Ganged servo flight control system for an unmanned aerial vehicle
A ganged servo flight control system for an unmanned aerial vehicle is provided. The flight control system may include a swashplate having first, second, and third connection portions; a first control assembly connected to the first connection portion of the swashplate; a second control assembly connected to the second connection portion of the swashplate; and a third control assembly connected to the third connection portion of the swashplate. The first control assembly may include two or more servo-actuators connected to operate in cooperation with each other.
1. A flight control system for a helicopter comprising:
a swashplate having first, second, and third connection portions;
a first control assembly connected to the first connection portion of the swashplate and having two or more servo-actuators connected to operate in torsional cooperation with each other, the first control assembly further comprising:
the first servo-actuator having a first servo arm;
the second servo-actuator having a second servo arm;
a linkage assembly connected to the second servo arm and the first connection portion of the swashplate; and
a linkage member connecting the second servo arm to the first servo arm, wherein the first servo-actuator and the second servo-actuator are arranged opposite each other such that the first servo arm and the second servo arm reside and move within parallel planes, wherein the linkage member is a rigid member pivotably attached to each of and between the first servo arm and the second servo arm;
a second control assembly connected to the second connection portion of the swashplate; and
a third control assembly connected to the third connection portion of the swashplate.
2. The flight control system of claim 1 , wherein each of the second and third control assemblies includes two or more servo-actuators, respectively, connected to operate in cooperation with each other.
3. The flight control system of claim 1 , wherein the linkage member is a shaft about which each of the first servo arm and the second servo arm rotates.
4. The flight control system of claim 1 , wherein the second control assembly comprises:
a first servo-actuator having a first servo arm;
a second servo-actuator having a second servo arm;
a linkage member connecting the second servo arm to the first servo arm; and
a linkage assembly connected to the second servo arm and to the second connection portion of the swashplate.
5. The flight control system of claim 4 , wherein the third control assembly comprises
a first servo-actuator having a first servo arm;
a second servo-actuator arranged opposite the first servo-actuator and having a second servo arm; and
a linkage assembly connected to the first and second servo arms and to the third connection portion of the swashplate.
6. The flight control system of claim 5 , wherein the first servo-actuator and the second servo-actuator of the second control assembly or the third control assembly are arranged side-by-side such that the first servo arm and the second servo arm reside and move within a common plane.
7. The flight control system of claim 5 , wherein the linkage assembly of the first control assembly is positioned at least partially between the first and second servo arms.
8. An unmanned aerial vehicle comprising:
a drive system having a swashplate and a rotor assembly; and
a control system operable to control the drive system, the control system including
a first servo assembly operable to control the drive system in a first manner;
a second servo assembly operable to control the drive system in a second manner; and
a third servo assembly operable to control the drive system in a third manner, wherein each of the first, second, and third servo assemblies includes a respective plurality of servo-actuators in a ganged relationship to operate torsionally as a single servo-actuator, wherein the plurality of servo-actuators of the third servo assembly are in facing relationship with each other across a vertical midline of the unmanned aerial vehicle.
9. The unmanned aerial vehicle of claim 8 , wherein the plurality of servo-actuators of each of the first and second servo assemblies are horizontally stacked adjacent each other.
10. The unmanned aerial vehicle of claim 8 , wherein each of the respective plurality of servo-actuators of the first, second, and third servo assemblies includes a servo arm.
11. The unmanned aerial vehicle of claim 10 , wherein
the servo arms of the first servo assembly reside and move within a first common plane;
the servo arms of the second servo assembly reside and move within a second common plane; and
the servo arms of the third servo assembly reside and move within offset parallel planes.
12. A method of calibrating a ganged servo flight control system for a helicopter including two or more servo-actuators, each of the servo-actuators having a servo arm, the method comprising:
calibrating a first of the servo-actuators to respond with respect to one or more input signals;
providing the first of the servo-actuators with a reference input signal
providing a second of the servo-actuators with the reference input signal; and
adjusting a neutral servo position of the second of the servo-actuators such that the servo arms of the servo-actuators are parallel.
13. The method of claim 12 , further comprising connecting a rigid servo linkage to and between the servo arms of the first and second servo-actuators.
14. The method of claim 13 , further comprising monitoring a current draw of each of the plurality of servo-actuators.
15. The method of claim 14 , further comprising verifying the current draw of each of the servo-actuators is not greater than a nominal current draw of each of the servo-actuators when each of the servo-actuators is in a final position with respect to the reference input signal.
16. The method of claim 12 , further comprising configuring the servo-actuators to move freely upon power loss or signal loss.
17. A flight control system for a helicopter comprising:
a swashplate having first, second, and third connection portions;
a first control assembly connected to the first connection portion of the swashplate and having two or more servo-actuators connected to operate in torsional cooperation with each other, the first control assembly further comprising:
the first servo-actuator having a first servo arm;
the second servo-actuator having a second servo arm;
a linkage assembly connected to the second servo arm and the first connection portion of the swashplate; and
a linkage member connecting the second servo arm to the first servo arm, wherein the first servo-actuator and the second servo-actuator are arranged opposite each other such that the first servo arm and the second servo arm reside and move within a common plane, wherein the linkage member is a rigid member pivotably attached to each of and between the first servo arm and the second servo arm;
a second control assembly connected to the second connection portion of the swashplate; and
a third control assembly connected to the third connection portion of the swashplate.