[go: up one dir, main page]

WO1994008847A1 - Procede de stabilisation d'un avion radiocommande et dispositif prevu a cet effet - Google Patents

Procede de stabilisation d'un avion radiocommande et dispositif prevu a cet effet Download PDF

Info

Publication number
WO1994008847A1
WO1994008847A1 PCT/RU1993/000238 RU9300238W WO9408847A1 WO 1994008847 A1 WO1994008847 A1 WO 1994008847A1 RU 9300238 W RU9300238 W RU 9300238W WO 9408847 A1 WO9408847 A1 WO 9408847A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
ρlα
usτροysτva
vχοd
uπρavleniya
Prior art date
Application number
PCT/RU1993/000238
Other languages
English (en)
Russian (ru)
Inventor
Vitaly Egorovich Makeev
Vladimir Filippovich Kuzichkin
Vasily Alexeevich Divtsov
Original Assignee
Vitaly Egorovich Makeev
Vladimir Filippovich Kuzichkin
Divtsov Vasily A
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
Priority claimed from RU93042890/11A external-priority patent/RU93042890A/ru
Application filed by Vitaly Egorovich Makeev, Vladimir Filippovich Kuzichkin, Divtsov Vasily A filed Critical Vitaly Egorovich Makeev
Publication of WO1994008847A1 publication Critical patent/WO1994008847A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0033—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability

Definitions

  • the invention is available to the aviation industry, to the components sold to the military, and more to the fact that 10 to us is available
  • the device will operate by transmitting the transmitting signals with the transmitter that is transmitting to the earth. Signals are received at most, located on the left. These signals are usually unacceptable.
  • the duration of the circuitry carries information on the command.
  • the sensor signal is equal to zero.
  • ⁇ sduchae ⁇ l ⁇ neniya ⁇ L ⁇ ⁇ zadann ⁇ g ⁇ ⁇ l ⁇ zheniya, na ⁇ ime ⁇ , ⁇ d v ⁇ zdey- 10 s ⁇ viem ve ⁇ a nemedlenn ⁇ ⁇ yavlyae ⁇ sya signal ⁇ da ⁇ chi ⁇ a, ⁇ tsi ⁇ nalny corner ⁇ l ⁇ neniya ⁇ L ⁇ ⁇ n ⁇ si ⁇ eln ⁇ g ⁇ i- z ⁇ n ⁇ a and e ⁇ signal v ⁇ zdeys ⁇ vue ⁇ on is ⁇ lni ⁇ eln ⁇ e ⁇ u- lev ⁇ e us ⁇ ys ⁇ v ⁇ ⁇ L ⁇ ⁇ a ⁇ , ch ⁇ by ve ⁇ nu ⁇ in eg ⁇ central location.
  • This application is requested to provide the user with a signal signal. MUST be performed differently. There are 20, in fact, that the sensor was performed by the optical and contained optically or optically inadequate to the compliant
  • the indicated facilities and devices have the following disadvantages. thirty . It is not necessary to regulate the value of the signal that is missing from the sensor, which does not cause the signal to be quieter. e. to smoothly change the stabilization mode depending on the qualification of the device, there are 35 fixed tasks before the task and depending on the condition of the accident.
  • a signal that is missing from the sensor may be reduced so that there is no communication with the device. If it is unfavorable, the degree of impact of the sensor may be increased. 10 ⁇ us ⁇ ys ⁇ ve not ⁇ susches ⁇ vlyae ⁇ sya ele ⁇ iches ⁇ e sum signal mi ⁇ vanie u ⁇ avleniya, ⁇ s ⁇ u ⁇ ayuscheg ⁇ ⁇ ⁇ ul ⁇ a ⁇ e- ⁇ a ⁇ a and ⁇ da ⁇ chi ⁇ a signal ch ⁇ , ⁇ a ⁇ m ⁇ zhn ⁇ ⁇ ed ⁇ l ⁇ - zhi ⁇ , ⁇ buslavlivae ⁇ ⁇ imenenie dvu ⁇ is ⁇ lni ⁇ elny ⁇ ⁇ ule- vy ⁇ us ⁇ ys ⁇ v on ⁇ L ⁇ , ⁇ deln ⁇ for u ⁇ avleniya ⁇ L ⁇ ⁇ ⁇ e-
  • a large gain factor can be achieved by storing the stability of LOL, t. ⁇ . the stabilization chain is closed.
  • the device has a low accuracy of tracking a given application for the user and its statutory flight, i.e.
  • engine control of the aircraft model is carried out by a separate channel (it is not connected with other control channels) and may not be used for
  • control signal with a degree of interference with the signal of the position sensor
  • the relative lack of activity of the signal may increase, the download may be more frequent - 6 -
  • the correct value for the voltage signal of the angle of the drive is for a positive out-of-home location.
  • control signals in the form of pulses of varying duration to ensure the operation of the stable mode.
  • This part of the product is characterized by the fact that the signal is received from the point of view of the signal processing, which ensures that there is no power supply.
  • the duration of the pulse of the control signal doesn’t carry information at the command command, and the magnitude of the voltage
  • the voltage level of the corner signal is lowered. It is only on a negative basis.
  • vae ⁇ ⁇ chn ⁇ s ⁇ s ⁇ abil ⁇ zats ⁇ umenshen ⁇ e v ⁇ emen ⁇ , ⁇ ebuem ⁇ - g ⁇ for vyv ⁇ da ⁇ L ⁇ ⁇ ava ⁇ yn ⁇ g ⁇ ⁇ l ⁇ zheniya, ⁇ bes ⁇ echenie s ⁇ abilizatsii if mal ⁇ y ae ⁇ d ⁇ nam ⁇ ches ⁇ y us ⁇ ychiv ⁇ s- ⁇ i ⁇ L ⁇ , vys ⁇ uyu ⁇ chn ⁇ s ⁇ ⁇ slezhivaniya zadann ⁇ g ⁇ ⁇ l ⁇ zheniya ⁇ L ⁇ , ⁇ iv ⁇ deys ⁇ vie vys ⁇ chas ⁇ nym ⁇ me ⁇ am.
  • This feature allows you to control the mode of stabilization of the user’s position.
  • the demodulator is the sum that allows the output to be connected to the input that modulates the signal
  • 10 is a signal input of a summing device.
  • the differential circuit is connected between the actuating demodulator-sum and the alternating arrester, which is connected to the - 14 -
  • the diode is connected between the master input of the device of the agreement and the signal input of the amplifier with the resistor
  • the device is compliant with the equipment - fifteen -
  • an integrated device is interrupted by the in- tervention of a faulty signal when a signal from the control unit is inactive.
  • s ⁇ de ⁇ z haschem da ⁇ chi ⁇ ugl ⁇ v ⁇ g ⁇ ⁇ l ⁇ zheniya ⁇ L ⁇ ⁇ n ⁇ si ⁇ eln ⁇ g ⁇ iz ⁇ n ⁇ a with a ⁇ ivnym or ⁇ assivn m chuvs ⁇ vi- ⁇ elnym elemen ⁇ m, v ⁇ d signal ⁇ v u ⁇ avleniya ⁇ L ⁇ , ele ⁇ n- n ⁇ e summi ⁇ uyuschee us ⁇ ys ⁇ v ⁇ with u ⁇ avlyayuschim and signal v ⁇ - rows, ⁇ ichem v ⁇ d signal ⁇ v u ⁇ avleniya ⁇ L ⁇ ⁇ ds ⁇ edinen ⁇
  • ⁇ is the Laplace transform
  • ⁇ 2 is the transmission coefficient of the differentiating link
  • ⁇ 2 is the constant time
  • 5 is 0.5sec ' •> ⁇ 2 0.03sec.
  • the connecting node contains an integrated link, a connected parallel to the second link, and an integrated link
  • THIS ADDITIONAL FEATURES ARE PROVIDED FOR EFFECTIVENESS OF MONITORING THE EFFICIENCY OF STABILIZING THE USE OF THE USER USE SETTING.
  • the first function to have a conversion function of the form
  • the unit contains an input signal for the control of the user, the sensor of the user - 19 -
  • the unit contains the installation mode for stabilizing the user’s condition, which is turned off when the device is stabilized for the first time.
  • One of the options of the converter 30 is for a pulsed pulse at a constant voltage, the voltage is high ⁇ glasn ⁇ iz ⁇ b ⁇ e ⁇ eniyu, ⁇ ig.4 iz ⁇ b ⁇ azhae ⁇ v ⁇ emennuyu diag ⁇ ammu ⁇ ab ⁇ y ⁇ e- ⁇ b ⁇ az ⁇ va ⁇ elya, iz ⁇ b ⁇ azhenn ⁇ g ⁇ on ⁇ ig.Z, s ⁇ glasn ⁇ iz ⁇ b ⁇ e ⁇ e- 35 n ⁇ yu, ⁇ ig.5 iz ⁇ b ⁇ azhae ⁇ va ⁇ ian ⁇ CSS, ⁇ i ⁇ m ⁇ ezhim s ⁇ abilizatsii ⁇ l ⁇ zheniya ⁇ L ⁇ vybi ⁇ ae ⁇ sya with ⁇ m ⁇ schyu s ⁇ etsia- ln ⁇ g ⁇ node us ⁇ an ⁇ v ⁇ i ⁇ ezhima s ⁇ abilizatsii
  • ⁇ 2 invents a variant of the implementation of the summing up devices using the integrated devices, 25 according to the invention, fig. ⁇ THROUGH THE VARIANT OF THE PERFORMANCE OF PERFORMANCE OF THE COMBINING DEVICE WITH THE NORMATION OF THE CONTROL SIGNAL ⁇ , According to the Invention, Fig.
  • FIG. ⁇ 7 invents a variant of the execution of a codification, according to the invention, - 21 -
  • ⁇ ig. ⁇ 8 invents an embodiment of the operating unit, as per the invention, 5 fig. ⁇ 9 iz ⁇ b ⁇ azhae ⁇ va ⁇ ian ⁇ v ⁇ lneniya ⁇ e ⁇ i ⁇ uyu- scheg ⁇ node s ⁇ glasn ⁇ iz ⁇ b ⁇ e ⁇ eniyu, ⁇ ig.20 iz ⁇ b ⁇ azhae ⁇ CSS with is ⁇ lz ⁇ vaniem mi ⁇ - tsess ⁇ a, s ⁇ glasn ⁇ ⁇ z ⁇ b ⁇ e ⁇ eniyu, ⁇ ig .2 ⁇ iz ⁇ b ⁇ azhae ⁇ va ⁇ ian ⁇ mi ⁇ tsess ⁇ n ⁇ g ⁇ CSS 10 u ⁇ avleniem ⁇ ezhim ⁇ m s ⁇ abilizatsii, s ⁇ glasn ⁇ iz ⁇ b ⁇ e ⁇ eniyu, ⁇ ig.22 iz ⁇ b ⁇ azhae ⁇ va ⁇ ian ⁇ mi ⁇ tsess ⁇ n ⁇
  • Fig. 2b displays a temporary diagram of operation of the CSS with 25 summarizing devices in accordance with Figs. 12,3, the notice of the matter.
  • THE DEVICE CONTAINS A CORRECT POSITION FEEDER FOR A LARGE CITY I. Da ⁇ chi ⁇ m ⁇ zhe ⁇ ime ⁇ ⁇ a ⁇ ⁇ assiv- 35 nye chuvs ⁇ vi ⁇ elnye elemen ⁇ y, na ⁇ ime ⁇ , ⁇ ezis ⁇ y, ⁇ - 35 ⁇ ye nuzhdayu ⁇ sya in power
  • the is ⁇ chni ⁇ e, ⁇ a ⁇ and a ⁇ ivnye chuvs ⁇ vi ⁇ elnye elemen ⁇ y, na ⁇ ime ⁇ , ⁇ elemen ⁇ y, ⁇ ye not ⁇ ebuyu ⁇ ⁇ d ⁇ lyucheniya is ⁇ chni ⁇ v power
  • the device has an input signal for control .. 2, as a rule, it is normally turned on - 22 -
  • the output signal from the control panel is located on the Earth and accepts signals from the control panel from the Earth.
  • 5 CSS contains an electronic summing device 3, which has 4 and signal 5 inputs.
  • the output of the signal for control of LOL 2 is connected to the input 4 of the summing device 3, and the output of 6 sensors I is connected to the signal of the input 5 that 3 is connecting to 3
  • Exit 7 of the summing device 3 is the output of the unit and the usual rudder device is turned on, which is in FIG. ⁇ not indicated.
  • the device contains input signals from the operating mode
  • FIG. 2 a variant of US is shown, which differs from US, which is shown in FIG. ,-, that is, it works with control signals in the form of pulses, the duration of the operation is information from the control command. Namely signals
  • USB device switches the control signal to stabilization mode 13, and this means that the voltage switch 13 turns on between 8 and the control signal.
  • FIG. 3 an example of a 13-sig- ner is shown.
  • the load is 19, which is not included in the converter.
  • the last key 18 turns on at 25 of the front input of the input converter for a period of ⁇ 2 , which is much shorter than the last one.
  • Parallel Condenser 17 Connected
  • ⁇ a ⁇ ig .4 ⁇ vedena v ⁇ emennaya d ⁇ ag ⁇ amma ⁇ ab ⁇ y ⁇ e ⁇ b ⁇ az ⁇ va ⁇ elya 13.
  • ⁇ ⁇ ch ⁇ e 21 ⁇ azany im ⁇ ulsy on a ⁇ ⁇ de ⁇ e ⁇ b ⁇ az ⁇ va ⁇ elya 14 May 13 and 22 in ⁇ ch ⁇ e ⁇ azan ⁇ vy ⁇ dn ⁇ e na ⁇ yazhenie on vy ⁇ de 20 ⁇ e ⁇ b ⁇ az ⁇ va ⁇ elya 13.
  • Fig. 5 a variant of the USB is shown, which contains the installation node of the shutdown mode 23;
  • Paragraph 6 shows a variant of the CSS, in which case I uses passive sensory elements, for example, 25 results are observed. 25
  • the reference signal corresponding to the reference signal is shown in FIG. 6, but between the indicated converter 13 and the sensor I with the resistors 25, the amplifier 27 is switched on with two separate connections.
  • shunt element 30 in the form of, for example, an adjustable resistance device.
  • the sensor contains two parallels -
  • the summarizing device 3 which includes a modular sum 39, having an output 40 and a signal output 41, an output 42 and a signal output 43. A total of 3.
  • summer sum 39 is connected to the signal input 49 and summer 47.
  • the output 50 of module 47 is the output of 7 summing devices 3.
  • the stabilization of the current can be performed, for example, in the form of a test, on the basis of which the voltage is stabilized with the help of stabilized.
  • output 69 is connected to output 70, totaling 71.
  • a differentiating circuit from the capacitor 54 and the resistor 55 is connected to the input 72 of the input 73 of the key, the signal input 74 is connected to the
  • output 70 is 71, and input 73 is connected to input 71.
  • Deferring input 51 of the device for summing 3 is turned off for the controlling input 5 devices of agreement • 44 and after 76 - to the signal input 77 of the amplifier with
  • output 79 is an output of the agreement and is connected to the signal input 41, a total output of 39, which is independent - 27 -
  • the first output of 70 summing the capacitance 71 through s * * the output 43 of the modulator-sum of the output 49 of the output is connected to the 85-input signal
  • the first output of 70 summarizing capacitance 71 is connected also to the signal non-inverting input 90 of amplifier-compressor 91, the output is 92
  • the inverter input 93 of the amplifier-91 is connected to a direct source of 94 voltages.
  • All devices for the installation and stabilization of the power supply must have a power source of 95 with the output of 96 from the user
  • the input impulse at input 4 and the output impulse at input 7 have a favorable output, which means that the input pulse is free of charge.
  • Tax keys 63, 73 and 60 are widely known
  • Amplifiers 78 and 91 may be implemented as
  • the voltage sources 83 and 94 can be made in the form of voltage dividers.
  • 35 ⁇ a ⁇ ig. ⁇ 2 is a summing device 3, comprising an integrated 98 and a unit 99.
  • Aggregating 4 is a cumulative 3 consuming 100 unit - 28 -
  • a summarizing device 3 it differs from the same device in FIG. ⁇ 2 that there is a matching device 05 in it, for example, an amplitude limiter
  • a suitable accelerator is not necessary if the receiver is not suppressing the signal.
  • the integrated device can be completed and
  • the device for stabilizing the user’s location is disregarded. It contains the sensor I of the device, if it is a mobile home. Various sensors are used.
  • ch ⁇ by is ⁇ lz ⁇ valsya da ⁇ chi ⁇ ⁇ l ⁇ zheniya, s ⁇ s ⁇ yaschy of dvu ⁇ chuvs ⁇ vi ⁇ elny ⁇ ⁇ ele ⁇ magni ⁇ n ⁇ mu, na ⁇ ime ⁇ , ⁇ iches ⁇ mu, radiation elemen ⁇ v, s ⁇ edinenny ⁇ ⁇ sled ⁇ va ⁇ eln ⁇ , ⁇ i e ⁇ m elemen ⁇ y d ⁇ lzhny b ⁇ na ⁇ avle- us in ⁇ iv ⁇ l ⁇ zhnye s ⁇ ny g ⁇ iz ⁇ n ⁇ a. ⁇ bychny on ⁇
  • control channels - a krena channel and a pitch channel there are two control channels - a krena channel and a pitch channel. ⁇ The application is written only for a one-off control channel, and it is understood that there is no reason for it to be used, but it is usually not - 29 -
  • the control channel one of them controls the ele- ments, and the second - the heights.
  • Output 6 of the sensor I of the device is connected to the connecting unit 112.
  • the connecting unit 112 can be connected to the connecting unit 113 or two
  • the operating unit 112 may contain a single amplifier or several amplifiers.
  • the first differentiating link is 113; it has a derivative function of the kind
  • ⁇ - The constant time selected from the condition of stability of LOL 5 and ⁇ ⁇ > ⁇ ⁇ , ⁇ ⁇ is the transmission coefficient of this link, ⁇ is, for example, less than 0,0
  • the differential element 114 has a derivative function of the form
  • ⁇ - ⁇ is a param- eter of an optional rudder device and for models lies in the range of 0, 05 - 0, 5s, in other words, 0, 5s ⁇ ⁇ - ⁇ 2 ⁇ 0, 03s.
  • the party has a view.
  • Amplifiers 116 and 122 can be performed as a part of amplifiers, as described in / 7 /.
  • microprocessor 135. contains an input signal for LOL 2, a car sensor and a positive isolator. ⁇ , analogue-tsk ⁇ ⁇ réelle Why achieve ⁇ Vintage
  • the output signal of the LOL 2 control unit is connected to the microprocessor 135, the output of 6 sensor I is disconnected through the 136 processor and the processor 135 is disconnected, and the output 135 is output 135
  • the output signals of the receiver are transmitted as a result of digital or
  • control signal 2 is connected to the investigative system.
  • the signal from the sensor I is switched on through the CPU at a separate input of the microprocessor or through the switch at the input of the microprocessor.
  • the signal from the sensor I is switched on through the CPU at a separate input of the microprocessor or through the switch at the input of the microprocessor.
  • the microprocessor must be supplied with signals for the control unit to select the relevant information at a time. - 33 -
  • the necessary control signals are generated by the executive steering devices
  • steps ⁇ , B, ⁇ , and whatsoevercken are described below for the algorithm. Some steps may not be performed if the required information has been recorded earlier and is in the free memory of the process.
  • Stage B Storing in memory of the maximum process voltage of the batteries at the output of the consumer sensor is available.
  • Stage G Recording in memory of the mode of stabilization of the user’s condition is 0 - ⁇ - ⁇ 4 ⁇ _ ⁇ ;
  • This stage J. is at the output of the PCP and is written in memory for yes, corresponding to the current voltage ⁇ ⁇ at the output of the 15th data supply device.
  • E ⁇ a ⁇ I. ⁇ ychislenie ⁇ a ⁇ ame ⁇ v vy ⁇ dn ⁇ g ⁇ u ⁇ avlyayu scheg ⁇ i ⁇ ulsa mi ⁇ tsess ⁇ a, na ⁇ ime ⁇ , as dli ⁇ e- ln ⁇ s ⁇ i im ⁇ ulsa - £ -e & A u ⁇ avleniya is ⁇ lni ⁇ elnym ⁇ ule vym us ⁇ ys ⁇ v ⁇ m. 2 0 ⁇ 2 ⁇ - + ⁇ a ⁇ . And .. ⁇ 4 Etap ⁇ . Formation at the output of a microprocessor of a pulse of appropriate duration - ⁇ 2.
  • Etap ⁇ Record a memory in memory of a separate process in a shared function 35-3 3 - the value of the control signal of the stabilization mode, for example, the duration of the pulse of the control signal of the stabilization mode of the user’s power, and ⁇ ⁇ - the coefficient of noise (signal de-energization). - 35 -
  • ⁇ - ⁇ , ⁇ , ⁇ 4 selected from the following conditions: 20 0, 5 s - ⁇ ⁇ > 0, 05 s, 0, 5 s> ⁇ 2 0, 03 s, ⁇ , 5 s> ⁇ 3 ⁇ 0, 5 s,
  • the node 23 of the installation mode of the stabilization mode of the user is connected.
  • microprocessor algorithm must include the following steps:
  • the device for stabilizing the user’s situation works as follows (see figure ⁇ ).
  • This sensor is installed - 37 -
  • the user is connected to the manufacturer,
  • control signals received by the user received by the receiver are tied to the summing device 3 in the form of, for example, pulses, the duration of the drive is incurred
  • the duration of the transmissions carries information
  • the converter shown as an example in FIG. 3, works as follows. It is proposed that
  • the amplitude of the input impulse is limited by the maximum or special limit of the body, which is not indicated.
  • the pulse is not affected - 38 -
  • the key is turned off at the same time as key 18 and the battery is disconnected. Then there will be a quick charge of the potential to close the pulse, after which the first key 15 will be disconnected. Condenser 17 will supply voltage, as it is compass-
  • control signal stabilization mode may be supplied as a voltage to the power supply of sensor 25 of sensor I, which will cause a change in the signal taken from the sensor, depending on the supply voltage.
  • FIG. 7 shows the variation of the scheme in Figure 6, where
  • a shunt of passive sensory elements of 33 sensors is shown. With a small voltage resistance 36, the voltage removed from the sensor
  • the operation of the summing up device is subject to payment. II ⁇ II, further c. use of the temporary dagma on fig.24.
  • E ⁇ i ⁇ m- ⁇ ulsy ⁇ s ⁇ u ⁇ ayu ⁇ on v ⁇ d 4 us ⁇ s ⁇ va summ ⁇ va ⁇ ya 3
  • the final operating device is then processed by the command pulse: when the pulse output is constant, it is not interrupted by
  • ⁇ a ⁇ ya ⁇ en ⁇ e on vy ⁇ de da ⁇ ch ⁇ a) ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ l ⁇ neyn ⁇ y z ⁇ ne ⁇ a ⁇ a ⁇ e ⁇ s ⁇ da ⁇ ch ⁇ a, ⁇ - ug ⁇ l s ⁇ l ⁇ ne ⁇ iya ⁇ L ⁇ ⁇ g ⁇ z ⁇ n ⁇ aln ⁇ g ⁇ g. ⁇ l ⁇ eniya in ⁇ edela ⁇ - ⁇ 0 ----. ⁇ - 1. + ⁇ 0 0 , which entails the delivery of the task and distributes the quick load, ⁇ - - the straightforward operation of the casualty.
  • control signal at input 40 is also triggered at the end of the 54 output circuit with an output circuit ⁇ ⁇ ⁇ - ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40 40
  • Ck is the capacity of the summing capacitance
  • ⁇ ⁇ ⁇ is the capacity of the charge (Fig. 24 ⁇ ).
  • invert 53 On the back side of the input pulse at inputs 40, 51, invert 53 is output key 60, invert 58 will enter first key 63 and exit 79 and exit 79 and exit 79
  • ⁇ is the duration of the pulse of the incoming amplifying signal
  • b. - the value of the current stabilized the current
  • ⁇ - is the total sum of the end-functions
  • ⁇ / ⁇ - the second is the result of the demodulation.
  • the total voltage at the output of 70 is a total of 71, which increases the output signal of the voltage signal and the signal from the input signal (the signal has an increased voltage). After modulation . Issue due to the discharge of the coefficient of 71 where ⁇ : ⁇ / ⁇ ⁇ - ⁇ ruity of the development of the modulus 47. - 43 -
  • the traditional operating system has a conventional
  • the 5th voltage level is maintained at the end of the first corner and the pulse at the input, after which a slower start of decreasing the voltage at the output at the input is started.
  • ⁇ In addition to high voltage, it is available from the sensor and is active.
  • the duration of the output pulse depends on how long
  • the optional input device 105 has been introduced, when the input impulse has not been pulled out.
  • 35 ⁇ a ⁇ ig. ⁇ 4 is an integrated component 98, using an amplified amplifier. Input voltage of 100 integrated devices 98 is shown in time diagram (Fig. 25a), and voltage - 45 -
  • Fig. 26 shows the general diagram of the operation of the sum
  • the duration of the input impulse cannot be less than the duration of the charge of the capacitor before saturation.
  • Fig. 26 shows that it’s different and different levels at
  • Processes on the Earth can enter the memory of the necessary information or all the inoperative information or the device is inaccessible to the memory.
  • signals and devices we mean signals and devices, as a rule,
  • the maximum value of the output signal is 7 signals at the output of the device, which is at the maximum angle of the maximum
  • This value is set to an experimental value for a portable LAN.
  • the duration of the impulse of the synchronization soup ⁇ in the channel is controlled by the LNP, which is lost through the receiver.
  • the value is selected as a result of a fixed task, which is a condition of failure, due to poor performance (If you are using the stabilization mode to stabilize the position of the user).
  • the pulse of the control signal is the stabilization mode for the ON / OFF position.
  • Devices that are compatible with the device are installed on a flying machine, such as an aircraft,

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Nitrogen And Oxygen Or Sulfur-Condensed Heterocyclic Ring Systems (AREA)

Abstract

Un procédé de commande et de stabilisation de l'assiette d'un avion radiocommandé utilise un signal de commande (2) ainsi qu'un signal d'assiette (6) de l'avion, un signal de commande (7) de l'avion étant généré pour représenter la somme du signal de commande (2) et du signal d'assiette (6). Lors de l'obtention du signal de commande (8) de mode de stabilisation, l'effet du signal (6) du capteur (1) d'assiette de l'avion est régulé. Afin d'améliorer la stabilité de l'avion, on procède à une correction en fréquence du signal d'assiette (6). Le dispositif utilisé dans ledit procédé de commande et de stabilisation de l'assiette d'un avion radiocommandé comprend un capteur d'assiette (1) d'avion, un atténuateur (9) présentant une entrée commandée (10) destiné au signal de commande (8) du mode de stabilisation, ainsi qu'un additionneur (3) doté d'une entrée de signal (5) et d'une entrée de commande (4) pour le signal de commande (2). On procède à la correction en fréquence du signal d'assiette (1) de l'avion à l'aide de composantes de différentiation (113, 114) et/ou d'intégration (115).
PCT/RU1993/000238 1992-10-20 1993-10-19 Procede de stabilisation d'un avion radiocommande et dispositif prevu a cet effet WO1994008847A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
RU92001247/24 1992-10-20
RU92124724 1992-10-20
RU93042890/11A RU93042890A (ru) 1993-08-27 Способ управления и стабилизации положения радиоуправляемого летательного аппарата в приземном слое атмосферы и устройство для его осуществления
RU93042890 1993-08-27

Publications (1)

Publication Number Publication Date
WO1994008847A1 true WO1994008847A1 (fr) 1994-04-28

Family

ID=26653731

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/RU1993/000238 WO1994008847A1 (fr) 1992-10-20 1993-10-19 Procede de stabilisation d'un avion radiocommande et dispositif prevu a cet effet

Country Status (1)

Country Link
WO (1) WO1994008847A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002004289A1 (fr) * 2000-07-06 2002-01-17 Spirit Flight Systems Systeme de guidage pour avion telecommande
US7275973B2 (en) 2005-06-03 2007-10-02 Mattel, Inc. Toy aircraft
US7918707B2 (en) 2006-05-03 2011-04-05 Mattel, Inc. Toy aircraft with modular power systems and wheels

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3512737A (en) * 1968-07-01 1970-05-19 Bendix Corp Aircraft control system including means for adjusting flight condition signal gain
GB1218112A (en) * 1967-03-30 1971-01-06 Sperry Rand Corp Failure monitor for aricraft automatic pilots
SU496536A1 (ru) * 1972-07-27 1975-12-25 Предприятие П/Я М-5904 Устройство дл автоматической коррекции коэффициента усилени системы управлени летательным аппаратом при заходе на посадку по сигналам радиотехнической системы
DE3420076A1 (de) * 1984-05-29 1985-12-05 Gottfried Prof. Dr.-Ing. 8014 Neubiberg Sachs Flugsteuergeraet

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1218112A (en) * 1967-03-30 1971-01-06 Sperry Rand Corp Failure monitor for aricraft automatic pilots
US3512737A (en) * 1968-07-01 1970-05-19 Bendix Corp Aircraft control system including means for adjusting flight condition signal gain
SU496536A1 (ru) * 1972-07-27 1975-12-25 Предприятие П/Я М-5904 Устройство дл автоматической коррекции коэффициента усилени системы управлени летательным аппаратом при заходе на посадку по сигналам радиотехнической системы
DE3420076A1 (de) * 1984-05-29 1985-12-05 Gottfried Prof. Dr.-Ing. 8014 Neubiberg Sachs Flugsteuergeraet

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
"Sistemy Tsifrovogo Upravlenia Samoletom", pod zed. A.D. ALEXANDROVA, 1983, MASHINOSTROENIE, (MOSCOW), page 12. *
A.A. LEBEV et al., "Dinamika Sistem Upravlenia Cespilotnymi Letatelnymi Apparatami", 1965, MASHINOSTROENIE, (MOSCOW), pages 162-163, 220-221. *
A.S. NOVOSELOV et al., "Sistemy Adaptivnogo Upravlenia Letatelnymi Apparatami", 1987, MASHINOSTROENIE, (MOSCOW), pages 27-28. *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002004289A1 (fr) * 2000-07-06 2002-01-17 Spirit Flight Systems Systeme de guidage pour avion telecommande
US7219861B1 (en) 2000-07-06 2007-05-22 Spirit International, Inc. Guidance system for radio-controlled aircraft
US7275973B2 (en) 2005-06-03 2007-10-02 Mattel, Inc. Toy aircraft
US7918707B2 (en) 2006-05-03 2011-04-05 Mattel, Inc. Toy aircraft with modular power systems and wheels

Similar Documents

Publication Publication Date Title
AU598291B2 (en) Driver circuit for driving a light emitting element by superimposing an analog sub-information signal over a digital main signal
JPH0467260B2 (fr)
EP0886372A3 (fr) Circuit oscillateur comprenant un circuit de prévention de bruit
MXPA00008944A (es) Circuito y metodo para establecer comunicacion de dos vias entre la columna de la direccion y el volante de la direccion de un vehiculo.
KR930015805A (ko) 텔레비젼용 제어 회로 및 전원
JP2011242297A (ja) 乗員検知装置
EP0925644A1 (fr) Systeme de commande d'avertisseur sonore
WO1994008847A1 (fr) Procede de stabilisation d'un avion radiocommande et dispositif prevu a cet effet
US4117411A (en) Isolation circuit with duty cycle feedback
JPH0370015A (ja) パワーオンリセット回路
EP1439644B1 (fr) Procédé et dispositif à injecter une tonalité pilote dans un signal numérique
SE451800B (sv) Insomnings- och avslappningsbefremjande hjelpmedel
JP2887743B2 (ja) 直流除電装置
JP2015074283A (ja) 車両用警報装置
JPS62202621A (ja) 光信号受信方式
JPH01288072A (ja) 自動バイパス装置
JP3648188B2 (ja) 受光回路
KR940005611Y1 (ko) 티브이와 음성인식 시스템간 음성출력 자동조절회로
JP3175569B2 (ja) バスシステムの電源装置
JPH0427217Y2 (fr)
JP2705204B2 (ja) 電池式オゾン発生回路
JPH05167561A (ja) パルス信号出力回路
WO1999059242A3 (fr) Procede de reduction de la distorsion et du bruit des pulsations carrees, circuit permettant de generer des pulsations a distorsion minimale et mise en oeuvre dudit procede et dudit circuit
JPH0666715B2 (ja) 電源重畳通信装置
JPH0349511Y2 (fr)

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): CA JP KR US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: CA