WO2008033884A2 - Dual higher harmonic control (hhc) for a counter-rotating, coaxial rotor system - Google Patents

Dual higher harmonic control (hhc) for a counter-rotating, coaxial rotor system Download PDF

Info

Publication number
WO2008033884A2
WO2008033884A2 PCT/US2007/078222 US2007078222W WO2008033884A2 WO 2008033884 A2 WO2008033884 A2 WO 2008033884A2 US 2007078222 W US2007078222 W US 2007078222W WO 2008033884 A2 WO2008033884 A2 WO 2008033884A2
Authority
WO
WIPO (PCT)
Prior art keywords
hhc
rotor
control
rotor system
actuator system
Prior art date
Application number
PCT/US2007/078222
Other languages
French (fr)
Other versions
WO2008033884A3 (en
Inventor
William A. Welsh
Original Assignee
Sikorsky Aircraft Corporation
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sikorsky Aircraft Corporation filed Critical Sikorsky Aircraft Corporation
Priority to EP07842302.7A priority Critical patent/EP2076436B1/en
Publication of WO2008033884A2 publication Critical patent/WO2008033884A2/en
Publication of WO2008033884A3 publication Critical patent/WO2008033884A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/001—Vibration damping devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B64C27/10—Helicopters with two or more rotors arranged coaxially
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/72—Means acting on blades
    • B64C2027/7205—Means acting on blades on each blade individually, e.g. individual blade control [IBC]
    • B64C2027/7211—Means acting on blades on each blade individually, e.g. individual blade control [IBC] without flaps
    • B64C2027/7233—Means acting on blades on each blade individually, e.g. individual blade control [IBC] without flaps using higher-harmonic control [HHC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/72—Means acting on blades
    • B64C2027/7205—Means acting on blades on each blade individually, e.g. individual blade control [IBC]
    • B64C2027/7211—Means acting on blades on each blade individually, e.g. individual blade control [IBC] without flaps
    • B64C2027/7233—Means acting on blades on each blade individually, e.g. individual blade control [IBC] without flaps using higher-harmonic control [HHC]
    • B64C2027/7238—Means acting on blades on each blade individually, e.g. individual blade control [IBC] without flaps using higher-harmonic control [HHC] by controlling existing swash plate actuators
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/30—Wing lift efficiency

Definitions

  • HHC DUAL HIGHER HARMONIC CONTROL
  • the present invention relates to a rotary-wing aircraft, and more particularly to a HHC vibration control system therefor.
  • vibrations are a primary goal in rotary- wing aircraft design. Such vibrations may contribute to crew fatigue, increased maintenance, and operating costs. A major cause of such vibrations is periodic aerodynamic loads on the rotor blades.
  • An effective method of reducing rotor-blade induced vibrations is to control the harmonic airload at the source, i.e. on the rotor blades.
  • harmonic loads at a frequency rate of (N-I) per revolution, N per revolution and
  • HHC devices The function of HHC devices is to generate additional airloads on the rotor so as to cancel the NP vibratory hub load in the non-rotating frame of reference.
  • HHC helicopter vibration control
  • Some approaches are based on passive vibration control concepts involving dynamically tuned mechanisms which actuate either the swash plate or the tab surfaces on the rotor blade.
  • Other HHC concepts make use of high frequency active control systems which, when coupled with vibration sensors, provide vibration reduction by either manual control or closed loop feedback control.
  • Reducing rotor-blade induced vibrations in a dual, counter-rotating, coaxial rotor system is further complicated as control inputs to the upper rotor control system and lower rotor control system are typically linked or slaved.
  • HHC systems have heretofore been linked or slaved such that the HHC inputs to the upper rotor system are a fixed multiple of the inputs to the lower rotor system.
  • Such linkage may be acceptable to minimize vibrations to a certain extent but will not provide the more significant vibration reduction levels demanded by current rotary- wing aircraft operators.
  • the system does control six "signal" actuators to provide HHC inputs to the main servos i.e. three inputs to the signal actuators inputting into main servo of the upper rotor and three inputs to the signal actuators inputting into the main servos of the lower rotor.
  • the three inputs to the upper signal actuators are fixed multiples of the three inputs to the lower signal actuators such that the upper rotor signal inputs are "slaved" to the lower rotor inputs.
  • a higher harmonic control (HHC) system includes: a sensor system; an upper HHC actuator system; a lower HHC actuator system operable independent of the upper HHC actuator system; and a HHC controller in communication with the sensor system, the upper HHC actuator system, and the lower HHC system to individually control the upper HHC actuator system, and the lower HHC system to minimize vibration.
  • HHC higher harmonic control
  • a method of reducing vibration in a rotary wing aircraft having a dual, counter-rotating, coaxial rotor system includes: individually controlling an upper rotor system and a lower rotor system to minimize vibration within an airframe of the aircraft.
  • Figure 1 is a general perspective side view of an exemplary rotary-wing aircraft non-limiting embodiment for use with the present invention
  • Figure 2 is an expanded partial phantom view of a dual, counter-rotating, coaxial rotor system of the aircraft of Figure 1;
  • Figure 3 is a schematic longitudinal sectional view of a dual, counter- rotating, coaxial rotor control system in a flight position
  • Figure 4 is a block diagram of the forces moments and control loads available for Higher Harmonic control of a dual, counter-rotating, coaxial rotor system
  • Figure 5 is a block diagram of a Higher Harmonic control system for a dual, counter-rotating, coaxial rotor system
  • Figure 6A is a matrix explanation for the Higher Harmonic control system of a dual, counter-rotating, coaxial rotor system having Forces and moments as represented in Figure 6B.
  • Figures 1 illustrates an exemplary vertical takeoff and landing (VTOL) rotary- wing aircraft 10 having a dual, counter-rotating, coaxial rotor system 12 which rotates about a rotating main rotor shaft 14U, and a counter-rotating main rotor shaft 14L ( Figure 2) both about an axis of rotation A.
  • the aircraft 10 includes an airframe F which supports the dual, counter rotating, coaxial rotor system 12 as well as an optional translational thrust system T which provides translational thrust during high speed forward flight generally parallel to an aircraft longitudinal axis L.
  • T optional translational thrust system
  • FIG. 1 illustrates an exemplary vertical takeoff and landing (VTOL) rotary- wing aircraft 10 having a dual, counter-rotating, coaxial rotor system 12 which rotates about a rotating main rotor shaft 14U, and a counter-rotating main rotor shaft 14L ( Figure 2) both about an axis of rotation A.
  • the aircraft 10 includes an airframe F which supports the dual, counter rotating, coaxial rot
  • a main gearbox G which may be located above the aircraft cabin drives the rotor system 12.
  • the translational thrust system T may be driven by the same main gearbox G which drives the rotor system 12.
  • the main gearbox G is driven by one or more engines (illustrated schematically at E). As shown, the main gearbox G may be interposed between the gas turbine engines E, the rotor system 12 and the translational thrust system T.
  • the dual, counter-rotating, coaxial rotor system 12 includes an upper rotor system 16 and a lower rotor system 18.
  • Each rotor system 16, 18 includes a plurality of rotor blade assemblies 20 mounted to a rotor hub assembly 22, 24 for rotation about the rotor axis of rotation A.
  • the rotor hub assembly 22 is mounted to the upper rotor shaft 14U which counter rotates within the lower rotor shaft 14L which rotates the lower hub assembly 24.
  • the plurality of the main rotor blade assemblies 20 project substantially radially outward from the hub assemblies 22, 24. Any number of main rotor blade assemblies 20 may be used with the rotor system 12.
  • Each rotor blade assembly 20 of the rotor system 12 generally includes a rotor blade 28 (illustrated somewhat schematically), a rotor blade spindle 30, and a rotor blade bearing 32 which supports the rotor blade spindle 30 within a bearing housing 34 to permit the rotor blade 28 to pitch about a pitching axis P. It should be understood that various blade attachments may also be utilized with the present invention.
  • a lower rotor control system 36 includes a rotor blade pitch control horn 38 mounted for rotation with the rotor blade spindle 30 of each lower rotor blade 28.
  • Each rotor blade pitch control horn 38 is linked to a lower swashplate 40 through a pitch control rod and servo mechanism 42 to impart the desired pitch control thereto.
  • An upper rotor control system 44 includes a rotor blade pitch control horn 46 mounted for rotation with the rotor blade spindle 30 of each upper rotor blade 28.
  • Each rotor blade pitch control horn 46 is linked to an upper swashplate 48 through a pitch control rod and servo mechanism 50 to impart the desired pitch control thereto.
  • Each rotor system 36, 44 is independently controlled through the separate swashplate assemblies 40, 48 which selectively articulates each rotor system 36, 44.
  • motion of the swashplate assemblies 40, 48 along the rotor axis A will cause the rotor blades 20 of the respective rotor system 36,44 to vary pitch collectively and tilting of the swash plate assemblies 40, 48 with respect to the axis A will cause the rotor blades 20 to vary pitch cyclically and tilt the rotor disk.
  • the swashplate assemblies 40, 48 translate and/or tilt by a separate servo mechanism 42, 50.
  • the upper rotor pushrods are in the rotating reference system while the servos are in the non-rotating reference system which selectively articulates each rotor system 36, 44 independently in both cyclic and collective in response to a rotor control system (illustrated schematically).
  • the rotor control system communicates with a flight control system which receives pilot inputs from controls such as a collective stick, cyclic stick, foot pedals and the like.
  • pitch control rods and servo mechanisms 42, 50 for the upper rotor system 16 and a lower rotor system 18 may be located internally or externally to the respective main rotor shaft 14U, 14L and that various pitch control rods, links and servo mechanism at various locations for cyclic and collective pitch control of the rotor system 12 may be utilized with the present invention.
  • rotor control systems other than swashplates will likewise be usable with the present invention.
  • the rotor system 12 is mounted to the airframe F at a location L and vibrations thereto are transferred at location L.
  • Each rotor system 16, 18 generates six unique vibratory loads.
  • the counter rotating, coaxial rotor system 12 thereby provides twelve vibratory hub loads.
  • the twelve vibratory hub loads combine in the rotor system 12 to yield six loads applied to the airframe F at the location L.
  • the two rotor systems 16, 18 do not produce the same set of three six- force patterns because of the difference in position of the two rotor systems 16, 18, i.e. they have different "leverage" with regard to location L.
  • the six net vibratory hub loads at location L require individual suppression to reduce airframe vibration.
  • the dual, counter-rotating, coaxial rotor system 12 provides individual control of the upper rotor system 16 and the lower rotor system 18.
  • the lower rotor control system 36 and the upper rotor control system 44 provide a total of six controls or "knobs" to minimize or theoretically eliminate airframe vibration.
  • application of HHC to the two rotor systems 16, 18 which are located on the common axis A will yield essentially complete vibration reduction because the six controls can suppress the six loads.
  • a HHC system 52 generally includes a HHC controller 54, a sensor system 56 in communication with the HHC controller 54, an upper HHC actuator system 58 and a lower HHC actuator system 60 which implements the higher harmonic blade pitch to the upper rotor system 16 and the lower rotor system 18.
  • the HHC controller 54 is in communication with the sensor system 56 to sense vibration within the airframe F. It should be understood that various sensors at various locations may be utilized with the present invention.
  • the HHC controller 54 is an adaptive controller to individually control the upper HHC actuator system 58 and the lower HHC actuator system 60.
  • the HHC controller 54 provides closed loop control of the upper HHC actuator system 58 and the lower HHC actuator system 60 to minimize vibration thereof in accordance with an HHC algorithm (figures 6 A and 6B).
  • the upper HHC actuator system 58 and the lower HHC actuator system 60 each includes a fore-aft cyclic actuator; a left-right cyclic actuator and a collective actuator (x-y-z axes). It should be understood that the upper rotor control system 44 and the lower rotor control system 36 are overlaid or integrated with the pilot inputs with the HHC actuator system 58 and the lower HHC actuator system 60. It should be understood that various actuator systems may be utilized with the present invention so long as active control is provided individually in each axis of both the upper and lower rotor system.
  • the matrix arithmetic shown in Figure 6a is a math model that represents how the six HHC controls, U, three from each swashplate, influence the 6 net hub loads F.
  • the square matrix T quantitatively relates the influence of U on F.
  • Well known mathematics indicates that if the matrix T is square, and each column of T is independent, then matrix T can be "inverted” and a control solution, U can be found that will make all elements of F equal to zero. This is a math illustration of why 6 controls or knobs (U) are required to completely nullify 6 hub loads (F). If only three unique values of U existed, it would be impossible to completely nullify F. It should be understood that relative positional terms such as "forward,”

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Wind Motors (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)
  • Transmission Devices (AREA)

Abstract

A higher harmonic control (HHC) system individually controls an upper HHC actuator system, and a lower HHC system to minimize vibration.

Description

DUAL HIGHER HARMONIC CONTROL (HHC) FOR A COUNTER-ROTATING, COAXIAL ROTOR SYSTEM
BACKGROUND OF THE INVENTION The present invention claims the benefit of United States Patent Application
No. 11/521032, filed September 14, 2006.
The present invention relates to a rotary-wing aircraft, and more particularly to a HHC vibration control system therefor.
The reduction of vibrations is a primary goal in rotary- wing aircraft design. Such vibrations may contribute to crew fatigue, increased maintenance, and operating costs. A major cause of such vibrations is periodic aerodynamic loads on the rotor blades.
An effective method of reducing rotor-blade induced vibrations is to control the harmonic airload at the source, i.e. on the rotor blades. For an N-bladed rotor, harmonic loads at a frequency rate of (N-I) per revolution, N per revolution and
(N+ 1) per revolution are transmitted to the rotor hub. All three harmonic load frequencies in the rotating rotor frame of reference result in fuselage vibration in the non-rotating frame of reference at the frequency rate of N/revolution (hereinafter
NP). The function of HHC devices is to generate additional airloads on the rotor so as to cancel the NP vibratory hub load in the non-rotating frame of reference.
Various schemes for reducing helicopter vibrations by HHC have been investigated. Some approaches are based on passive vibration control concepts involving dynamically tuned mechanisms which actuate either the swash plate or the tab surfaces on the rotor blade. Other HHC concepts make use of high frequency active control systems which, when coupled with vibration sensors, provide vibration reduction by either manual control or closed loop feedback control.
Reducing rotor-blade induced vibrations in a dual, counter-rotating, coaxial rotor system is further complicated as control inputs to the upper rotor control system and lower rotor control system are typically linked or slaved. As such, HHC systems have heretofore been linked or slaved such that the HHC inputs to the upper rotor system are a fixed multiple of the inputs to the lower rotor system. Such linkage may be acceptable to minimize vibrations to a certain extent but will not provide the more significant vibration reduction levels demanded by current rotary- wing aircraft operators.
1980 AHS (American Helicopter Society) paper entitled "Design of Higher Harmonic Control for the ABC", J. O'Leary and W. Miao, publicly describe the originally HHC proposed system. The system does control six "signal" actuators to provide HHC inputs to the main servos i.e. three inputs to the signal actuators inputting into main servo of the upper rotor and three inputs to the signal actuators inputting into the main servos of the lower rotor. In this case, however, the three inputs to the upper signal actuators are fixed multiples of the three inputs to the lower signal actuators such that the upper rotor signal inputs are "slaved" to the lower rotor inputs. The pilot flight controls for the upper and lower rotors were also slaved together. Thus, following this slaving philosophy for the HHC inputs was a natural approach. It is apparent in this AHS paper that the analyses projected imperfect vibration control. This is because the slaving process only produces a total of three unique controls whereas there are up to six vibratory hub loads that require suppression for excellent vibration reduction.
SUMMARY OF THE INVENTION A higher harmonic control (HHC) system according to an exemplary aspect of the present invention includes: a sensor system; an upper HHC actuator system; a lower HHC actuator system operable independent of the upper HHC actuator system; and a HHC controller in communication with the sensor system, the upper HHC actuator system, and the lower HHC system to individually control the upper HHC actuator system, and the lower HHC system to minimize vibration.
A method of reducing vibration in a rotary wing aircraft having a dual, counter-rotating, coaxial rotor system according to an exemplary aspect of the present invention includes: individually controlling an upper rotor system and a lower rotor system to minimize vibration within an airframe of the aircraft.
-?- BRIEF DESCRIPTION OF THE DRAWINGS
The various features and advantages of this invention will become apparent to those skilled in the art from the following detailed description of the currently preferred non-limiting embodiment. The drawings that accompany the detailed description can be briefly described as follows:
Figure 1 is a general perspective side view of an exemplary rotary-wing aircraft non-limiting embodiment for use with the present invention;
Figure 2 is an expanded partial phantom view of a dual, counter-rotating, coaxial rotor system of the aircraft of Figure 1;
Figure 3 is a schematic longitudinal sectional view of a dual, counter- rotating, coaxial rotor control system in a flight position;
Figure 4 is a block diagram of the forces moments and control loads available for Higher Harmonic control of a dual, counter-rotating, coaxial rotor system; and
Figure 5 is a block diagram of a Higher Harmonic control system for a dual, counter-rotating, coaxial rotor system; and
Figure 6A is a matrix explanation for the Higher Harmonic control system of a dual, counter-rotating, coaxial rotor system having Forces and moments as represented in Figure 6B.
DETAILED DESCRIPTION OF THE DISCLOSED EMBODIMENT
Figures 1 illustrates an exemplary vertical takeoff and landing (VTOL) rotary- wing aircraft 10 having a dual, counter-rotating, coaxial rotor system 12 which rotates about a rotating main rotor shaft 14U, and a counter-rotating main rotor shaft 14L (Figure 2) both about an axis of rotation A. The aircraft 10 includes an airframe F which supports the dual, counter rotating, coaxial rotor system 12 as well as an optional translational thrust system T which provides translational thrust during high speed forward flight generally parallel to an aircraft longitudinal axis L. Although a particular aircraft configuration is illustrated in the disclosed embodiment, other counter-rotating, coaxial rotor systems will also benefit from the present invention. Although a particular counter-rotating, coaxial rotor system aircraft configuration is illustrated in the disclosed non-limiting embodiment, other rotor systems and other aircraft types such as tilt-wing and tilt-rotor aircraft will also benefit from the present invention. A main gearbox G which may be located above the aircraft cabin drives the rotor system 12. The translational thrust system T may be driven by the same main gearbox G which drives the rotor system 12. The main gearbox G is driven by one or more engines (illustrated schematically at E). As shown, the main gearbox G may be interposed between the gas turbine engines E, the rotor system 12 and the translational thrust system T.
Referring to Figure 2, the dual, counter-rotating, coaxial rotor system 12 includes an upper rotor system 16 and a lower rotor system 18. Each rotor system 16, 18 includes a plurality of rotor blade assemblies 20 mounted to a rotor hub assembly 22, 24 for rotation about the rotor axis of rotation A. The rotor hub assembly 22 is mounted to the upper rotor shaft 14U which counter rotates within the lower rotor shaft 14L which rotates the lower hub assembly 24.
The plurality of the main rotor blade assemblies 20 project substantially radially outward from the hub assemblies 22, 24. Any number of main rotor blade assemblies 20 may be used with the rotor system 12. Each rotor blade assembly 20 of the rotor system 12 generally includes a rotor blade 28 (illustrated somewhat schematically), a rotor blade spindle 30, and a rotor blade bearing 32 which supports the rotor blade spindle 30 within a bearing housing 34 to permit the rotor blade 28 to pitch about a pitching axis P. It should be understood that various blade attachments may also be utilized with the present invention. Referring to Figure 3, a lower rotor control system 36 includes a rotor blade pitch control horn 38 mounted for rotation with the rotor blade spindle 30 of each lower rotor blade 28. Each rotor blade pitch control horn 38 is linked to a lower swashplate 40 through a pitch control rod and servo mechanism 42 to impart the desired pitch control thereto. An upper rotor control system 44 includes a rotor blade pitch control horn 46 mounted for rotation with the rotor blade spindle 30 of each upper rotor blade 28. Each rotor blade pitch control horn 46 is linked to an upper swashplate 48 through a pitch control rod and servo mechanism 50 to impart the desired pitch control thereto.
Each rotor system 36, 44 is independently controlled through the separate swashplate assemblies 40, 48 which selectively articulates each rotor system 36, 44. Generally, motion of the swashplate assemblies 40, 48 along the rotor axis A will cause the rotor blades 20 of the respective rotor system 36,44 to vary pitch collectively and tilting of the swash plate assemblies 40, 48 with respect to the axis A will cause the rotor blades 20 to vary pitch cyclically and tilt the rotor disk. The swashplate assemblies 40, 48 translate and/or tilt by a separate servo mechanism 42, 50. The upper rotor pushrods are in the rotating reference system while the servos are in the non-rotating reference system which selectively articulates each rotor system 36, 44 independently in both cyclic and collective in response to a rotor control system (illustrated schematically). The rotor control system communicates with a flight control system which receives pilot inputs from controls such as a collective stick, cyclic stick, foot pedals and the like.
It should be understood that the pitch control rods and servo mechanisms 42, 50 for the upper rotor system 16 and a lower rotor system 18 may be located internally or externally to the respective main rotor shaft 14U, 14L and that various pitch control rods, links and servo mechanism at various locations for cyclic and collective pitch control of the rotor system 12 may be utilized with the present invention. Furthermore, it should be understood that rotor control systems other than swashplates will likewise be usable with the present invention.
Referring to Figure 4, the rotor system 12 is mounted to the airframe F at a location L and vibrations thereto are transferred at location L. Each rotor system 16, 18 generates six unique vibratory loads. The counter rotating, coaxial rotor system 12 thereby provides twelve vibratory hub loads. The twelve vibratory hub loads combine in the rotor system 12 to yield six loads applied to the airframe F at the location L. The two rotor systems 16, 18 do not produce the same set of three six- force patterns because of the difference in position of the two rotor systems 16, 18, i.e. they have different "leverage" with regard to location L. The six net vibratory hub loads at location L require individual suppression to reduce airframe vibration. The dual, counter-rotating, coaxial rotor system 12 provides individual control of the upper rotor system 16 and the lower rotor system 18. The lower rotor control system 36 and the upper rotor control system 44 provide a total of six controls or "knobs" to minimize or theoretically eliminate airframe vibration. In a dual, counter-rotating, coaxial rotor system 12, application of HHC to the two rotor systems 16, 18 which are located on the common axis A, will yield essentially complete vibration reduction because the six controls can suppress the six loads.
Referring to Figure 5, a HHC system 52 generally includes a HHC controller 54, a sensor system 56 in communication with the HHC controller 54, an upper HHC actuator system 58 and a lower HHC actuator system 60 which implements the higher harmonic blade pitch to the upper rotor system 16 and the lower rotor system 18. The HHC controller 54 is in communication with the sensor system 56 to sense vibration within the airframe F. It should be understood that various sensors at various locations may be utilized with the present invention. The HHC controller 54 is an adaptive controller to individually control the upper HHC actuator system 58 and the lower HHC actuator system 60. The HHC controller 54 provides closed loop control of the upper HHC actuator system 58 and the lower HHC actuator system 60 to minimize vibration thereof in accordance with an HHC algorithm (figures 6 A and 6B). The upper HHC actuator system 58 and the lower HHC actuator system 60 each includes a fore-aft cyclic actuator; a left-right cyclic actuator and a collective actuator (x-y-z axes). It should be understood that the upper rotor control system 44 and the lower rotor control system 36 are overlaid or integrated with the pilot inputs with the HHC actuator system 58 and the lower HHC actuator system 60. It should be understood that various actuator systems may be utilized with the present invention so long as active control is provided individually in each axis of both the upper and lower rotor system.
The matrix arithmetic shown in Figure 6a is a math model that represents how the six HHC controls, U, three from each swashplate, influence the 6 net hub loads F. The square matrix T quantitatively relates the influence of U on F. Well known mathematics indicates that if the matrix T is square, and each column of T is independent, then matrix T can be "inverted" and a control solution, U can be found that will make all elements of F equal to zero. This is a math illustration of why 6 controls or knobs (U) are required to completely nullify 6 hub loads (F). If only three unique values of U existed, it would be impossible to completely nullify F. It should be understood that relative positional terms such as "forward,"
"aft," "upper," "lower," "above," "below," and the like are with reference to the normal operational attitude of the aircraft and should not be considered otherwise limiting.
It should be understood that although a particular component arrangement is disclosed in the illustrated non- limiting embodiment , other arrangements will benefit from the instant invention.
Although particular step sequences are shown, described, and claimed, it should be understood that steps may be performed in any order, separated or combined unless otherwise indicated and will still benefit from the present invention.
The foregoing description is exemplary rather than defined by the limitations within. Many modifications and variations of the present invention are possible in light of the above teachings. The preferred non- limiting embodiment s of this invention have been disclosed, however, one of ordinary skill in the art would recognize that certain modifications would come within the scope of this invention. It is, therefore, to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as specifically described. For that reason the following claims should be studied to determine the true scope and content of this invention.

Claims

CLAIMSWhat is claimed is:
1. A higher harmonic control (HHC) system comprising: a sensor system; an upper HHC actuator system; a lower HHC actuator system operable independent of said upper HHC actuator system; and a HHC controller in communication with said sensor system, said upper HHC actuator system, and said lower HHC system to individually control said upper HHC actuator system, and said lower HHC system to minimize vibration.
2. The system as recited in claim 1, wherein said sensor system is mounted within a fixed frame of reference.
3. The system as recited in claim 1, wherein said upper HHC actuator system and said lower HHC actuator system each include a multitude of individually controllable actuators.
4. The system as recited in claim 3, wherein said upper HHC actuator system and said lower HHC actuator system each include actuators to provide control in an X-Y-Z axis.
5. A rotary- wing aircraft comprising: a dual, counter-rotating, coaxial rotor system having an upper rotor system and a lower rotor system rotatable about a common axis of rotation; a sensor system within an airframe; an upper HHC actuator system to control said upper rotor system; a lower HHC actuator system to control said lower rotor system; and a HHC controller in communication with said sensor system, said upper HHC actuator system, and said lower HHC system to individually control said upper rotor system and said lower rotor system to minimize vibration.
6. The aircraft as recited in claim 5, wherein said upper HHC actuator system and said lower HHC actuator system respectively control an upper rotor control system of said upper rotor system and a lower control system of said lower rotor system.
7. The aircraft as recited in claim 5, wherein said upper HHC actuator system and said lower HHC actuator system respectively control an upper swashplate of said upper rotor system and a lower swashplate of said lower rotor system.
8. A method of reducing vibration in a rotary wing aircraft having a dual, counter-rotating, coaxial rotor system comprising: individually controlling an upper rotor system and a lower rotor system to minimize vibration within an airframe of the aircraft.
9. A method as recited in claim 8, wherein said individually controlling further comprises: individually controlling a fore-aft cyclic, a left-right cyclic and a collective of the upper rotor system; and individually controlling a fore-aft cyclic, a left-right cyclic and a collective of the lower rotor system independent of the fore-aft cyclic, the left-right cyclic and the collective of the upper rotor system.
PCT/US2007/078222 2006-09-14 2007-09-12 Dual higher harmonic control (hhc) for a counter-rotating, coaxial rotor system WO2008033884A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP07842302.7A EP2076436B1 (en) 2006-09-14 2007-09-12 Dual higher harmonic control (hhc) for a counter-rotating, coaxial rotor system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/521,032 US7648338B1 (en) 2006-09-14 2006-09-14 Dual higher harmonic control (HHC) for a counter-rotating, coaxial rotor system
US11/521,032 2006-09-14

Publications (2)

Publication Number Publication Date
WO2008033884A2 true WO2008033884A2 (en) 2008-03-20
WO2008033884A3 WO2008033884A3 (en) 2008-06-19

Family

ID=39184531

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/078222 WO2008033884A2 (en) 2006-09-14 2007-09-12 Dual higher harmonic control (hhc) for a counter-rotating, coaxial rotor system

Country Status (3)

Country Link
US (1) US7648338B1 (en)
EP (1) EP2076436B1 (en)
WO (1) WO2008033884A2 (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101916115A (en) * 2010-07-27 2010-12-15 东北大学 Micro coaxial dual-rotor helicopter control device and method
US8090482B2 (en) 2007-10-25 2012-01-03 Lord Corporation Distributed active vibration control systems and rotary wing aircraft with suppressed vibrations
US8162606B2 (en) 2004-08-30 2012-04-24 Lord Corporation Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations
US8267652B2 (en) 2004-08-30 2012-09-18 Lord Corporation Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations
US8313296B2 (en) 2004-08-30 2012-11-20 Lord Corporation Helicopter vibration control system and rotary force generator for canceling vibrations
US8480364B2 (en) 2004-08-30 2013-07-09 Lord Corporation Computer system and program product for controlling vibrations
EP2803570A1 (en) * 2013-04-22 2014-11-19 Sikorsky Aircraft Corporation Vibration control of a swashplateless coaxial rotor
CN105431352A (en) * 2012-05-21 2016-03-23 保罗·E·阿尔托恩 Rotary wing vehicle
EP3201076A4 (en) * 2014-10-01 2018-05-23 Sikorsky Aircraft Corporation Active vibration control of a rotorcraft
EP3197771A4 (en) * 2014-09-26 2018-05-30 Sikorsky Aircraft Corporation Anti-vibration moment generating aircraft actuation system
EP3594116A1 (en) * 2018-07-13 2020-01-15 Bell Helicopter Textron Inc. Hub mounted vibration reduction system for coaxial rotor systems
US10543912B2 (en) 2017-07-19 2020-01-28 Sikorsky Aircraft Corporation Higher harmonic control augmented with active vibration control

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100133852A1 (en) 2008-11-21 2010-06-03 Preus Robert W Vertical axis wind turbine with variable area
CA2762245C (en) * 2009-05-21 2015-11-24 Bell Helicopter Textron Inc. Differential pitch control to optimize co-rotating stacked rotor performance
US8640985B2 (en) * 2009-05-22 2014-02-04 Textron Innovations Inc. Co-rotating stacked rotor disks for improved hover performance
US8979495B2 (en) * 2009-12-21 2015-03-17 Sikorsky Aircraft Corporation Control system and method for rotor assembly
TW201129565A (en) * 2010-01-12 2011-09-01 Hoffmann La Roche Tricyclic heterocyclic compounds, compositions and methods of use thereof
US8983712B2 (en) * 2010-06-25 2015-03-17 Sikorsky Aircraft Corporation Method and system for detecting pushrod faults
JP6080521B2 (en) * 2012-11-30 2017-02-15 インターナショナル・ビジネス・マシーンズ・コーポレーションＩｎｔｅｒｎａｔｉｏｎａｌ Ｂｕｓｉｎｅｓｓ Ｍａｃｈｉｎｅｓ Ｃｏｒｐｏｒａｔｉｏｎ Data management mechanism of wide-area distributed medical information network
EP2945865B1 (en) 2013-01-18 2019-01-09 LORD Corporation Active vibration control devices, systems, and methods
US9248909B2 (en) 2013-07-23 2016-02-02 Sikorsky Aircraft Corporation Swashplateless coaxial rotary wing aircraft
US9233753B2 (en) 2013-07-24 2016-01-12 Sikorsky Aircraft Corporation Helicopter rotor load reduction and tip clearance control
US9315265B2 (en) 2013-07-29 2016-04-19 Sikorsky Aircraft Corporation Adjustable scissor control link
US20150097074A1 (en) * 2013-10-03 2015-04-09 Sikorsky Aircraft Corporation Dual-frequency active vibration control
US10822076B2 (en) 2014-10-01 2020-11-03 Sikorsky Aircraft Corporation Dual rotor, rotary wing aircraft
WO2016064952A1 (en) * 2014-10-21 2016-04-28 Sikorsky Aircraft Corporation Vibration control assembly for an aircraft and method of controlling aircraft vibration
IL240316B (en) 2015-08-03 2018-10-31 Technion Res & Dev Foundation Method and system for parametric amplification
US10836478B2 (en) * 2015-08-24 2020-11-17 Sikorsky Aircraft Corporation Separation of collective and cyclic actuation
US11932380B2 (en) 2017-03-15 2024-03-19 Textron Innovations Inc. Vibration isolation systems for compound helicopters
US20180265186A1 (en) 2017-03-15 2018-09-20 Bell Helicopter Textron Inc. Vibration Isolation Systems for Advancing Blade Concept Rotorcraft
US11238745B2 (en) 2018-05-07 2022-02-01 Joby Aero, Inc. Dynamic aircraft routing
US10593215B2 (en) * 2018-05-07 2020-03-17 Uber Technologies, Inc. Dynamic aircraft routing
EP4224115A1 (en) 2019-06-10 2023-08-09 Joby Aero, Inc. Time varying loudness prediction system
WO2021034973A1 (en) * 2019-08-20 2021-02-25 Kinetic Analytics Llc Individual blade control system for rotorcraft
US11560224B2 (en) * 2020-01-09 2023-01-24 Lockheed Martin Corporation Eccentrically adjusted rotating scissor pitch control link
US11465738B2 (en) 2020-01-28 2022-10-11 Overair, Inc. Fail-operational VTOL aircraft
US11738862B2 (en) 2020-01-28 2023-08-29 Overair, Inc. Fail-operational vtol aircraft
US11794883B2 (en) * 2020-04-20 2023-10-24 Lockheed Martin Corporation Vibration control assembly
CN112429217A (en) * 2020-11-26 2021-03-02 广东国士健科技发展有限公司 Aircraft with double-layer rotor wing structure

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4008979A (en) * 1975-11-13 1977-02-22 United Technologies Corporation Control for helicopter having dual rigid rotors
US4937758A (en) * 1987-09-04 1990-06-26 Technology Integration And Development Group, Inc. Method and apparatus for reducing vibration over the full operating range of a rotor and a host device
US4980835A (en) 1988-10-13 1990-12-25 United Technologies Corporation Control law system for X-Wing aircraft
US4953098A (en) 1988-10-13 1990-08-28 United Technologies Corporation Higher harmonic control system for X-Wing aircraft
US4965879A (en) 1988-10-13 1990-10-23 United Technologies Corporation X-wing fly-by-wire vehicle management system
JP3278452B2 (en) 1992-04-01 2002-04-30 株式会社東芝 Adjustment support device for connecting the rotating body
US5314308A (en) 1992-12-11 1994-05-24 Dynamic Engineering, Inc. System for controlling higher harmonic vibrations in helicopter rotor blades
JP2758374B2 (en) * 1995-02-28 1998-05-28 株式会社コミュータヘリコプタ先進技術研究所 Helicopter rotor harmonic controller
GB9523651D0 (en) * 1995-11-18 1996-01-17 Gkn Westland Helicopters Ltd Helicopter and method for reucing vibration of a helicopter fuselage
US6671590B1 (en) 2001-04-30 2003-12-30 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and system for active noise control of tiltrotor aircraft
US7017857B2 (en) * 2002-09-16 2006-03-28 Foster-Miller, Inc. Active vibration control system
US7604198B2 (en) * 2003-09-25 2009-10-20 Petersen Bruce L Rotorcraft having coaxial counter-rotating rotors which produce both vertical and horizontal thrust and method of controlled flight in all six degrees of freedom
US7083142B2 (en) * 2004-04-21 2006-08-01 Sikorsky Aircraft Corporation Compact co-axial rotor system for a rotary wing aircraft and a control system thereof

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10392102B2 (en) 2004-08-30 2019-08-27 Lord Corporation Helicopter vibration control system and circular force generation systems for canceling vibrations
US8162606B2 (en) 2004-08-30 2012-04-24 Lord Corporation Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations
US8267652B2 (en) 2004-08-30 2012-09-18 Lord Corporation Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations
US8313296B2 (en) 2004-08-30 2012-11-20 Lord Corporation Helicopter vibration control system and rotary force generator for canceling vibrations
US8480364B2 (en) 2004-08-30 2013-07-09 Lord Corporation Computer system and program product for controlling vibrations
US9073627B2 (en) 2004-08-30 2015-07-07 Lord Corporation Helicopter vibration control system and circular force generation systems for canceling vibrations
US9776712B2 (en) 2005-08-30 2017-10-03 Lord Corporation Helicopter vibration control system and circular force generation systems for canceling vibrations
US8639399B2 (en) 2007-10-25 2014-01-28 Lord Corporaiton Distributed active vibration control systems and rotary wing aircraft with suppressed vibrations
US8090482B2 (en) 2007-10-25 2012-01-03 Lord Corporation Distributed active vibration control systems and rotary wing aircraft with suppressed vibrations
CN101916115A (en) * 2010-07-27 2010-12-15 东北大学 Micro coaxial dual-rotor helicopter control device and method
CN105431352A (en) * 2012-05-21 2016-03-23 保罗·E·阿尔托恩 Rotary wing vehicle
US10351233B2 (en) 2013-04-22 2019-07-16 Sikorsky Aircraft Corporation Vibration control of a swashplateless coaxial rotor
EP2803570A1 (en) * 2013-04-22 2014-11-19 Sikorsky Aircraft Corporation Vibration control of a swashplateless coaxial rotor
EP3197771A4 (en) * 2014-09-26 2018-05-30 Sikorsky Aircraft Corporation Anti-vibration moment generating aircraft actuation system
US10538314B2 (en) 2014-09-26 2020-01-21 Sikorsky Aircraft Corporation Anti-vibration moment generating aircraft actuation system
US10167079B2 (en) 2014-10-01 2019-01-01 Sikorsky Aircraft Corporation Main rotor rotational speed control for rotorcraft
US10443675B2 (en) 2014-10-01 2019-10-15 Sikorsky Aircraft Corporation Active vibration control of a rotorcraft
US10717521B2 (en) 2014-10-01 2020-07-21 Sikorsky Aircraft Corporation Hub separation in dual rotor rotary wing aircraft
EP3201076A4 (en) * 2014-10-01 2018-05-23 Sikorsky Aircraft Corporation Active vibration control of a rotorcraft
US10543912B2 (en) 2017-07-19 2020-01-28 Sikorsky Aircraft Corporation Higher harmonic control augmented with active vibration control
US10933984B2 (en) 2018-07-13 2021-03-02 Textron Innovations Inc. Hub mounted vibration reduction system for coaxial rotor systems
EP3594116A1 (en) * 2018-07-13 2020-01-15 Bell Helicopter Textron Inc. Hub mounted vibration reduction system for coaxial rotor systems

Also Published As

Publication number Publication date
EP2076436B1 (en) 2020-04-22
US7648338B1 (en) 2010-01-19
WO2008033884A3 (en) 2008-06-19
US20100003133A1 (en) 2010-01-07
EP2076436A4 (en) 2014-08-13
EP2076436A2 (en) 2009-07-08

Similar Documents

Publication Publication Date Title
EP2076436B1 (en) Dual higher harmonic control (hhc) for a counter-rotating, coaxial rotor system
EP2803570B1 (en) Vibration control of a swashplateless coaxial rotor
US11884385B2 (en) Active vibration control system with non-concentric revolving masses
US7988089B2 (en) Swashplate trajectory control
US10543912B2 (en) Higher harmonic control augmented with active vibration control
EP1730029B1 (en) Gearbox mounted force generator
US10723450B2 (en) Passive pitch angle adjustment apparatus
CA2805889C (en) Compact rotorcraft dual-element spherical elastomeric centrifugal-force bearing assembly
EP2796368B1 (en) Integration of rotary electrical actuator for swashplateless individual blade control
EP3375710A1 (en) Vibration isolation systems for advancing blade concept rotorcraft
US10745116B2 (en) Anti-vibration load generating aircraft actuation system
CA2829734C (en) Direct-drive control of aircraft stability augmentation
EP3027504B1 (en) Adjustable scissor control link
US11203418B2 (en) Mount systems for pylon assemblies with coaxial rotors
EP3650339B1 (en) System and method for frequency domain rotor mode decomposition
US10994834B2 (en) Case mounted transmission AVC force generators
US20090283628A1 (en) Directional control arrangement to provide stabilizing feedback to a structural bending mode
US20240208645A1 (en) Anti-Backlash Flight Control Actuator System
Reilly et al. Achieving Automated Rotor Track and Balance through use of Active Trim Tab and Pitch Control Rod Technologies

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 07842302

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

REEP Request for entry into the european phase

Ref document number: 2007842302

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2007842302

Country of ref document: EP