公开(公告)号：WO2016116478A1

公开(公告)日：2016-07-28

申请号：PCT/EP2016/051065

申请日：2016-01-20

Applicant: PROX DYNAMICS AS

Inventor： MUREN, Petter ,  MARTON, Trygve Frederik ,  JOHNSRUD, Ivar ,  HAGH SANDBERG, Pål

IPC: B64C27/51 ,  A63H27/00 ,  B64C27/58 ,  B64C27/72

CPC classification number: B64C27/72 ,  A63H27/12 ,  B64C27/51 ,  B64C27/58 ,  B64C2201/024 ,  Y02T50/34

Abstract: The present invention discloses a rotor control system where rapid changes in rotor torque are transferred into moment forces acting about the blade pitch axis of a rotor blade in a thrust-generating rotor, to ultimately control the movements of a rotary wing aircraft. The moment forces acting on the rotor blade are transferred through a carefully adjusted damping member in order to allow rapid changes in rotor torque to create cyclic changes in blade pitch angle, while slow or permanent changes are cancelled out and affects the rotational speed and the thrust generated by the rotor, without permanently affecting the blade pitch angle of individual rotor blades.

Abstract translation: 本发明公开了一种转子控制系统，其中转子转矩的快速变化被转移到在推力产生转子中作用在转子叶片的叶片俯仰轴线上的力矩中，以最终控制旋翼飞机的运动。 作用在转子叶片上的力矩通过仔细调节的阻尼构件传递，以便允许转子扭矩的快速变化，从而产生叶片俯仰角的循环变化，同时缓慢或永久性的变化被抵消并影响转速和推力 由转子产生，而不会永久影响各个转子叶片的叶片桨距角。

公开(公告)号：WO2017125533A1

公开(公告)日：2017-07-27

申请号：PCT/EP2017/051155

申请日：2017-01-20

Applicant: PROX DYNAMICS AS

Inventor： MUREN, Petter ,  MARTON, Trygve Frederik ,  JOHNSRUD, Ivar ,  HAGH SANDBERG, Pål ,  MOENGEN, Christian ,  BJAARSTAD, Jo Eyvin

IPC: B64C27/32 ,  B64C27/48 ,  B64C27/00

CPC classification number: B64C27/48 ,  A63H27/12 ,  B64C27/322 ,  B64C2027/003 ,  B64C2201/024

Abstract: A torque dependent rotor assembly (1) with a spring system (100), the torque dependent rotor assembly (1) being designed to operate in resonance, where changes in applied torque on the rotor controls the blade pitch angle and ultimately the movements of a rotary wing aircraft. The stiffness of an associated spring member (14) is allowed to vary in response to the torque applied from a motor (31) to the rotor assembly (1).

Abstract translation: 具有弹簧系统（100）的扭矩相关转子组件（1），所述扭矩相关转子组件（1）被设计成共振地操作，其中所述转子上施加的扭矩的变化控制所述叶片 俯仰角以及最终旋翼飞机的运动。 允许相关的弹簧构件（14）的刚度响应于从马达（31）施加到转子组件（1）的扭矩而变化。

公开(公告)号：WO2017125489A1

公开(公告)日：2017-07-27

申请号：PCT/EP2017/051076

申请日：2017-01-19

Applicant: PROX DYNAMICS AS

Inventor： MUREN, Petter ,  MARTON, Trygve Frederik ,  JOHNSRUD, Ivar ,  HAGH SANDBERG, Pål ,  MOENGEN, Christian ,  BJAARSTAD, Jo Eyvin

IPC: B64C27/32 ,  B64C27/48 ,  B64C27/00

CPC classification number: B64C27/48 ,  A63H27/12 ,  B64C27/322 ,  B64C2027/003 ,  B64C2201/024

Abstract: A torque dependent and resonant operating thrust-generating rotor assembly (10, 11), comprising a cyclic pitch control system for controlling tilting moments about a longitudinal rotor blade axis (15) of one or more rotor blades (12a, 12b) in order to control the pitch angle of these rotor blades (12a, 12b) and thereby also the horizontal movements of a helicopter vehicle or a rotary wing aircraft. A rotor torque assembly (10) of the rotor assembly (10, 11) is further adjusted to operate in resonance, thereby providing a resonant gain effecting a rotational offset in relation to changes in torque generated by a motor.

Abstract translation: （10,11），其包括用于控制围绕一个或多个转子叶片（15）的纵向转子叶片轴线（15）的倾斜力矩的周期性倾斜控制系统， （12a，12b），以便控制这些转子叶片（12a，12b）的倾斜角并且由此也控制直升机飞行器或旋翼飞行器的水平运动。 转子组件（10,11）的转子扭矩组件（10）被进一步调节以共振工作，从而提供相对于马达产生的扭矩变化产生旋转偏移的共振增益。

公开(公告)号：WO2013174559A1

公开(公告)日：2013-11-28

申请号：PCT/EP2013/057026

申请日：2013-04-03

Applicant: PROX DYNAMICS AS

Inventor： HALL, Alexander Philip ,  MARTON, Trygve Frederik ,  MUREN, Petter

IPC: G05D1/10

CPC classification number: G05D1/0204 ,  G05D1/101

Abstract: Local wind fields can be predicted if both the airspeed and the ground speed of the helicopter are known. An aircraft that uses an inertial navigation unit, autopilot and estimator allows a measure of ground speed to be known with good certainty. The embodiments herein extends this system to allow an estimate of the local wind field to be found without actively using an airspeed sensor, but instead combining the measurements of an accelerometer and a drag force model and a model of controlled aerodynamics of the aircraft to estimate the airspeed, which again can be used to estimate the local wind speed.

Abstract translation: 如果直升机的空速和地面速度都已知，则可以预测局部风场。 使用惯性导航单元，自动驾驶仪和估计器的飞机可以很好地确定地面速度的测量。 这里的实施例扩展了该系统以允许在不主动使用空速传感器的情况下找到局部风场的估计，而是组合加速度计和拖曳力模型的测量以及飞行器的受控空气动力学模型以估计 空速，再次可以用来估计当地的风速。

公开(公告)号：WO2013139567A1

公开(公告)日：2013-09-26

申请号：PCT/EP2013/053891

申请日：2013-02-27

Applicant: PROX DYNAMICS AS

Inventor： MARTON, Trygve Frederik ,  EGEBERG MELLEM, Geir Morten ,  MUREN, Petter ,  SANDBERG, Pål Hagh

IPC: G05D1/08 ,  B64C27/72 ,  B64C13/00

CPC classification number: B64C19/00 ,  B64C27/04 ,  B64C27/57 ,  G05D1/0858

Abstract: The invention describes a method and device for precise control of and controller design for aircrafts consisting of at least one spinning part and at least one non spinning part. Typically, but without loss of generality, the spinning part is a rotor, whereas the non-spinning part is a fuselage. The principle described can be extended to any number of spinning and non-spinning parts, making the invention applicable to traditional single rotor helicopter design as well as multi rotor designs. The method and device is particularly suitable for UAVs, where the operator does not see the aircraft during all flight, and thus is unable to correct the attitude. However, the method is applicable also for model aircrafts and full size aircrafts. The inventions principle is to continuously and individually calculate the required torques for control of the spinning parts and for the non-spinning parts, and combine all torques to get the correct torque for the complete aircraft. Doing this, it's possible to continuously apply the correct torque, both correctly distributed among the roll and pitch axes (correct angle), and correct magnitude. The result is a decoupling of the roll and pitch axes, simplifying controller design to a design of two single input single output controllers, one for each axe.

Abstract translation: 本发明描述了一种用于由至少一个纺纱部分和至少一个非纺纱部分组成的飞行器的精确控制和控制器设计的方法和装置。 通常，但不失一般性，纺纱部分是转子，而非纺纱部分是机身。 所描述的原理可以扩展到任何数量的纺纱和非纺纱部件，使得本发明适用于传统的单转子直升机设计以及多转子设计。 该方法和装置特别适用于无人机，其中操作者在所有飞行期间都不会看到飞行器，因此无法纠正姿态。 然而，该方法也适用于模型飞机和全尺寸飞机。 本发明的原理是连续和单独地计算用于控制纺纱部件和非纺纱部件的所需扭矩，并且组合所有扭矩以获得整个飞机的正确扭矩。 做到这一点，可以连续地应用正确分配在滚动轴和俯仰轴之间的正确扭矩（正确的角度），并确定大小。 结果是滚动和俯仰轴的解耦，简化了控制器设计到两个单输入单输出控制器的设计，每个轴一个。

公开(公告)号：EP2828719A1

公开(公告)日：2015-01-28

申请号：EP13709795.2

申请日：2013-02-27

Applicant: Prox Dynamics AS

Inventor： MARTON, Trygve Frederik ,  EGEBERG MELLEM, Geir Morten ,  MUREN, Petter ,  SANDBERG, Pål Hagh

IPC: G05D1/08 ,  B64C27/72 ,  B64C13/00

CPC classification number: B64C19/00 ,  B64C27/04 ,  B64C27/57 ,  G05D1/0858

Abstract: A method and device for precise control of and controller design for aircrafts consisting of at least one spinning part and at least one non-spinning part is provided. The required torques for control of the spinning parts and for the non-spinning parts are continuously and individually calculated. All torques are combined to get the correct torque for the complete aircraft. Doing this, it's possible to continuously apply the correct torque, both correctly distributed among the roll and pitch axes (correct angle), and correct magnitude. The result is a decoupling of the roll and pitch axes, simplifying controller design to a design of two single input single output controllers, one for each axe.

Abstract translation: 本发明描述了一种用于飞机的精确控制和控制器设计的方法和装置，其由至少一个纺纱部件和至少一个非纺纱部件组成。 通常，但不失一般性，纺纱部件是转子，而非纺纱部件是机身。 所描述的原理可以扩展到任何数量的旋转和非旋转部件，使得本发明适用于传统的单旋翼直升机设计以及多旋翼设计。 该方法和装置特别适用于无人机，其中操作员在整个飞行过程中都看不到飞机，因此无法纠正姿态。 但是，该方法也适用于模型飞机和全尺寸飞机。 本发明的原理是连续地且单独地计算用于控制旋转部件和非旋转部件的所需扭矩，并且组合所有扭矩以获得整个飞机的正确扭矩。 这样做，可以持续施加正确的扭矩，既能正确分布在横滚轴和俯仰轴之间（正确的角度），又能正确地确定震级。 其结果是使滚轴和俯仰轴解耦，将控制器设计简化为两个单输入单输出控制器的设计，每个控制器一个。