WO2019162457A1 - Autogire - Google Patents

Autogire Download PDF

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Publication number
WO2019162457A1
WO2019162457A1 PCT/EP2019/054475 EP2019054475W WO2019162457A1 WO 2019162457 A1 WO2019162457 A1 WO 2019162457A1 EP 2019054475 W EP2019054475 W EP 2019054475W WO 2019162457 A1 WO2019162457 A1 WO 2019162457A1
Authority
WO
WIPO (PCT)
Prior art keywords
force
linear direct
direct drive
drive
rotor
Prior art date
Application number
PCT/EP2019/054475
Other languages
German (de)
English (en)
Inventor
Otmar Birkner
Original Assignee
Autogyro Ag
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 Autogyro Ag filed Critical Autogyro Ag
Publication of WO2019162457A1 publication Critical patent/WO2019162457A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/02—Gyroplanes
    • B64C27/021—Rotor or rotor head construction
    • B64C27/024—Devices for shifting the rotor axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/02—Gyroplanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/02—Gyroplanes
    • B64C27/028—Other constructional elements; Rotor balancing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/11—Autogyros
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/296—Rotors with variable spatial positions relative to the UAV body
    • B64U30/297—Tilting rotors

Definitions

  • 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.
  • a servo control device of a rotary wing aircraft 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.
  • 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.
  • control linear direct drive 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.
  • 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.
  • 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.
  • Linear direct drives are technically mature drives and can be easily manufactured and configured.
  • 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.
  • control linear direct drive is arranged to exert the force on the force transmitter
  • 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.
  • 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.
  • 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.
  • linear direct drive the term linear motor can also be used.
  • 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.
  • 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.
  • the control linear direct drive such as a strong holding force that control of the gyrocopter by hand with activated linear actuator direct drive is not possible.
  • 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.
  • the stator preferably comprises electromagnets by means of which a force can be exerted on the permanent magnets.
  • 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.
  • 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.
  • 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.
  • the gyrocopter has a second control linear direct drive, which is arranged for exerting a force on the second power transmission.
  • a joystick can transmit forces, which can be represented as a linear combination of two linearly independent forces.
  • 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.
  • Adjusting to the desired position may be controlling or regulating.
  • 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.
  • the linear direct drives can each have a sensor.
  • the sensor is an absolute position sensor.
  • the sensor is a magnetically encoded linear strip.
  • the gyroplane preferably comprises a control for driving the linear direct drive.
  • 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.
  • 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.
  • 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.
  • a predetermined 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.
  • 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.
  • 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.
  • 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.
  • control linear direct drive is designed to control the position of the force transmitter to the desired position.
  • 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.
  • a sensor 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.
  • 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.
  • a control linear direct drive it is possible, but not necessary, for the rudder linear direct drive to act directly on the pedal force transmitter.
  • the rudder linear direct drive acts on a connected to the pedal power transmission element, such as the pedal.
  • 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.
  • 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.
  • the gas linear direct drive can also be connected directly or indirectly to the gas movement transmitter.
  • the gyroplane has a travel speedometer, in particular a pitot tube, for measuring a travel speed relative to the surrounding air.
  • 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.
  • 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.
  • 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
  • FIG. 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
  • FIG. 3 shows the gyrocopter according to the figures 1 and 2 in a view of the
  • FIG. 4 shows parts of the gyroplane according to the invention for explaining the invention
  • 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.
  • 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.
  • the power transmission 20, 22 are coupled to a joystick 24.
  • 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.
  • a schematically drawn throttle lever 36 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.
  • 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.
  • the gyrocopter 10 also has a chassis 50.
  • the landing gear for example, floats or runners are available.
  • FIG. 2 shows the gyrocopter 10 without its outer lining.
  • 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.
  • 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.
  • 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.
  • the lever 56 pivots about an articulation point 58.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • a travel speed v a which could also be referred to as air speed
  • 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.
  • 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.
  • 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.
  • 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.
  • control linear direct drive 52 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.
  • a gyro 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Mechanical Control Devices (AREA)

Abstract

L'invention concerne un autogire (10) comportant (a) une tête de rotor (18) destinée à fixer un rotor principal (12), (b) un levier de commande (24) et (c) un transmetteur de force (20) destiné de transmettre une force à partir du levier de commande (24) à la tête de rotor (18). Selon l'invention, (d) un entraînement direct linéaire de commande (52) est prévu pour exercer une force sur le transmetteur de force (20), (e) l'entraînement direct linéaire de commande (52) comportant un rotor (54) et un stator (59) conçus pour effectuer un mouvement de translation l'un par rapport à l'autre et (f) le rotor (54) étant monté de manière à ce que le transmetteur de force (20) se déplace lorsque le rotor (54) se déplace.
PCT/EP2019/054475 2018-02-23 2019-02-22 Autogire WO2019162457A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018104192.6 2018-02-23
DE102018104192.6A DE102018104192A1 (de) 2018-02-23 2018-02-23 Tragschrauber

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WO2019162457A1 true WO2019162457A1 (fr) 2019-08-29

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11332242B2 (en) * 2019-08-14 2022-05-17 Unmanned Aerospace Llc Aerial vehicle

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU199072U1 (ru) * 2020-02-21 2020-08-12 Общество с ограниченной ответственностью "Космик" Дублирующий модуль исполнительных механизмов для беспилотного гироплана

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB635592A (en) * 1941-07-05 1950-04-12 Autogiro Co Of America Improvements in control systems for rotative winged aircraft
DE3431583A1 (de) 1984-08-28 1986-03-13 Messerschmitt-Bölkow-Blohm GmbH, 8012 Ottobrunn Vorrichtung zur automatischen beseitigung von steuerkraftfehlern bei luftfahrzeugen, insbesondere hubschraubern
DE3784935T2 (de) 1987-06-10 1993-10-07 Denis Rabouyt Servosteuerungsvorrichtung eines drehflügelflugzeuges.
DE202007012692U1 (de) * 2007-09-11 2007-11-22 Sbm Maschinen Gmbh Antrieb für ein Fluggerät
DE102014011441A1 (de) * 2014-08-07 2016-02-11 AutoGyro AG, Schweiz Tragschrauber
US9611036B1 (en) * 2011-08-17 2017-04-04 Groen Aeronautics Corporation Rotor-mast-tilting apparatus and method for lower flapping loads

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB635592A (en) * 1941-07-05 1950-04-12 Autogiro Co Of America Improvements in control systems for rotative winged aircraft
DE3431583A1 (de) 1984-08-28 1986-03-13 Messerschmitt-Bölkow-Blohm GmbH, 8012 Ottobrunn Vorrichtung zur automatischen beseitigung von steuerkraftfehlern bei luftfahrzeugen, insbesondere hubschraubern
DE3784935T2 (de) 1987-06-10 1993-10-07 Denis Rabouyt Servosteuerungsvorrichtung eines drehflügelflugzeuges.
DE202007012692U1 (de) * 2007-09-11 2007-11-22 Sbm Maschinen Gmbh Antrieb für ein Fluggerät
US9611036B1 (en) * 2011-08-17 2017-04-04 Groen Aeronautics Corporation Rotor-mast-tilting apparatus and method for lower flapping loads
DE102014011441A1 (de) * 2014-08-07 2016-02-11 AutoGyro AG, Schweiz Tragschrauber

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11332242B2 (en) * 2019-08-14 2022-05-17 Unmanned Aerospace Llc Aerial vehicle
US11873087B2 (en) 2019-08-14 2024-01-16 Unmanned Aerospace Llc Aerial vehicle

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