific structure of the cut part

The cutting unit 200 receives a control signal from the control unit 300 and cuts the blade at a designated position.

4 and 5 show an embodiment of the cutting unit provided on the blade according to the present invention. 4, the cutting unit 200 may include at least one initiator 210 capable of cutting the blade for each designated position of each blade. At least one initiator 210 is installed at the cutting position, and multiple initiators may be installed depending on the blasting power. Such an initiator may be an initiator, a micro-vibration crusher, a precision explosive, dynamite, a liquid explosive, a calit, a slurry explosive, an incendiary explosive, or a hydrous explosive. Preferably, it may be a precision explosive, a micro-vibration crusher, or a liquid explosive to ensure a flat cross section when cutting the blade.

At least one initiator 210 of the cutting part 200 of this configuration may be installed on both the outer, inner, upper, and lower sides of the blade 50 . When the initiator 210 is installed outside the blade 50, it can be applied to an existing rotorcraft, so that compatibility and expandability can be obtained. In addition, when the initiator 210 is installed inside the blade, the initiator 210 can be installed inside by making an initiator insertion space in the composite material lamination process during the blade manufacturing process and stacking the initiator in the initiator insertion space. there is. In this case, maintenance becomes easier than when installing the blade 50 outside.

According to another embodiment of the cutting unit 200 of the present invention, the cutting unit 200 can cut the blade without including the initiator 210 . Each blade may have a structure in which the blade is separated for each node by removing a pin (not shown) installed at each designated position.

[4] Detailed description of the control unit

Next, the control unit 300 that receives the blade damage information and damage location information from the damage detection unit 100 and controls the cutting unit 200 will be described in detail.

The control unit 300, based on the damage information and the damage location information of the blade received from the damage detection unit 100, the rotation of the x-th blade which is a damaged blade and the closest predetermined cutting position to the damaged position. It is possible to calculate the cutting position of the blade driving unit as the cutting position of the blade, and control the xp-th cutting unit corresponding to the cutting position of the x-th blade.

In addition, the control unit, based on the damage information and the damage location information of the blade, selects at least one y-th blade to be cut among the blades for which damage is not detected, in order to maintain the dynamic balance of the rotorcraft driving unit, Calculating the cutting position of the y-th blade, and operating the y-th cutting unit corresponding to the cutting position of the y-th blade.

Hereinafter, the calculation of the cutting position of the x-th blade will be described in detail.

To this end, the control unit may include a comparator, and the comparator may compare the breakage position signal with a preset reference value. Here, the preset reference value is a pre-calculated value of the breakage position signal output by the sensor unit when it is assumed that the blade is damaged at any one cutting position. 2, the cutting position may be 50-1, 50-2 to 50-q in each blade, and a cutting portion is provided for each cutting position. At this time, based on whether the blade is damaged and the damage location information received from the damage detection unit 100, the cutting position of the rotorcraft driving unit is selected from among the pre-designated cutting positions closest to the damaged position of the x-th blade. The cutting position of the x-th blade may be calculated. For example, if the breakage position information is between the reference value of 50-1 and the reference value of 50-2, the cutting position of the x-th blade may be 50-1, and the cutting part corresponding to 50-1 is the xp cutting part can be

Here, at least one cutting position may be designated on each blade. Preferably, a plurality of reference positions may be designated at regular intervals. As the number of cutting positions increases, dynamic balance can be maintained more efficiently in response to blade breakage, but it is appropriately designated according to the length of the blade in consideration of the design and manufacturing cost and the increase in the structural complexity of the blade. Preferably, it may have 2 to 5 designated positions. In addition, the cutting position closest to the driving part should be designated by securing the minimum safety distance so as not to affect the driving part of the rotor or the cockpit when breaking. Likewise, the designation position furthest away from the driving part should also be designated considering the minimum distance where the purpose of cutting is significant.

In addition, the number of comparators is determined according to the number of cutting positions of each blade. Preferably, the number of cutting positions is equal to the number of comparators. Therefore, it is possible to compare the pre-calculated reference value for each cutting position with the value of the breakage position signal output by the breakage detection unit 100 . That is, in the above example, the breakage position signal value and the reference value of 50-1 are compared with the first comparator, and the breakage position signal value and the reference value of 50-2 are compared with the second comparator. Subsequently, the value of the breakage position signal is compared with the reference value of 50-q by the Q-th comparator. Here, when the output of the comparator changes from Low to High or from High to Low between the first comparator and the second comparator, the breakage position signal value can be derived to be between the reference value of 50-1 and the reference value of 50-2. can Therefore, since it can be derived that the blade breakage occurred between 50-1 and 50-2, 50-1 becomes the cutting position of the xth blade. Here, since the reference value at the cut position increases in proportion to the distance from the driving unit or decreases in inverse proportion, in the above example, if the comparator output value changes between the first comparator and the second comparator, the second comparator excluding the first comparator The output values of the comparator or the Q-th comparator will match. With this configuration, it is possible to calculate the cutting position of the x-th blade based on the output signal output by at least one comparator.

Hereinafter, the y-th blade and the logic for calculating the cutting position of the y-th blade will be described in detail.

When an asymmetrical breakage occurs in either blade, the rotor's center of gravity is deflected, causing extreme asymmetrical vibrations, which can destroy the rotor and drive parts. Accordingly, the y-th blade, which is another blade selected to maintain the symmetry of the blade, is cut correspondingly with the broken blade to maintain the dynamic balance of the rotor part.

The y-th blade, which is at least one of the blades for which no damage is detected, may vary depending on the number of blades. This will be described with reference to FIGS. 5 and 6 . As shown in FIG. 5 , when the number of blades disposed in the driving unit is an even number, it is preferable to cut the blade in a position symmetrical to the broken blade. Therefore, when the rotorcraft 300 has an even number of blades, the y blade may be a single blade provided at a position symmetrical with the x blade, that is, opposite to the x blade. Also, the cutting position of the y blade may be a cutting position corresponding to the cutting position of the x blade. Therefore, the x-th blade and the y-th blade are cut at the same distance from the cutting part of the driving part of the blade to maintain the dynamic balance of the rotorcraft driving part. For example, if the blade of the rotorcraft has four blades, as shown in FIG. 5 , if damage occurs at 50-a of the x-th blade 50-x, 50-xp becomes the cutting position. In addition, 50-y, which is a blade facing 50-x, is the y-th blade, and 50-yp is the cutting position of the y-th blade. The control unit 300 maintains the dynamic balance of the blades by operating the cutting units corresponding to 50-xp and 50-yp.

In addition, as shown in FIG. 6, if the number of blades disposed on the driving unit is an odd number, at least one cutting position that can maintain symmetry according to the length and breakage position and designated position of the blade in order to maintain the dynamic balance of the blade is preset. It is desirable to cut the blade by calculation. Therefore, the control unit 300, if the number of blades disposed in the driving unit is an odd number, the y-th blade to minimize the loss of dynamic balance and loss of lift according to the design of the drive system and the damage shape of the blade to maintain the dynamic balance of the driving unit It may be the two blades most adjacent to the left and right of the extension line of the x-th blade, which is the damaged blade. Furthermore, the cutting position of the y-th blade is determined to be the closest position to the rotational inertia lost due to the breakage of the x-th blade in which the rotational inertia lost when cutting at the cutting position of the yth blade is determined to restore the dynamic balance can For example, when the blade of the rotorcraft has three blades, the y-th blade may be the other two blades except for the damaged x-th blade, and the cutting position of the y-th blade is a cutting position corresponding to the cutting position of the x-th blade. can Accordingly, the x-th blade and the y-th blade, that is, all of the three blades are cut at the same distance from the cutting unit of the blade to maintain the dynamic balance of the rotorcraft driving unit.

As another example, when the blade of the rotorcraft is five-leaf as shown in FIG. 6 , the y-th blade may be two blades adjacent to the position facing the damaged x-th blade, and the cutting of the y-th blade The position may be a pre-calculated cutting position according to the design and damage type of the drive system of each rotorcraft. Referring to FIG. 6 , the y-th blade may be 50-y1 and 50-y2, respectively, and the respective cutting positions may be 50-yp1 and 50-yp2.

With this configuration, the control unit 300 calculates the cutting position of the x-th blade and the cutting position of the y-th blade as above, and the xp-th corresponding to the cutting position of the x-th blade and the cutting position of the y-th blade By transmitting a control signal to the cutting unit and the yp-th cutting unit to break the blade, it is possible to effectively maintain the dynamic balance of the blade-damaged rotorcraft 10 driving unit.

[5] Automatic mode and manual mode of the control unit

Hereinafter, the manual mode and the automatic mode of the control unit will be described in detail.

The control unit 300 has an automatic mode for automatically controlling the cutting unit 200 and a manual mode for controlling the cutting unit 200 by a user's input, and switches to a manual mode and an automatic mode by a user's input can do. When the damage of the blade is detected from the damage detection unit 100 and the blade status information is received, the control unit transmits a mode selection signal to the input/output means to select any one of the manual mode and the automatic mode to the user. The control unit 300 switches to the manual mode or the automatic mode according to the user's automatic signal or manual signal received from the input/output means.

At this time, when the control unit is in the automatic mode, based on the blade damage information and the damage location information received from the damage detection unit 100, the cutting position of the x-th blade, the y-th blade and the cutting position of the y-th blade , and automatically control the xp-th cutting unit corresponding to the cutting position of the x-th blade and the y-th cutting unit corresponding to the cutting position of the y-th blade without user approval.

Also at this time, when the control unit is in the manual mode, based on the blade damage information and the damage location information received from the damage detection unit 100, the cutting position of the x-th blade, the y-th blade and the y-th blade The cutting position is calculated, and cutting approval request information is transmitted to the input/output means. Upon receiving the cutting approval information from the input/output means, the xp-th cutting unit corresponding to the cutting position of the x-th blade and the y-th cutting unit corresponding to the cutting position of the y-th blade can be controlled, and the control unit 300 is the When the cutoff rejection signal is received from the input/output means, the cutoff unit 200 is not operated.

On the other hand, if the rotorcraft is hit by the enemy and the blades are damaged, the pilot may fall into a panic state and may not be able to select manual mode or automatic mode. In this case, it is preferable to automatically switch to the automatic mode when a selection signal for selecting the manual mode or the automatic mode by the user to perform blade cutting is not input within a preset time. Preferably, the preset time may be 5 seconds. Therefore, the control unit 300, when the blade damage information and the damage location information are output from the damage detection unit 100, transmits a mode selection signal for selecting the manual mode and the automatic mode to the input/output means, If the selection signal is not received from the input/output means during the input waiting time, the automatic mode may be automatically switched. In this case, the control unit 300 may set the input waiting time differently according to the degree of damage of the blade detected through the damage detection unit 100 . For example, the closer the damage position of the blade output from the damage detection unit 100 to the drive unit of the rotor, the shorter the input waiting time can be set. As another example, when the number of damaged blades output from the damage detection unit 100 is two or more, the input waiting time may be set to be short.

With this configuration, the control unit 300 may manually or automatically control the control unit 300 according to a user's input to appropriately respond to a problem situation. In addition, even if the user falls into a panic state that cannot select manual or automatic mode during the input waiting time, it is automatically switched to automatic mode to reduce loss of aircraft and human life. By setting the input waiting time differently based on the expected time, there is a great effect of quickly responding to the blade damage situation and reducing human casualties and loss of airframe.

[5] Blade cutting simulation

Meanwhile, according to the present invention, the control unit 300 may serve to help the user to actively determine the blade cutting by presenting the user with simulation information when the blade is cut.

Such simulation information may be directly calculated by the controller 300 . The control unit 300, in order to maintain the dynamic balance of the cutting position of the x-th blade and the rotorcraft driving unit, based on the cutting position of the y-th blade and the y-th blade, which are at least one of the blades for which damage is not detected, to be cut. , by simulating the case in which the xp th cutting part and the yp cutting part corresponding to the cutting position are cut, calculating the rotation balance simulation information of the rotorcraft driving unit, and transmitting the calculated simulation information to the input/output means can Here, the input/output means may be an LCD screen preferably mounted on a rotorcraft.

Also, the controller 300 may receive simulation information from the server 400 . In order to maintain the dynamic balance of the cutting position of the x-th blade and the rotorcraft drive unit, the server ( 400) may be to receive the dynamic balance simulation information of the rotorcraft when the xp-th cutting part and the yp-cutting part corresponding to the cutting position are cut from each other, and transmit the information to the input/output means.

The dynamic balance simulation information may be a 3D-based blade cutting simulation, a lift change amount of a rotor, a center of gravity of a rotorcraft, a fall speed, and the like. Preferably, the user may determine whether to approve the blade cutting by viewing the simulation result, and the control unit 300 receives a cutting approval signal or a cutting rejection signal through the input/output device according to the user's determination.

[6] Detailed description of the control method of the rotorcraft

Next, the control method of the rotorcraft with the blade damage response function will be described in detail.

The control method of the rotorcraft includes a damage detection step (S50) in which the damage detection unit 100 outputs blade damage information and damage location information of the damaged blade when at least one of the plurality of blades of the rotorcraft is damaged (S50) , the control unit calculates the cutting position of the x-th blade, which is the damaged blade, based on the blade damage information and damage location information, and to maintain the dynamic balance of the rotorcraft drive unit, at least among the blades for which damage is not detected One of the y-th blade and the cutting target calculating step (S100) for calculating the cutting position of the y-th blade, and the control unit xp-th cutting unit and yp-th cutting position respectively corresponding to the cutting position of the x-th blade and the cutting position of the y-th blade It may include a cutting step (S200) of controlling the cutting unit.

In addition, after the step of calculating the cutting target, the method further includes a control selection step (S110) in which the control unit switches to a manual mode or an automatic mode according to a user's input, and switches from the control selection step (S110) to the manual mode (S120) In one case, the step of outputting dynamic balance simulation information of the rotorcraft (S130), transmitting the dynamic balance simulation information of the rotorcraft to the input/output means (S140), transmitting cutting approval request information to the input/output means (S150), receiving the cutting approval information from the input/output means by the user's input, and the control unit controlling the xp-th cutting unit and the y-th cutting unit corresponding to the cutting position of the x-th blade and the cutting position of the y-th blade, respectively It may include a cutting step (S200).

Here, the dynamic balance simulation information may be calculated by the control unit 300 or the server 400, and when the approval switch 310 outputs a cutting rejection signal, the control unit does not operate the cutting unit.

In addition, when the control selection step (S110) is switched to the automatic mode (S160), the control unit controls the xp-th cutting unit and the yp-th cutting unit corresponding to the cutting position of the x-th blade and the cutting position of the y-th blade, respectively It may include a cutting step (S200). That is, regardless of whether the user approves or not, in the automatic mode, the blade is cut immediately.

On the other hand, the control selection step (S110) is a step of checking whether a selection signal for selecting the manual mode or the automatic mode is input within a preset time. It may include a step of converting. With this process, it is possible to effectively cope with a situation in which the user falls into a panic state due to being hit and cannot select the manual mode or the automatic mode, thereby reducing human casualties and loss of airframe.

The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention as claimed in the claims.

10: rotorcraft
50 : blade
100: damage detection unit
120: sensor unit
125: detection sensor
200: cut part
210 : Catalyst
300: control unit
400 : server

Claims (17)

First to n blades 50 radially disposed in the driving part of the rotorcraft;
a damage detection unit 100 provided on each of the blades and outputting state information of the blades;
At least one installed on each of the blades, the first to p cutting part 200, which is a means for applying an external force to the blade so that at least a portion of the blade is broken; and
Including; receiving the state information of the blade from the damage detection unit 100, and controlling the cutting unit based on the state information of the blade;
The control unit is
so that a part of the y-th blade, which is at least one of a part of the x-th blade for which damage is detected and a blade for which damage is not detected by the damage detection unit, is broken;
Controls the xp-th cutting unit provided at a predetermined position of the x-th blade and the y-th cutting unit provided at a predetermined position of the y-th blade,
n>1, p>1, 1≤x, y≤n, and 1≤xp, yp≤p,
The control unit 300,
Based on the damage information and the damage location information of the x-th blade received from the damage detection unit 100, calculating the cutting position of the x-th blade,
Controls the xp-th cutting unit corresponding to the cutting position of the x-th blade,
Based on the damage information and the damage location information of the x-th blade,
In order to maintain the dynamic balance of the rotorcraft driving unit, select at least one y-th blade to be cut among the blades for which damage is not detected,
Calculate the cutting position of the y-th blade,
But controlling the y-th cut portion corresponding to the cutting position of the y-th blade,
The cutting position of the x-th blade and the cutting position of the y-th blade are the longitudinal positions of the x-th blade and the y-th blade.
delete delete According to claim 1, wherein the control unit,
Based on the damage information and damage location information of the x-th blade received from the damage detection unit 100,
Calculating the cutting position on the side of the rotorcraft drive unit among the pre-designated cutting positions closest to the damaged position of the x-th blade as the cutting position of the x-th blade,
A rotorcraft, characterized in that for controlling the xp-th cutting portion corresponding to the cutting position of the x-th blade.
delete The method of claim 1,
When the rotorcraft has an even number of blades,
The y-th blade is a rotorcraft, characterized in that the single blade provided at a position facing the x-th blade.
7. The method of claim 6,
When the rotorcraft has an odd number of blades,
The y-th blade is the two most adjacent blades on the left and right of the extension line of the x-th blade, which is the damaged blade,
The cutting position of the y-th blade is,
The rotational inertia lost when cutting at the cutting position of the y-th blade
To restore the dynamic balance by determining the position closest to the rotational inertia lost due to the breakage of the xth blade
A rotorcraft characterized by a.
First to n blades 50 radially disposed in the driving part of the rotorcraft;
a damage detection unit 100 provided on each of the blades and outputting state information of the blades;
At least one installed on each of the blades, the first to p cutting part 200, which is a means for applying an external force to the blade so that at least a portion of the blade is broken; and
Including; receiving the state information of the blade from the damage detection unit 100, and controlling the cutting unit based on the state information of the blade;
The control unit is
so that a part of the y-th blade, which is at least one of a part of the x-th blade for which damage is detected and a blade for which damage is not detected by the damage detection unit, is broken;
Controls the xp-th cutting unit provided at a predetermined position of the x-th blade and the y-th cutting unit provided at a predetermined position of the y-th blade,
n>1, p>1, 1≤x, y≤n, and 1≤xp, yp≤p,
The control unit 300,
It has an automatic mode for automatically controlling the cutting unit 200 and a manual mode for controlling the cutting unit 200 by a user input,
Manual mode or automatic mode can be selected by user input
A rotorcraft characterized by a.
9. The method of claim 8,
When the control unit is in automatic mode,
Based on the damage information and damage location information of the blade received from the damage detection unit 100, calculate the cutting position of the x-th blade, the y-th blade and the cutting position of the y-th blade,
an xp-th cutting portion corresponding to the cutting position of the x-th blade, and
to control the y-th cutting portion corresponding to the cutting position of the y-th blade
A rotorcraft characterized by a.
10. The method of claim 9,
When the control unit is in manual mode,
Based on the damage information and the damage location information of the blade received from the damage detection unit 100, calculate the cutting position of the x-th blade, the y-th blade and the cutting position of the y-th blade,
Transmitting the cutting approval request information to the input/output means,
When cutting approval information is received from the input/output means,
an xp-th cutting portion corresponding to the cutting position of the x-th blade, and
operating the y-th cutting part corresponding to the cutting position of the y-th blade
A rotorcraft characterized by a.
11. The method of claim 10,
The control unit 300,
In order to maintain the dynamic balance of the cutting position of the x-th blade and the rotorcraft driving unit, based on the cutting position of the y-th blade and the y-th blade, which is at least one of the blades for which damage is not detected,
By simulating a case in which the xp-th cutting unit and the yp-th cutting unit corresponding to the cutting position are cut, the dynamic balance simulation information of the rotorcraft is calculated, and the calculated dynamic balance simulation information is transmitted to the input/output means thing
A rotorcraft characterized by a.
12. The method of claim 11,
The control unit is
In order to maintain the dynamic balance of the cutting position of the x-th blade and the rotorcraft driving unit, at least one of the blades for which damage is not detected, the y-th blade and the cutting position of the y-th blade are transmitted to the server,
Receive from the server the dynamic balance simulation information of the rotorcraft when the xp-th cutting unit and the yp-th cutting unit corresponding to the cutting position are cut, respectively, and transmitting the information to the input/output means
A rotorcraft characterized by a.
13. The method of claim 12,
The control unit 300,
When the damage information and damage location information of the blade are output from the damage detection unit 100, a mode selection signal for selecting a manual mode or an automatic mode is transmitted to the input/output means,
When the selection signal is not received from the input/output means for a predetermined input waiting time, automatically switching to the automatic mode
A rotorcraft characterized by a.
In the control method of a rotorcraft with a blade damage response function,
Damage detection step (S50) of the damage detection unit 100 outputting damage information and damage location information of the damaged blade when at least one of the plurality of blades of the rotorcraft is damaged;
The control unit based on the damage information and damage location information of the blade,
Calculate the cutting position of the x-th blade that is the damaged blade,
In order to maintain the dynamic balance of the rotorcraft, a cutting target calculating step (S100) of calculating the y-th blade, which is at least one of the blades for which damage is not detected, and the cutting position of the y-th blade; and
A cutting step (S200) in which the control unit controls the xp-th cutting unit and the yp-th cutting unit corresponding to the cutting position of the x-th blade and the cutting position of the y-th blade, respectively;
The cutting position of the x-th blade and the cutting position of the y-th blade are the longitudinal positions of the x-th blade and the y-th blade.
In the control method of a rotorcraft with a blade damage response function,
Damage detection step (S50) of the damage detection unit 100 outputting damage information and damage location information of the damaged blade when at least one of the plurality of blades of the rotorcraft is damaged;
The control unit based on the damage information and damage location information of the blade,
Calculate the cutting position of the x-th blade that is the damaged blade,
In order to maintain the dynamic balance of the rotorcraft, a cutting target calculating step (S100) of calculating the y-th blade, which is at least one of the blades for which damage is not detected, and the cutting position of the y-th blade; and
A control selection step (S110) in which the control unit switches to a manual mode or an automatic mode by a user's input; including;
In the case of switching to the manual mode (S120) in the control selection step (S110):
Outputting the dynamic balance simulation information of the rotorcraft (S130);
transmitting dynamic balance simulation information of the rotorcraft to input/output means (S140);
transmitting cutting approval request information to the input/output means (S150);
receiving cutting approval information from the input/output means according to a user's input; and
A cutting step (S200) in which the control unit controls the xp-th cutting unit and the yp-th cutting unit corresponding to the cutting position of the x-th blade and the cutting position of the y-th blade, respectively;
A control method for a rotorcraft with a blade breakage response function.
16. The method of claim 15,
In the case of switching to the automatic mode (S160) in the control selection step (S110):
A cutting step (S200) in which the control unit controls the xp-th cutting unit and the yp-th cutting unit corresponding to the cutting position of the x-th blade and the cutting position of the y-th blade, respectively;
A control method for a rotorcraft with a blade breakage response function.
17. The method according to claim 15 or 16,
The control selection step (S110) is,
checking whether a selection signal for selecting a manual mode or an automatic mode is input within a preset input waiting time; and
If the selection signal does not occur within the preset input waiting time, the control unit automatically switching to the automatic mode; including;
A control method for a rotorcraft with a blade breakage response function.

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