US20050021193A1 - Fly-by-wire control system for an aircraft comprising detection of pilot induced oscillations and a control for such a system - Google Patents
Fly-by-wire control system for an aircraft comprising detection of pilot induced oscillations and a control for such a system Download PDFInfo
- Publication number
- US20050021193A1 US20050021193A1 US10/703,564 US70356403A US2005021193A1 US 20050021193 A1 US20050021193 A1 US 20050021193A1 US 70356403 A US70356403 A US 70356403A US 2005021193 A1 US2005021193 A1 US 2005021193A1
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- US
- United States
- Prior art keywords
- control
- oscillations
- damping means
- controllable damping
- fly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 230000010355 oscillation Effects 0.000 title claims abstract description 48
- 238000001514 detection method Methods 0.000 title claims abstract description 25
- 238000013016 damping Methods 0.000 claims abstract description 40
- 230000001360 synchronised effect Effects 0.000 claims description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 3
- 230000006870 function Effects 0.000 description 3
- 230000010363 phase shift Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
Definitions
- the present invention relates to a fly-by-wire control system for an aircraft comprising detection of pilot induced oscillations, and to a control for such a control system.
- the pilot may attempt to further increase the amplitude by which he tilts said control member.
- the amplitude of turning of the aerodynamic surfaces may then exceed that corresponding to the initial command, which means that the pilot then reduces the tilt of said control member, thus leading, with a delay, to a return of the aerodynamic surfaces, etc.
- Oscillations caused by coupling and generally referred to in aeronautical parlance as “pilot induced oscillations” (PIO) therefore occur in the aircraft and may degrade the precision of the flying.
- PIO pilot induced oscillations
- the object of the present invention is to overcome these drawbacks.
- the invention relates to a fly-by-wire control system and to a control alerting the pilot to the occurence of pilot induced oscillation and acting to avoid its effects.
- the fly-by-wire control system involving electric flight commands for an aircraft comprising:
- the action of said controllable damping means on said control may be of an amplitude that is constant irrespective of the amplitude of said oscillations.
- said detection means deliver a detection signal the amplitude of which increases with the amplitude of said oscillations
- the action of said controllable damping means on said control may advantageously increase in magnitude with the amplitude of said oscillations.
- the present invention additionally relates to a mobile control able to generate at least one electric command for controlling an aircraft about at least one of its axes of maneuver, said control being intended for a fly-by-wire control system comprising means for detecting, in said command, any oscillations corresponding to pilot induced oscillations.
- this control for example of the stick or rudder type, is notable in that it comprises controllable damping means for said control and in that said controllable damping means are controlled by said detection means in such a way that said controllable damping means exert on said control an action that opposes the rate of travel of the latter when said detection means detect such oscillations.
- said structural damping means and said controllable damping means are formed of a single controllable damper controlled by said detection means such that:
- Said controllable damping means may be of mechanical or hydraulic known type.
- said controllable damping means are formed by a magnetic machine, for example a synchronous machine with a permanent-magnet rotor, operated in a known way to deliver a resistive torque that varies with the rotational speed.
- said control may be able to generate two electric commands for controlling said aircraft about two of its axes of maneuver and be intended for a fly-by-wire control system comprising means for detecting, in each of said commands, any oscillations corresponding to pilot induced oscillations.
- said control comprises controllable damping means controlled by said oscillation detection means and able to act on said control in its movements corresponding to each of said commands.
- FIGS. 1 and 2 schematically illustrate two embodiments of the present invention.
- the fly-by-wire control system for an aircraft illustrated schematically in FIG. 1 , comprises a control stick system 1 , able to generate a roll command and a pitch command.
- the control stick system 1 comprises a mobile grip 2 which, via a known mechanism, can pivot about a roll-control axis R-R and a pitch-control axis T-T.
- the pivoting of the grip 2 about the roll-control axis R-R (double-headed arrow 3 ) is detected by a sensor 4 .
- the pivoting of the grip 2 about the pitch-control axis T-T (double-headed arrow 5 ) is detected by a sensor 6 .
- the sensors 4 and 6 generate electric commands for roll and pitch, which correspond to the pivotings of the grip 2 and which are sent to the fly-by-wire computers 7 of said system, via lines 8 and 9 respectively.
- the computers 7 calculate corresponding turn commands for controlled aerodynamic surfaces (flaps, ailerons, rudders, etc.) 10 of said aircraft (not depicted), and via lines 11 , send appropriate electric orders to the actuators 12 of these controlled aerodynamic surfaces 10 .
- artificial sensation devices 13 and 14 providing the pilot with feedback are mounted on the roll-control and pitch-control axes.
- the device 13 consists for example of a strong scissors mechanism and the device 14 of a strong link rod.
- the control stick system 1 comprises two dampers 15 and 16 , the damping characteristics of which can be modified by an electric order. They are, for example, of mechanical or hydraulic known type.
- the controllable damper 15 is connected to the roll axis R-R and the controllable damper 16 is connected to the pitch axis T-T to damp the rotation of the grip 2 about these two axes.
- fly-by-wire computers 7 incorporate means for detecting any oscillations, corresponding to pilot induced oscillations, in the commands originating from the sensors 4 and 6 , these detection means being able to deliver, on respective lines 17 and 18 bound for said dampers 15 and 16 , orders to modify the damping characteristics of these dampers according to the amplitude of said induced oscillations.
- the control stick system 20 comprises electric dampers 21 and 22 in place of the mechanical or hydraulic dampers 15 and 16 .
- the dampers 21 and 22 are, for example, synchronous machines the rotor of which carries permanent magnets and is wedged on the axis R-R or the axis T-T, respectively.
- the resistive torque exerted by these synchronous machines on said axes can be controlled by electric commands generated by the means for detecting said oscillations belonging to the computers 7 and sent to said dampers 21 and 22 via lines 23 or 24 respectively.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Vibration Prevention Devices (AREA)
- Vehicle Body Suspensions (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Details Of Aerials (AREA)
- Toys (AREA)
- Mechanical Control Devices (AREA)
- Position Input By Displaying (AREA)
Abstract
Description
- The present invention relates to a fly-by-wire control system for an aircraft comprising detection of pilot induced oscillations, and to a control for such a control system.
- It is known that the controls (sticks, rudder) of modern aircraft, particularly those known as ministicks, are easy for the pilot and/or the copilot of said aircraft to handle, it being possible for them to be tilted very quickly. By contrast, the actuators operating the moving aerodynamic surfaces of the aircraft (ailerons, flaps, rudders, etc.) operated from these controls cannot respond instantly to the electric commands generated by these controls. There may therefore, at large control amplitudes, be a significant phase shift between the movement of a control and the movement of the moving aerodynamic surfaces it controls.
- As a result, the pilot, noticing that the position of the operated mobile aerodynamic surfaces is lagging behind the position chosen for said control member, may attempt to further increase the amplitude by which he tilts said control member. However, the amplitude of turning of the aerodynamic surfaces may then exceed that corresponding to the initial command, which means that the pilot then reduces the tilt of said control member, thus leading, with a delay, to a return of the aerodynamic surfaces, etc. Oscillations, caused by coupling and generally referred to in aeronautical parlance as “pilot induced oscillations” (PIO) therefore occur in the aircraft and may degrade the precision of the flying.
- In an attempt at solving this problem, it is known practice to increase the size of the actuators of the aerodynamic surfaces controlled and of their electrical and hydraulic supplies, thus increasing the cost and mass of the aircraft. Such increases in cost and in mass may become intolerable in the case of large-sized aircraft.
- Furthermore, document U.S. Pat. No. 4,298,833 envisions the processing of the command, particularly by filtering it, to convert it into an order that is free of pilot induced oscillations. However, this processing is Performed without any true detection of the pilot induced oscillations and without the knowledge of the pilot, who may then continue to generate such oscillations.
- The object of the present invention is to overcome these drawbacks. The invention relates to a fly-by-wire control system and to a control alerting the pilot to the occurence of pilot induced oscillation and acting to avoid its effects.
- To this end, according to the invention, the fly-by-wire control system involving electric flight commands for an aircraft, comprising:
-
- a mobile control able to generate at least one electric command for controlling said aircraft about at least one of its axes of maneuver (roll, pitch, yaw); and
- means for detecting, in said command, any oscillations corresponding to pilot induced oscillations,
is notable in that said control comprises controllable damping means able to damp the movements of said control and in that said detection means control said controllable damping means in such a way that these exert on said control an action that opposes the travel of the latter when said detection means detect such oscillations.
- Thus, by virtue of the present invention, should pilot induced oscillations occur, said control is braked, which alters the feeling of force felt by the pilot (and therefore alerts the pilot to the presence of such oscillations) and reduces the phase shift between the controlled aerodynamic surface and the control.
- The action of said controllable damping means on said control may be of an amplitude that is constant irrespective of the amplitude of said oscillations. However, in the advantageous case where said detection means deliver a detection signal the amplitude of which increases with the amplitude of said oscillations (see, for example, the detector described in the French patent application filed on Nov. 18, 2002, in the name of the Applicant Company, under the number 02 14381), the action of said controllable damping means on said control may advantageously increase in magnitude with the amplitude of said oscillations.
- The present invention additionally relates to a mobile control able to generate at least one electric command for controlling an aircraft about at least one of its axes of maneuver, said control being intended for a fly-by-wire control system comprising means for detecting, in said command, any oscillations corresponding to pilot induced oscillations. According to the invention, this control, for example of the stick or rudder type, is notable in that it comprises controllable damping means for said control and in that said controllable damping means are controlled by said detection means in such a way that said controllable damping means exert on said control an action that opposes the rate of travel of the latter when said detection means detect such oscillations.
- It will be noted that, in the known way, the controls are already equipped with structural damping means able to avoid excessively rapid flight-control movements. The result of this is that said controllable damping means may be mounted in parallel on said structural damping means.
- However, particularly when said oscillation detection means are incorporated into the fly-by-wire computer of said system (see the aforementioned patent application), it is advantageous for said structural damping means and said controllable damping means to be formed of a single controllable damper controlled by said detection means such that:
-
- in the absence of said oscillations, said single damper performs the function of said structural damping means; and
- in the presence of said oscillations, said single damper performs the function of said controllable damping means.
- Said controllable damping means may be of mechanical or hydraulic known type.
- However, as a preference, said controllable damping means are formed by a magnetic machine, for example a synchronous machine with a permanent-magnet rotor, operated in a known way to deliver a resistive torque that varies with the rotational speed.
- Of course, particularly when it is of the stick type, said control may be able to generate two electric commands for controlling said aircraft about two of its axes of maneuver and be intended for a fly-by-wire control system comprising means for detecting, in each of said commands, any oscillations corresponding to pilot induced oscillations.
- In this case, said control comprises controllable damping means controlled by said oscillation detection means and able to act on said control in its movements corresponding to each of said commands.
- The figures of the attached drawing will make it easy to understand how the invention can be embodied. In these figures, identical references denote elements that are similar.
-
FIGS. 1 and 2 schematically illustrate two embodiments of the present invention. - The fly-by-wire control system for an aircraft, illustrated schematically in
FIG. 1 , comprises acontrol stick system 1, able to generate a roll command and a pitch command. - The
control stick system 1 comprises amobile grip 2 which, via a known mechanism, can pivot about a roll-control axis R-R and a pitch-control axis T-T. - The pivoting of the
grip 2 about the roll-control axis R-R (double-headed arrow 3) is detected by asensor 4. Likewise, the pivoting of thegrip 2 about the pitch-control axis T-T (double-headed arrow 5) is detected by asensor 6. - The
sensors grip 2 and which are sent to the fly-by-wire computers 7 of said system, vialines computers 7 calculate corresponding turn commands for controlled aerodynamic surfaces (flaps, ailerons, rudders, etc.) 10 of said aircraft (not depicted), and vialines 11, send appropriate electric orders to theactuators 12 of these controlledaerodynamic surfaces 10. - In a known way,
artificial sensation devices device 13 consists for example of a strong scissors mechanism and thedevice 14 of a strong link rod. - Furthermore, according to an important specific feature of the present invention, the
control stick system 1 comprises twodampers controllable damper 15 is connected to the roll axis R-R and thecontrollable damper 16 is connected to the pitch axis T-T to damp the rotation of thegrip 2 about these two axes. - In addition, the fly-by-
wire computers 7 incorporate means for detecting any oscillations, corresponding to pilot induced oscillations, in the commands originating from thesensors respective lines dampers - The way in which the system of
FIG. 1 works is as follows: -
- when the pilot (not depicted) actuates the
grip 2 by tilting it in such a way that the roll (and/or pitch) command from the sensor 4 (and/or from sensor 6) is free or almost free of pilot induced oscillations, the detection means of theflight computers 7 send the damper 15 (and/or 16), via the line 17 (and/or 18), an electric command setting its damping characteristic to the desired value so that said damper performs its usual function of structural damper of thestick system 1; - by contrast, when the action of the pilot on the tilting
grip 2 generates an induced oscillation in the roll (and/or pitch) command originating from the sensor 4 (and/or the sensor 6), the detection means of theflight computers 7 send the damper 15 (and/or the damper 16), via the line 17 (and/or 18), an electric command to harden its damping characteristic, this hardening being either constant, or increasing in magnitude with the amplitude of said oscillations. The pivotings of thegrip 2 are therefore then braked.
- when the pilot (not depicted) actuates the
- In the alternative form of embodiment that is
FIG. 2 , we again see thesame elements 2 to 14 as described with reference toFIG. 1 . However, in the case ofFIG. 2 , thecontrol stick system 20 compriseselectric dampers hydraulic dampers dampers - Thus, the resistive torque exerted by these synchronous machines on said axes can be controlled by electric commands generated by the means for detecting said oscillations belonging to the
computers 7 and sent to saiddampers lines
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/765,713 US8473121B2 (en) | 2002-11-18 | 2010-04-22 | Fly-by-wire control system for an aircraft comprising detection of pilot induced oscillations and a control for such a system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0214388 | 2002-11-18 | ||
FR0214388A FR2847352B1 (en) | 2002-11-18 | 2002-11-18 | AIRCRAFT FLIGHT CONTROL SYSTEM FOR AIRCRAFT HAVING DETECTION OF OSCILLATORY STEERING COUPLINGS AND STEERING BODY FOR SUCH A SYSTEM |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/765,713 Continuation US8473121B2 (en) | 2002-11-18 | 2010-04-22 | Fly-by-wire control system for an aircraft comprising detection of pilot induced oscillations and a control for such a system |
Publications (1)
Publication Number | Publication Date |
---|---|
US20050021193A1 true US20050021193A1 (en) | 2005-01-27 |
Family
ID=32116638
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/703,564 Abandoned US20050021193A1 (en) | 2002-11-18 | 2003-11-10 | Fly-by-wire control system for an aircraft comprising detection of pilot induced oscillations and a control for such a system |
US12/765,713 Expired - Fee Related US8473121B2 (en) | 2002-11-18 | 2010-04-22 | Fly-by-wire control system for an aircraft comprising detection of pilot induced oscillations and a control for such a system |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/765,713 Expired - Fee Related US8473121B2 (en) | 2002-11-18 | 2010-04-22 | Fly-by-wire control system for an aircraft comprising detection of pilot induced oscillations and a control for such a system |
Country Status (6)
Country | Link |
---|---|
US (2) | US20050021193A1 (en) |
EP (1) | EP1420320B1 (en) |
AT (1) | ATE313823T1 (en) |
CA (1) | CA2447283C (en) |
DE (1) | DE60302861T2 (en) |
FR (1) | FR2847352B1 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040098176A1 (en) * | 2002-11-18 | 2004-05-20 | Nathalie Raimbault | Method and device for detecting pilot induced oscillations in an aircraft |
US20060064207A1 (en) * | 2004-09-17 | 2006-03-23 | Hiltner Dale W | Methods and systems for analyzing system operator coupling susceptibility |
US7996120B2 (en) | 2005-07-28 | 2011-08-09 | Airbus France | Method and device for flying an aircraft according to at least one flying line |
US20130075535A1 (en) * | 2011-09-26 | 2013-03-28 | Airbus Operations (Sas) | Electrical rudder control system for an aircraft |
US20150248941A1 (en) * | 2011-05-09 | 2015-09-03 | U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | Radiation shielding materials containing hydrogen, boron and nitrogen |
CN106741870A (en) * | 2016-11-30 | 2017-05-31 | 中国直升机设计研究所 | A kind of cockpit steerable system and method |
US9947424B2 (en) | 2013-03-19 | 2018-04-17 | D&D Corporation | Coating type radiation-shielding material and radiation-shielding elastomer material |
CN114044125A (en) * | 2021-12-21 | 2022-02-15 | 中国商用飞机有限责任公司 | Aircraft control system and control method |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202008005918U1 (en) * | 2008-04-29 | 2009-09-03 | Jungheinrich Aktiengesellschaft | Actuator arrangement for control organs |
US10482783B2 (en) | 2015-11-06 | 2019-11-19 | Frasca International, Inc. | Adaptive assistance for flight simulation |
FR3086273B1 (en) * | 2018-09-26 | 2020-10-09 | Safran Electronics & Defense | AIRCRAFT FLIGHT CONTROL DEVICE |
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US4477043A (en) * | 1982-12-15 | 1984-10-16 | The United States Of America As Represented By The Secretary Of The Air Force | Biodynamic resistant control stick |
US4607202A (en) * | 1984-08-28 | 1986-08-19 | Messerschmitt-Boelkow-Blohm Gesellschaft Mit Beschraenkter Haftung | Apparatus for automatically eliminating control force errors in aircraft, especially helicopters |
US5076517A (en) * | 1989-08-14 | 1991-12-31 | United Technologies Corporation | Programmable, linear collective control system for a helicopter |
US5107080A (en) * | 1989-12-01 | 1992-04-21 | Massachusetts Institute Of Technology | Multiple degree of freedom damped hand controls |
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DE2807902C2 (en) * | 1978-02-24 | 1980-04-30 | Messerschmitt-Boelkow-Blohm Gmbh, 8000 Muenchen | Control device with active force feedback |
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-
2002
- 2002-11-18 FR FR0214388A patent/FR2847352B1/en not_active Expired - Fee Related
-
2003
- 2003-10-23 EP EP03292649A patent/EP1420320B1/en not_active Expired - Lifetime
- 2003-10-23 AT AT03292649T patent/ATE313823T1/en not_active IP Right Cessation
- 2003-10-23 DE DE60302861T patent/DE60302861T2/en not_active Expired - Lifetime
- 2003-10-30 CA CA2447283A patent/CA2447283C/en not_active Expired - Fee Related
- 2003-11-10 US US10/703,564 patent/US20050021193A1/en not_active Abandoned
-
2010
- 2010-04-22 US US12/765,713 patent/US8473121B2/en not_active Expired - Fee Related
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US3236478A (en) * | 1964-04-23 | 1966-02-22 | North American Aviation Inc | Flight control system |
US4030011A (en) * | 1975-03-24 | 1977-06-14 | Honeywell Inc. | Multimode control systems |
US4298833A (en) * | 1980-02-29 | 1981-11-03 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Apparatus for damping operator induced oscillations of a controlled system |
US4477043A (en) * | 1982-12-15 | 1984-10-16 | The United States Of America As Represented By The Secretary Of The Air Force | Biodynamic resistant control stick |
US4607202A (en) * | 1984-08-28 | 1986-08-19 | Messerschmitt-Boelkow-Blohm Gesellschaft Mit Beschraenkter Haftung | Apparatus for automatically eliminating control force errors in aircraft, especially helicopters |
US5125602A (en) * | 1989-02-20 | 1992-06-30 | Aerospatiale Societe Nationale Industrielle | Tilting stick control device, especially for an aircraft, and system comprising two such devices |
US5076517A (en) * | 1989-08-14 | 1991-12-31 | United Technologies Corporation | Programmable, linear collective control system for a helicopter |
US5107080A (en) * | 1989-12-01 | 1992-04-21 | Massachusetts Institute Of Technology | Multiple degree of freedom damped hand controls |
US5900710A (en) * | 1996-11-22 | 1999-05-04 | Aerospatiale Societe Nationale Industrielle | System for coupling control columns |
US5935177A (en) * | 1997-02-06 | 1999-08-10 | Accurate Automation Corporation | Pilot-induced oscillation detection and compensation apparatus and method |
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040098176A1 (en) * | 2002-11-18 | 2004-05-20 | Nathalie Raimbault | Method and device for detecting pilot induced oscillations in an aircraft |
US7225061B2 (en) * | 2002-11-18 | 2007-05-29 | Airbus France | Method and device for detecting pilot induced oscillations in an aircraft |
US20060064207A1 (en) * | 2004-09-17 | 2006-03-23 | Hiltner Dale W | Methods and systems for analyzing system operator coupling susceptibility |
US7272473B2 (en) * | 2004-09-17 | 2007-09-18 | The Boeing Company | Methods and systems for analyzing system operator coupling susceptibility |
US7996120B2 (en) | 2005-07-28 | 2011-08-09 | Airbus France | Method and device for flying an aircraft according to at least one flying line |
US20150248941A1 (en) * | 2011-05-09 | 2015-09-03 | U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | Radiation shielding materials containing hydrogen, boron and nitrogen |
US20130075535A1 (en) * | 2011-09-26 | 2013-03-28 | Airbus Operations (Sas) | Electrical rudder control system for an aircraft |
US8979036B2 (en) * | 2011-09-26 | 2015-03-17 | Airbus Operations Sas | Electrical rudder control system for an aircraft |
US9947424B2 (en) | 2013-03-19 | 2018-04-17 | D&D Corporation | Coating type radiation-shielding material and radiation-shielding elastomer material |
CN106741870A (en) * | 2016-11-30 | 2017-05-31 | 中国直升机设计研究所 | A kind of cockpit steerable system and method |
CN114044125A (en) * | 2021-12-21 | 2022-02-15 | 中国商用飞机有限责任公司 | Aircraft control system and control method |
Also Published As
Publication number | Publication date |
---|---|
EP1420320B1 (en) | 2005-12-21 |
EP1420320A1 (en) | 2004-05-19 |
CA2447283A1 (en) | 2004-05-18 |
ATE313823T1 (en) | 2006-01-15 |
DE60302861T2 (en) | 2006-08-03 |
US8473121B2 (en) | 2013-06-25 |
CA2447283C (en) | 2012-04-24 |
FR2847352B1 (en) | 2005-01-28 |
DE60302861D1 (en) | 2006-01-26 |
FR2847352A1 (en) | 2004-05-21 |
US20100200701A1 (en) | 2010-08-12 |
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