WO2019162457A1

WO2019162457A1 - Autogyro

Info

Publication number: WO2019162457A1
Application number: PCT/EP2019/054475
Authority: WO
Inventors: Otmar Birkner
Original assignee: Autogyro Ag
Priority date: 2018-02-23
Filing date: 2019-02-22
Publication date: 2019-08-29
Also published as: DE102018104192A1

Abstract

The invention relates to an autogyro (10), comprising (a) a rotor head (18) for fastening a main rotor (12), (b) a joystick (24) and (c) a force transmitter (20) for transmitting a force from the joystick (24) to the rotor head (18). According to the invention, (d) a control linear direct drive (52) is provided, which is arranged to apply a force to the force transmitter (20), (e) wherein the control linear direct drive (52) has a rotor (54) and a stator (59), which are designed for translatory motion relative to each other, and (f) wherein the rotor (54) is fastened in such a way that the force transmitter (20) moves when the rotor (54) moves.

Description

gyrocopter

The invention relates to a gyroplane with a rotor head for attaching a main rotor, a joystick and a power transmission for transmitting a force from the control stick to the rotor head.

Gyroplanes have a main rotor, which is passively driven by the wind, and a propeller to generate the propulsion. It is possible, but not necessary and even dispensable, for the gyroplane to have wings that increase its lift.

Depending on the flight situation, the pilot must exert a greater or lesser force on the joystick to hold the gyrocopter in the desired flight condition. This can lead to fatigue of the pilot. It is therefore known to use a pneumatic system for trimming. But this has the disadvantage that it is comparatively expensive to operate.

From DE 37 84 935 T2 a servo control device of a rotary wing aircraft is known, in which by means of an electric motor, a trim element is positioned. This trim element is positioned to neutralize external forces that would otherwise have to be applied manually by the pilot. The advantage of such a system is that flying with less fatigue is possible. A disadvantage of such a system is that it is unsuitable for automatic control of the gyrocopter.

A similar system is known from DE 34 31 583 A1. There, too, a spring of a spring box is delivered by means of a servomotor so that control force errors in aircraft, in particular helicopters, can be compensated. Even such a system is not suitable for combined use in manual mode and in automatic mode.

The invention has for its object to reduce disadvantages in the state of the. The invention solves the problem by a gyrocopter with the features of claim 1.

It should be noted that it is possible and preferred that not only one but two or possibly even more power transmission devices are present. It is also possible, but not necessary, for exactly one control linear direct drive to be present. In particular, it is possible for two or more control linear direct drives to exert a force to have at least one force transmitter.

An advantage of such a gyroplane is that a trim force can be changed very quickly. Thus, it is possible for the gyrocopter to have an actuating element, for example a switch, by means of which the instantaneous position of the joystick can be set as the desired position. In this case, the control linear direct drive may be configured to exert a force on the power carrier that is so large that the control linear direct drive retains its current position. In other words, the control linear direct drive is then controlled to the desired position. The pilot then no longer has to apply corresponding force to maintain the flight condition with respect to the control action transmitted via the force transmitter.

Alternatively, it is possible that the control linear direct drive is designed so that it applies force applied to the moment of actuation of the actuating element, constantly. In other words, the control linear direct drive is then controlled to the desired force.

It is also advantageous that the solution according to the invention is relatively easy to implement. Linear direct drives are technically mature drives and can be easily manufactured and configured.

It is also advantageous that a shutdown of the linear direct drive causes that no more force is exerted on the power transformer. This drive is therefore intrinsically safe, since the pilot can always take sole control of the gyrocopter by switching off the control linear direct drive. In the context of the present description, the main rotor is understood as meaning the rotor, which is passively driven by the airstream in flight.

The rotor head is understood to mean the suspension of the main rotor, which is designed in such a way that actuation of the control stick causes the plane in which the main rotor rotates to be tilted, so that the gyrocopter can be controlled.

By the feature that the control linear direct drive is arranged to exert the force on the force transmitter is in particular understood that the stator of the linear direct drive is fixedly fixed relative to a body of the gyroscope, whereas acting as a rotor part of the control linear direct drive so is fastened, that the force transmitter, when the acting as a rotor part moves.

The feature that the control linear direct drive is arranged to exert a force on the force transmitter is understood in particular to mean that actuation of the control linear direct drive leads to the force transmitted by the force transmitter changing and / or the force transmitter being changed emotional. It is possible, but not necessary, for the control linear direct drive to act directly on the force transducer. It is also possible for the control linear direct drive to act on a component which is coupled to the force transmitter.

The linear direct drive is understood in particular to mean an electric motor in which the rotor and the stator are designed to move in translation relative to each other. Instead of linear direct drive, the term linear motor can also be used.

By the feature that the rotor is fixed so that the force transmitter moves when the rotor is moving, it is understood in particular that a movement of the rotor always leads to a movement of the power transmitter. In particular, the coupling between the rotor and the force transmitter is rigid and / or inelastic. A rigid and / or inelastic coupling is understood in particular to be a spring element-free, that is unsprung, coupling. In this way the gyrocopter can be controlled safely and responsively with the control linear direct drive.

Preferably, the coupling between the rotor and the power transmission is designed so and has the control linear direct drive such a strong holding force that control of the gyrocopter by hand with activated linear actuator direct drive is not possible. However, it is possible to turn off the control linear direct drive. This is done according to a preferred embodiment by actuating a corresponding actuating element such as, for example, a switch or button, or by applying a breakout force on the joystick. The breakaway force leads to a current parameter which describes the electrical power of the at least one control linear direct drive exceeding a current characteristic threshold value. This is detected by the drive unit of the control linear direct drive, which then deactivates the control linear direct drive so that it no longer exerts any force on the power transmitter.

The control linear direct drive preferably has a stroke range between a first drive extreme position and a second drive extreme position, wherein the first drive extreme position corresponds to a first joystick extreme position and the second drive extreme position corresponds to a second joystick extreme position. It is advantageous if a breakaway force of at least 10 Newton, preferably at least 20 Newton, is necessary to achieve a change in the Stel development of the rotor of the control linear direct drive relative to the stator of 3% of the stroke range.

The control linear direct drive preferably has permanent magnets. These are according to a preferred embodiment mounted so that they move when the power transmission moves. In this case, the stator preferably comprises electromagnets by means of which a force can be exerted on the permanent magnets.

However, it is also possible that the part of the control linear direct drive connected to the power transmission comprises electromagnets. It is then possible that the Stator, ie the part attached to the hull of the gyrocopter, also has electromagnets. Alternatively, this part may comprise permanent magnets.

It is also possible that the rotor of the control linear direct drive and the stator has electromagnets. However, because of the need for extraneous excitation, this system offers benefits only in exceptional cases. In general, it is advantageous if the permanent magnets are attached to the power transformer.

According to an alternative embodiment, at least one linear direct drive is designed as a stepping motor, in particular as a reluctance stepping motor, permanent magnet stepping motor or hybrid stepping motor. If the linear direct drive is a reluctance stepping motor, it has soft iron elements, which are preferably arranged on the rotor of the linear direct drive.

According to a preferred embodiment, the gyrocopter has a second power transmission for transmitting the power from the control stick to the rotor head, wherein the control stick, the first power transmission and the second power transmission are arranged so that by means of the joystick, the rotor head in the pitch and roll direction is movable. In this case, it is favorable if the gyrocopter has a second control linear direct drive, which is arranged for exerting a force on the second power transmission. As a rule, a joystick can transmit forces, which can be represented as a linear combination of two linearly independent forces. Thus, a first force causes a rolling motion of the rotor head and a second force causes a pitching motion. The two control linear direct drives are in this case preferably arranged so that they can very well cause pitching and rolling movement of the rotor head.

It should be understood, however, that it is possible and usual, but not necessary, for movement of the joystick to result in pitching motion of the rotor head but not in pitching motion. It is also possible and customary, but not necessary, for a movement of the control stick, which leads only to a rolling, but not to a pitching movement of the rotor head, leads to a movement of both power transmission. An advantage of such a gyroplane is that the pilot can release the joystick without the attitude changes when the control linear direct drives are set to the appropriate position as the desired position.

Adjusting to the desired position may be controlling or regulating. Under the rules, the rules are understood in the control technical sense as a control with feedback. It is therefore possible and preferred, but not necessary, for the linear direct drives to be designed to detect a position of the rotor relative to the stator. For this purpose, the linear direct drives can each have a sensor. Preferably, the sensor is an absolute position sensor. For example, the sensor is a magnetically encoded linear strip.

The gyroplane preferably comprises a control for driving the linear direct drive. If the linear direct drive is a stepper motor, the drive unit is preferably set up to detect the position of the rotor of the linear direct drive relative to the stator. This detection belongs to the prior art and will therefore not be explained further.

Preferably, the gyrocopter has (a) a pneumatic cylinder arranged to exert on the rotor head, (b) a pressurized gas source, and (c) a valve for connecting and disconnecting the pressurized gas source and the pneumatic cylinder. The helicopter also preferably comprises a drive unit which is set up to automatically (i) detect a current parameter which describes an electric power of the at least one control linear direct drive and (ii) change a trim pressure in the pneumatic cylinder on the basis of the current parameter so that the electrical power is minimized. Changing the trim pressure is preferably done by operating the valve.

This valve is preferably designed so that compressed air can be discharged from the pneumatic cylinder. However, it is also possible that a separate from this valve second valve is present. When the electric current consumed by the at least one control linear direct drive is minimal, the trim is optimal. This reduces the heat loss of the at least control linear direct drive.

Preferably, the drive unit is configured to automatically carry out a method comprising the steps of (i) detecting whether the current characteristic that describes the electric power of the at least one control linear direct drive exceeds a predetermined threshold and (ii) if so, terminating the exercise the force on the power transmission. This allows the pilot to gain the most control over the gyroplane by applying sufficient force to the control stick. This threshold may be, for example, at least 10 Newton and / or less than 200 Newton. If the predetermined threshold is not exceeded, the exertion of the force on the force transmitter is not terminated.

It is favorable if the gyrocopter has an actuating element by means of which the at least one control linear direct drive can be switched on and / or off. This actuator may alternatively or additionally be provided that the drive unit as described above for terminating the exertion of force on the power transmitter is formed when the current characteristic value exceeds the threshold value.

By actuating the actuating element, which may be, for example, a switch or lever, the control linear direct drive can be switched off. It is possible, but not necessary, for the actuating element to be designed so that a desired position of the control stick can be assigned by actuating the at least one control linear direct drive. In other words, in this case, actuation of the actuating element results in the at least one control linear direct drive holding the position of the control stick in the current position or permanently applying the force at the time of actuation of the actuating element from the control linear direct drive is applied. Alternatively or additionally, it is possible for an actuation of the actuating element to bring the at least one control linear direct drive into a respectively predetermined desired position that does not correspond to the current position. For example, such a desired position may be stored in a memory, preferably a digital memory, of the drive unit.

According to a preferred embodiment, the desired position is predetermined by an autopilot. The autopilot is a system in which a destination and / or a route is stored and automatically generates a time sequence of target positions and sends them to the drive unit. It is possible, but not necessary, for the autopilot to be part of the control unit. The invention then makes it possible to fly the gyrocopter by hand as well as to operate fully automatically, autonomously.

Preferably, the control linear direct drive is designed to control the position of the force transmitter to the desired position. This is understood in particular to mean that the control linear direct drive reacts to a deviation of the position of the rotor relative to the stator, which reacts, for example, by a force exerted on the control stick, with the generation of a force which reduces the deviation. In other words, it is not possible to move the power transmitter by means of the joystick, as long as the control linear direct drive is active.

To control the position, a sensor is used which detects the position of the rotor relative to the stator and which is connected to a control, which in this case is a control. The drive is connected to the control linear direct drive for driving.

Preferably, the gyroplane has a rudder, at least one pedal, a pedal force transmitter for transmitting movement of the pedal to the rudder, and a rudder linear direct drive arranged to exert a force on the pedal force transmitter. As with the control linear direct drive, it is possible, but not necessary, for the rudder linear direct drive to act directly on the pedal force transmitter. In particular, it is also possible that the rudder linear direct drive acts on a connected to the pedal power transmission element, such as the pedal.

Preferably, the gyroplane has a throttle lever for controlling the engine and a position sensor for detecting a position of the throttle lever, wherein the engine is connected to the position sensor so that an engine power based on signals from the position sensor is controllable. Such a system has long been state of the art in commercial aircraft, but has not been used in gyroplanes since it adds to the complexity of the system.

Alternatively or additionally, the gyroplane comprises a gas movement transmitter from the throttle lever to the engine and a gas linear motor which is arranged to exert a force on the gas movement transmitter. As stated above for the other linear motors, the gas linear direct drive can also be connected directly or indirectly to the gas movement transmitter.

It is favorable if the gyroplane has a travel speedometer, in particular a pitot tube, for measuring a travel speed relative to the surrounding air. Alternatively or additionally, the gyroplane preferably has a differential satellite navigation system and / or an inertial measurement unit. It is particularly expedient if these measuring devices are connected to the drive unit and the drive unit is designed to automatically fly the carrier. For this purpose, the control unit is connected to the gas linear direct drive, the side rudder linear direct drive and the control linear direct drives for activation.

The features described above for the control linear direct drive as preferred embodiments are also preferred embodiments for the gas linear direct drive and the rudder linear direct drive, if present. The invention will be explained in more detail below with reference to the attached drawings. It shows

1 shows a gyrocopter according to the invention in a side view,

Figure 2 is a perspective view of the gyroplane according to Figure 1 without

Hull cover and

3 shows the gyrocopter according to the figures 1 and 2 in a view of the

Page.

FIG. 4 shows parts of the gyroplane according to the invention for explaining the invention

Stroke.

FIG. 1 shows a gyroplane 10 according to the invention, which has a main rotor 12 and a propeller 14. The main rotor 12 comprises a first rotor blade 16. 1 and a second rotor blade 16. 2, which are both fastened to a rotor head 18. At the rotor head 18, a first power transmission 20 and a second power transmission 22 engage, by means of which the rotor head 18 can be pivoted about a roll axis AR and about a pitch axis AN. For this purpose, the power transmission 20, 22 are coupled to a joystick 24. In other words, movement of the control stick 24 by means of the movement of the force transmitters 20, 22 leads to a movement of the rotor head 18.

The gyrocopter 10 also includes a rudder 26, which is attached to a Heckleit- work 28. The tailplane 28 is connected via a keel tube 30 to a hull 32 of the gyrocopter.

The propeller 14 is connected to a schematically drawn engine 34, which may be, for example, a naturally aspirated engine or a direct injection engine. By means of a schematically drawn throttle lever 36, the power of the motor 34 can be changed. The throttle lever 36 is arranged so that a pilot seated on a seat 35 can easily operate it. FIG. 1 also schematically shows a travel speed meter 38 in the form of a pitot tube, which is attached to the fuselage 32. On the fuselage 32 also an air pressure gauge 40.1 is arranged. A second air pressure gauge 40. 2 is arranged on the exactly opposite side, thus on the starboard side of the gyroscope 10, and hidden by the fuselage 32.

Schematically plotted is a differential satellite navigation system 42 having a first receiver 44.1 and a second receiver 44.2 for receiving data from a satellite navigation system. The two receivers 44.1, 44.2 are spaced apart. From the difference of the positions determined with the two receivers 44.1, 44.2, an orientation of the gyroscope 10 in space is determined.

The gyrocopter 10 additionally comprises an inertial measuring unit 46, which contains at least three acceleration sensors and is set up to determine a position of the gyroscope 10, in particular by integrating twice the acceleration data recorded by the acceleration sensors.

In the present case, the gyrocopter 10 also has a chassis 50. Of course, it is also possible that instead of the landing gear, for example, floats or runners are available.

Figure 2 shows the gyrocopter 10 without its outer lining. It can be seen that the gyrocopter 10 has a first control linear direct drive 52, by means of which a force can be exerted on the first force transmitter 20. In the present embodiment, the first control linear direct drive 52 has for this purpose a first output part 54, which may also be referred to as rotor, output rod or movable element and which is connected to a lever 56. On the lever 56 of the first power transmission 20 is also attached. When the first control linear direct drive 52 is actuated, the lever 56 pivots about an articulation point 58. As a result, the first force transmission 20, which in turn moves the rotor head 18, moves. The control linear direct drive 52 also includes a stator 59, relative to which the rotor in the form of the driven part 54 moves.

FIG. 2 shows that the first force transmitter 20 is designed as a rod drive which has rods connected to one another in an articulated manner. The transmission of the movement of the joystick 24 to the power transmission 20, 22, is known from the prior art and will therefore not be described in detail.

The first control linear direct drive is connected to the drive unit 48 (see FIG. This drive unit 48 is designed to drive the first control linear direct drive 52 so that it maintains a predetermined desired position independent of external forces. If these external forces exceed a predetermined value, for example because the pilot actuates the control stick 24, the control unit 48 switches off the first control linear direct drive 52.

The gyrocopter 10 also has a second control linear direct drive 60 which acts on a second lever 64 via a second output part 62. The second force transmitter 22 is attached to the second lever 64, so that the second force transmission 22 and thus the rotor head 18 can be moved by actuating the second control linear direct drive 60.

The gyroplane 10 may include an actuator 66, such as a button. The actuator 66 may be formed on the joystick 24, for example. If the pilot actuates the actuating element 66, then an electrical signal is generated which is sent or conducted to the drive unit 48.

The drive unit 48 then detects the position of the output parts 54, 62 of the control linear direct drives 52, 60 relative to the components of the control linear direct drives 52, 60 fastened relative to the fuselage 32. For this purpose, the control line direct drives 52, 60 can have corresponding position sensors , The mode of operation of these sensors is irrelevant; they can be, for example, optical sensors or capacitive sensors.

The gyrocopter 10 has two pedals 68.1, 68.2, which are connected to a pedal force transfer 68. The pedal force transmitter 68 transmits the pedal force the rudder 26. A rudder linear direct drive 70 acts via a lever 72 on the pedal force transmitter 68, so that by means of the rudder linear direct drive 70, the rudder 26 can be operated. The throttle lever 36 is connected to a gas motion transmitter 74, on which a gas linear direct drive 76 acts.

All linear direct drives are connected to the drive unit 48. It is possible, but not necessary, for the drive unit 48 to have a send and receive module 78 (cf., FIG. 1) by means of which control commands can be sent to the drive unit 48. It is then possible by means of a transmitter 80 to fly the carrier 10 unmanned. It is then in the gyrocopter 10 to an unmanned missile, which can also be referred to as a drone.

FIG. 3 shows a detailed view of the rotor head 18 according to a preferred embodiment of the invention. It can be seen that the gyrocopter has a cut pneumatic cylinder 82 which is arranged to exert a trim force Ft on the rotor head 18. The gyrocopter 10 also comprises a pressurized gas source 84, which may be a compressor , Alternatively, it can also be a bottle of compressed compressed air. Of course, the compressed gas source does not have to contain compressed air, but may also contain another gas. The compressed gas source 84 is connected via a control line to the drive unit 48.

The drive unit 48 continuously detects the power consumption of the control linear actuators. If the power consumption is above a predetermined mini-times threshold, then the drive unit 48 controls the valve 86 so that a pressure p in the pneumatic cylinder 82 changes so that the power consumption is reduced. For this purpose, the pressure is either increased by the pneumatic cylinder 82 is connected to the compressed gas source 84, alternatively, the pressure p in the pneumatic cylinder 82 is reduced by the fact that compressed gas is discharged. For example, the armature current through the electromagnets of the linear direct drive can be determined for detecting the power consumption. The drive unit 48 can be designed such that a flight route specified in absolute or relative coordinates is specified. On the basis of the data of the differential satellite navigation system and / or the inertial measuring unit, the real position is continuously determined and controlled via the linear direct drives 52, 62, 70, 76 of the gyroplane 10 so that it flies the predetermined flight route.

The air pressure gauge 40.1, 40.1 (see Figure 1) are also connected to the drive unit 48. If a pressure difference between the two air pressure sensors results, this indicates that a longitudinal axis L of the gyroscope 10 is not aligned in the direction of the relative wind. In particular, during automatic operation, the rudder linear direct drive 70 is controlled so that the air pressure difference measured with the air pressure gauges 40 is minimized.

By means of the travel speed meter 38, a travel speed v _a , which could also be referred to as air speed, is detected. If a desired travel speed is predetermined, the gas linear direct drive 76 and the control linear direct drives 52, 60 are activated in such a way that the desired travel speed results. In particular, it is possible that the travel speed v _a is set so that an airspeed VF, which can also be referred to as ground speed, is maintained.

FIG. 4 shows the first control linear direct drive 52 in a first drive extreme position, which is drawn with solid lines, and a second drive extreme position, which is shown in dashed lines. When the control linear direct drive is in its first drive extreme position, the joystick 24 is in a first joystick extreme position. This means that he can not be moved in the appropriate direction. If the control linear direct drive 52 is in its second drive extreme position, the joystick 25 is in its second control stick extreme position, which is opposite to the first joystick extreme position. The position of the rotor 54, which is also referred to as the output part 54, is described by a position xi. The position of the rotor 54 when in its second position is described by a position X2. The two positions xi, x2 limit a stroke range H. The first control linear rect drive 52 is designed so that changing the position x by means of the control stick 24 is only possible if a predetermined breakaway force FL on a head 88 of the joystick 24 is necessary to move the position x by 3% of the stroke range H to change. The breakaway force FL must be applied to the head 88 so that it acts in a direction corresponding to the direction in which the head 88 moves when the control linear direct drive 52 moves. This breakaway force is preferably at least 10 Newton, preferably at least 20 Newton and preferably at most 100 Newton.

In other words, if the control linear direct drive 52 is activated, control by means of the control stick, at least with respect to the force transmitter 20, which can be moved by the first control linear direct drive 52, is not possible. Only when the breakaway force FL is overcome, the drive unit 48 turns off the control linear direct drive, that is, this is inactivated. In this case, the gyrocopter can be manually controlled again.

The gyrocopter 10 has an autopilot, that is to say a system by means of which the gyrocopter 10 can be held autonomously to a predetermined destination and / or on a predetermined trajectory. This autopilot transmits a time sequence of desired positions to the drive unit 48 or a part of this drive unit 48, which in turn drives the control linear direct drive 52 in such a way that the gyrocopter flies the predetermined trajectory. It should be noted that this autopilot of course only works if there are enough linear actuators to carry out the necessary flight movements.

It is also possible and quite generally a preferred embodiment if a gyro according to the invention has at least one camera 90 by means of which an environment of the gyroscope 10 can be detected. This at least one camera 90 is preferably connected to a transmitting unit, for example the transmitting and receiving module 78, so that the images taken by the camera 90 can be transmitted wirelessly to a ground station. It is then possible to remotely control the gyrocopter. LIST OF REFERENCE NUMBERS

10 gyrocopter 59 stator

12 main rotor

14 propeller 60 second control linear direct drive 16 rotor blade 62 second output part

18 rotor head 64 second lever

66 confirmation element

20 first power transmission 68 pedal power transmission

22 second power transmission

24 Joystick 70 Rudder linear direct drive 26 Rudder 72 Lever

28 Heckleitwerk 74 Gas motion transmitter

76 Gas linear direct drive

30 keel tube 78 transmitting and receiving module 32 fuselage

34 engine 80 transmitters

35 seat 82 pneumatic cylinder

36 throttle lever 84 compressed gas source

38 cruise speedometer 86 valve

88 head

40 air pressure gauge 90 camera

42 Differential satellite navigation system AR Rolling axle

44 receiver AN pitch axis

46 Inertial measuring unit FL Breakaway force

48 Control unit Ft Trim force

H stroke range

50 chassis L longitudinal axis

52 first control linear direct drive, v _a travel speed

Rotor VF airspeed

54 first output part x position of the rotor (= output 56 lever part)

58 articulation point

Claims

claims

1. gyrocopter (10) with

(a) a rotor head (18) for mounting a main rotor (12),

(b) a joystick (24) and

(c) a power transmitter (20) for transmitting a force from the control stick (24) to the rotor head (18),

marked by

(d) a control linear direct drive (52) arranged to exert a force on the force transmitter (20)

(e) wherein the control linear direct drive (52) has a rotor (54) and a stator (59), which are designed for translational movement relative to each other and

(f) wherein the rotor (54) is mounted so that the force transducer (20) moves as the rotor (54) moves.

2. gyrocopter according to claim 1, characterized by

(a) a second force transmitter (22) for transmitting the force from the control stick (24) to the rotor head (18),

(B) wherein the joystick (24), the first power transmission (20) and the

second power transmission (22) are arranged so that by means of the control stick (24) of the rotor head (18) in the pitch and roll direction is movable, and

(c) a second control linear direct drive (60) arranged for

Exerting a force on the second force transmitter (22).

3. gyrocopter according to one of the preceding claims, characterized by

(a) a pneumatic cylinder (82) arranged to apply a trim force (Ft) to the rotor head (18),

(b) a pressurized gas source (84),

(c) a valve for connecting and disconnecting compressed gas source (84) and

Pneumatic cylinder (82) and

(d) a drive unit (48) arranged for automatic

(I) detecting a current characteristic that describes an electric power of the at least one control linear direct drive (52), and

(ii) Changing a trim pressure (Ft) in the pneumatic cylinder (82) based on the current characteristic, so that the electric power becomes minimum.

4. gyrocopter according to one of the preceding claims, characterized in that the drive unit (48) is arranged for automatically performing a method with the steps

(i) detecting whether the current characteristic describing the electric power of the at least one control linear direct drive (52) exceeds a predetermined threshold, and

(ii) if so, stop the exertion of the force on the transmission (20).

5. gyrocopter according to one of the preceding claims, characterized by an actuating element (66), by means of which the at least one control Lineardi- rect drive (52) is switched off and / or by means of the at least one control linear direct drive (52) has a desired position of the joystick (24) can be assigned.

6. gyrocopter according to one of the preceding claims, characterized by

(a) a rudder (26),

(b) at least one pedal,

(c) a pedal force transmitter (68) for transmitting a pedal force to the rudder (26) and

(d) a rudder linear direct drive (70) arranged to exert a force on the pedal force transmitter (68).

7. gyrocopter according to claim 6, characterized by

(a) a differential pressure gauge for measuring a pressure difference between a port side of the gyrocopter and a starboard side of the gyrocopter (10),

(b) wherein the drive unit (48) is arranged to drive the rudder linear direct drive (70) so that the pressure difference becomes minimum.

8. gyro according to one of the preceding claims, characterized by

(a) a propeller (14),

(b) a motor (34) connected to a propeller (14) for driving,

(c) a throttle lever (36) for controlling the engine (34), and

(d) a position sensor for detecting a position of the throttle lever (36),

(E) wherein the motor (34) is connected to the position sensor, so that an engine power based on signals from the position sensor is controllable.

9. gyroplane according to one of the preceding claims, characterized by

(A) a gas movement transmitter (74) from the throttle lever (36) to the motor (34) and

(b) a gas linear direct drive (76) arranged to apply a force to the gas movement transmitter (74).

10. gyrocopter according to one of the preceding claims, characterized by

(a) a travel speedometer (38), in particular a pitot tube, for measuring a travel speed (v _a ),

(b) a differential satellite navigation system (42) and

(c) an inertial measuring unit (46),

(d) wherein the drive unit (48) is adapted to automatically fly the gyroscope (10).

11. gyrocopter according to one of the preceding claims, characterized in that

(A) the control linear direct drive (52) a Flubbereich (H) between a first drive extreme position and a second drive extreme position, wherein the first drive extreme position corresponds to a first joystick extre- tion and the second drive extreme position of a second Joystick extreme position corresponds and that

(b) a breakaway force (FL) necessary to achieve a change in the position of the rotor 854) of the control linear direct drive (52) relative to the stator (59) of 3% of the stroke range (H), at least 10 Newton, preferably at least 20 Newton.

12. gyrocopter according to one of the preceding claims 5 to 11, character- ized in that the control linear direct drive (52) designed to regulate the position of the force transducer to the desired position.

13. Gyrocopter according to one of the preceding claims 5 to 12, characterized by an autopilot, which is connected to the drive unit for automatically specifying a time sequence of desired positions, so that the gyro autonomously flies along a predetermined trajectory and / or drives a given destination.

14. Gyrocopter according to one of the preceding claims 5 to 13, character- ized in that

(a) the control linear direct drive has a stroke range (H) between a first drive extreme position and a second drive extreme position, and (b) a breakaway force (FL) of at least 10 Newton on the joystick

(24) is necessary in order to achieve a change in the position of the rotor (54) of the control linear direct drive (52) relative to the stator of 3% of the stroke range (H)