Rotorcraft control system
View Patent ↗A system ( 100 ) for controlling a rotorcraft ( 1 ) including a rotor ( 10 ), at least one variable-pitch propulsion propeller ( 6 L, 6 R), and a motor ( 5 ) for driving the rotor and the propeller(s), the system includes: a member ( 101, 101 A, 102, 103, 104 ) for generating a propeller pitch setpoint (θ p *+θ d *, θ p *−θ d *) as a function at least of a thrust variation command (TCL); a member ( 105, 105 A) for generating a setpoint (RPM*) for the drive speed (RPM) of the rotor and the propeller(s), as a function at least of the travel speed (VTAS) of the rotorcraft; and a member ( 106 ) for generating a setpoint (NG*) for the engine speed as a function at least of the thrust command (TCL), of the drive speed setpoint (RTM*), and of a rotor collective pitch command (θ 0 ).
1. A system for controlling a rotorcraft having a rotor, at least one variable-pitch propulsion propeller, and a motor for driving the rotor and the at least one variable-pitch propulsion propeller, the system comprising:
a member ( 101 , 101 A, 102 , 103 , 104 ) configured to generate a propeller pitch setpoint (θ p *+θ d *, θ p *−θ d *) as a function at least of a variation thrust command (TCL);
a member ( 105 , 105 A) configured to generate a drive speed setpoint (RPM*) for a drive speed (RPM) of the rotor and the at least one variable-pitch propulsion propeller, as a function at least of a travel speed (VTAS) of the rotorcraft and where appropriate as a function of ambient temperature; and
a member ( 106 ) configured to generate an engine speed setpoint (NG*) for an engine speed as a function at least of the variation thrust command (TCL), of the drive speed setpoint (RPM*), and of a rotor collective pitch command (θ 0 );
wherein the member ( 106 ) configured to generate the engine speed setpoint (NG*) includes:
a member ( 109 ) configured to generate a first anticipated command for varying engine speed as a function of the rotor collective pitch command (θ 0 );
a member ( 110 ) configured to generate a second anticipated command for varying engine speed as a function of the variation thrust command (TCL);
a first summing circuit ( 111 ) for adding together the first and second anticipated commands for varying engine speed, and for outputting a first component (NG 1 *) of the engine speed setpoint (NG*); and
a unit ( 112 , 113 , 114 ) configured to generate the engine speed setpoint (NG*) as a function of the first component (NG 1 *), of the drive speed setpoint (RPM*), and of a measurement of the drive speed (RPM).
2. The system according to claim 1 , in which the member ( 105 , 105 A) configured to generate the drive speed setpoint (RPM*) for the drive speed (RPM) comprises:
a member ( 107 ) configured to generate a reference drive speed (RPMref) as a function of the travel speed (VTAS) of the rotorcraft; and
a limiter ( 108 ) sensitive to the reference drive speed (RPMref) and delivering the drive speed setpoint (RPM*).
3. The system according to claim 1 , for a rotorcraft having two variable-pitch propulsion propellers that are disposed on either side of the fuselage of the rotorcraft, the system comprising:
a member ( 101 , 101 A) configured to generate a mean pitch setpoint (θ p *) for the mean pitch (θ p ) of the two variable-pitch propulsion propellers as a function of the variation thrust command (TCL);
a member ( 102 ) configured to generate a pitch difference setpoint (θ d *) for half the difference in pitch (θ d ) between the two variable-pitch propulsion propellers as a function of the rotor collective pitch variation command (θ 0 ) and of a heading/yaw variation command (Pal);
a summing circuit ( 103 ) for adding together the mean pitch setpoint (θ p *) and the pitch difference setpoint (θ d *), and for delivering the resulting setpoint (θ p *+θ d *) to a member for controlling the pitch of a first one of the two propellers; and
a summing circuit used as a subtracter ( 104 ) for subtracting the pitch difference setpoint (θ d *) from the mean pitch setpoint (θ p *) and for delivering the resulting setpoint (θ p *−θ d *) to a pitch control member of the second propeller.
4. The system according to claim 3 , in which the member ( 102 ) configured to generate a pitch difference setpoint (θ d *) for half the pitch difference comprises:
a decoupling unit ( 141 ) for collective-yaw decoupling, which decoupling unit receives the rotor collective pitch variation command (θ 0 );
a processor unit ( 142 ) for processing a heading variation command (Pal);
a summing circuit ( 143 ) connected to the decoupling unit and to the processor unit; and
a lowpass filter ( 144 ) receiving as input the sum delivered by the summing circuit and delivering as output the pitch difference setpoint (θ d *) for half the pitch difference.
5. The system according to claim 2 , in which the member ( 105 ) configured to generate the drive speed setpoint (RPM*) for the drive speed (RPM) further comprises:
a member ( 115 ) configured to generate a transient variation (RPMper) in the drive speed setpoint (RPM*) as a function of the variation thrust command (TCL); and
a summing circuit ( 116 ) for adding the transient variation (RPMper) for the drive speed setpoint (RPM*) to the reference drive speed (RPMref) and for delivering said sum to the limiter ( 108 ) that delivers the drive speed setpoint (RPM*).
6. A non-transitory computer readable medium for a rotorcraft having a rotor, at least one variable-pitch propulsion propeller, and a motor for driving the rotor and the at least one variable-pitch propulsion propeller, the non-transitory computer readable medium comprising:
a code segment for generating a propeller pitch setpoint (θ p *+θ d *, θ p *−θ d *) as a function at least of a thrust variation command (TCL);
a code segment for generating a drive speed setpoint (RPM*) for a drive speed (RPM) of the rotor and of the at least one variable-pitch propulsion propeller, as a function at least of a travel speed (VTAS) of the rotorcraft; and
a code segment for generating an engine speed setpoint (NG*) for an engine speed, as a function at least of the variation thrust command (TCL), of the drive speed setpoint (RPM*), and of a rotor collective pitch command (θ 0 );
wherein the code segment for generating the engine speed setpoint (NG*) includes:
a code segment for generating a first anticipated command for varying engine speed as a function of the rotor collective pitch command (θ 0 );
a code segment for generating a second anticipated command for varying engine speed as a function of the variation thrust command (TCL);
a code segment for adding together the first and second anticipated commands for varying engine speed, and for outputting a first component (NG 1 *) of the engine speed setpoint (NG*); and
a code segment for generating the engine speed setpoint (NG*) as a function of the first component (NG 1 *), of the drive speed setpoint (RPM*), and of a measurement of the drive speed (RPM).
7. The non-transitory computer readable medium according to claim 6 , in which the code segment for generating the drive speed setpoint (RPM*) for the drive speed (RPM) comprises a code segment for generating a reference drive speed (RPMref) that decreases as a function of the travel speed (VTAS) of the rotorcraft when the travel speed VTAS exceeds a determined speed V 1 .
8. A rotorcraft including a rotor, at least one variable-pitch propulsion propeller, and a motor for driving the rotor and the at least one variable-pitch propulsion propeller, the rotorcraft including the control system according to claim 1 .
9. The rotorcraft according to claim 8 , including two variable-pitch propulsion propellers that are disposed on either side of the fuselage of the rotorcraft, which rotorcraft does not have an anti-torque rotor and does include a direct driving power transmission system between the engine and the rotor and the propellers.
10. A system for controlling a rotorcraft having a rotor, at least one variable-pitch propulsion propeller, and a motor for driving the rotor and the at least one variable-pitch propulsion propeller, the system comprising:
a member ( 101 , 101 A, 102 , 103 , 104 ) configured to generate a propeller pitch setpoint (θ p *+θ d *, θ p *−θ d *) as a function at least of a variation thrust command (TCL);
a member ( 105 , 105 A) configured to generate a drive speed setpoint (RPM*) for a drive speed (RPM) of the rotor and the at least one variable-pitch propulsion propeller, as a function at least of a travel speed (VTAS) of the rotorcraft and where appropriate as a function of ambient temperature; and
a member ( 106 ) configured to generate an engine speed setpoint (NG*) for an engine speed as a function at least of the variation thrust command (TCL), of the drive speed setpoint (RPM*), and of a rotor collective pitch command (θ 0 );
wherein the member ( 105 , 105 A) configured to generate the drive speed setpoint (RPM*) for the drive speed (RPM) includes:
a member ( 107 ) configured to generate a reference drive speed (RPMref) as a function of the travel speed (VTAS) of the rotorcraft;
a limiter ( 108 ) sensitive to the reference drive speed (RPMref) and delivering the drive speed setpoint (RPM*);
a member ( 115 ) configured to generate a transient variation (RPMper) in the drive speed setpoint (RPM*) as a function of the variation thrust command (TCL); and
a summing circuit ( 116 ) for adding the transient variation (RPMper) for the drive speed setpoint (RPM*) to the reference drive speed (RPMref) and for delivering said sum to the limiter ( 108 ) that delivers the drive speed setpoint (RPM*).