US3584814A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Stability and control augmentation system
Assignee: Bell Aerospace Corp
•
Filing: 1967-07-18
•
Granted: 1971-06-15
•
Expires: 1987-07-18
Abstract
Abstract A stability and control augmentation system for a craft wherein a stabilizing signal is generated in response to external disturbances to activate a high gain stability feedback loop to introduce controlled angular rate. An operator control input activates both the stability feedback loop circuit and a control feedforward loop circuit to change the reference point for the feedback loop without altering the gain thereof. The high gain of the feedback loop dominates the response characteristics of the craft and provides effectively constant response characteristics through the operational envelope. The control feedforward loop circuit alters the reference point for feedback loop circuit so that the mechanical control input may be introduced to provide the desired control response.
Inventors
- 👤 Milford R Murphy
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 17:24
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/08; G05D1/0808; G05D1/0816
Claims Analysis
Total Claims: 24
Claim 1
Independent Claim
143 words
An aircraft control system for selectively establishing and maintaining an attitude rate in the presence of disturbing forces from wind gusts, weapon recoil, and the like, which comprises: a. a control loop including said aircraft, a reference element coupled to said aircraft, first signal coupling means connected to said reference element, a fixed high gain amplifier for amplifying error signals from said coupling means and an actuator responsive to signals from said amplifier for continuous control of said attitude rate; b. a manual input element for introducing a command for a desired change in attitude rate including transducer means to produce a command signal, and c. second coupling mans for applying said command signal with said error signal for amplification in said amplifier to produce a specific aircraft attitude rate response independent of the response of said control loop to said disturbing forces.
Claim 2
Dependent Claim
143 words
An aircraft control system for selectively establishing and maintaining an attitude rate in the presence of disturbing forces from wind gusts, weapon recoil, and the like, which comprises: a. a control loop including said aircraft, a reference element coupled to said aircraft, first signal coupling means connected to said reference element, a fixed high gain amplifier for amplifying error signals from said coupling means and an actuator responsive to signals from said amplifier for continuous control of said attitude rate; b. a manual input element for introducing a command for a desired change in attitude rate including transducer means to produce a command signal, and c. second coupling mans for applying said command signal with said error signal for amplification in said amplifier to produce a specific aircraft attitude rate response independent of the response of said control loop to said disturbing forces.
Claim 3
Dependent Claim
38 words
The combination set forth in claim 1 wherein said coupling means apply said command signal and said error signal to the input to said amplifier with time delays and frequency responses which bear predetermined relationships to each other.
Claim 4
Dependent Claim
21 words
The combination set forth in claim 2 wherein said coupling means have the same time delays and the same frequency responses.
Claim 5
Dependent Claim
27 words
The combination set forth in claim 2 in which said coupling means are common to the signal paths for both said error signal and said command signal.
Claim 6
Dependent Claim
130 words
In a control and stabilization system for a vehicle, the combination comprising: a feedback system having an outer feedback loop which includes said vehicle and responsive to external forces applied to thereto to provide stabilization relative to an established course, said feedback system also including an inner control feedback loop responsive to the amount of stabilizaiton provided by said first feedback loop, and a feedforward control loop including a command element and means responsive to commands applied to the vehicle and having a fixed high gain amplifier means common to said inner loop for controlling the course of travel of the vehicle, and a compensating network having a lag and washout circuit in said outer feedback loop which also forms a lag and washout circuit in said feedforward control loop.
Claim 7
Dependent Claim
130 words
In a control and stabilization system for a vehicle, the combination comprising: a feedback system having an outer feedback loop which includes said vehicle and responsive to external forces applied to thereto to provide stabilization relative to an established course, said feedback system also including an inner control feedback loop responsive to the amount of stabilizaiton provided by said first feedback loop, and a feedforward control loop including a command element and means responsive to commands applied to the vehicle and having a fixed high gain amplifier means common to said inner loop for controlling the course of travel of the vehicle, and a compensating network having a lag and washout circuit in said outer feedback loop which also forms a lag and washout circuit in said feedforward control loop.
Claim 8
Dependent Claim
179 words
A control and stabilization system for a vehicle, the combination comprising: pilot control means for controlling the direction of travel of said vehicle, actuating means having a mechanical input proportional to a desired rate of change in direction of travel of said vehicle coupled to said control means for establishing the position of said actuating means, first transducer means for detecting the rate of divergence of said vehicle from an established direction of travel, a fixed high gain amplifier completing a feedback loop between said transducer means and said actuating means for applying a signal to said actuating means proportional to rate of deviation of said vehicle from its established direction of travel to restore said vehicle to said established direction of travel, means responsive to the output of said actuating means and coupled to said amplifier for returning the output of said amplifier to zero, and second transducer means responsive to said control means and connected to said amplifier for applying to said amplifier a signal proportional to a desired rate of change in direction of said vehicle.
Claim 9
Dependent Claim
179 words
A control and stabilization system for a vehicle, the combination comprising: pilot control means for controlling the direction of travel of said vehicle, actuating means having a mechanical input proportional to a desired rate of change in direction of travel of said vehicle coupled to said control means for establishing the position of said actuating means, first transducer means for detecting the rate of divergence of said vehicle from an established direction of travel, a fixed high gain amplifier completing a feedback loop between said transducer means and said actuating means for applying a signal to said actuating means proportional to rate of deviation of said vehicle from its established direction of travel to restore said vehicle to said established direction of travel, means responsive to the output of said actuating means and coupled to said amplifier for returning the output of said amplifier to zero, and second transducer means responsive to said control means and connected to said amplifier for applying to said amplifier a signal proportional to a desired rate of change in direction of said vehicle.
Claim 10
Dependent Claim
69 words
A control and stabilization system as set forth in claim 6 wherein said detecting means includes a rate gyro coupled to said vehicle and wherein a compensating network is responsive to the output of said first transducer and to said second transducer and tailors the transfer function of said feedback loop to be greater than the transfer function of said vehicle throughout the significant control/response range of said vehicle.
Claim 11
Independent Claim
178 words
A system for control and stabilization of a helicopter having control surfaces, the combination comprising: a pilot actuated lever for generating a signal proportional to a desired rate of change in direction of travel, an actuator responsive to movement of said lever for generating a mechanical movement proportional to the signal generated by said lever, a control system coupled to the control surfaces of said helicopter and responsive to the output of said actuator, a rate gyro coupled to said helicopter for generating a signal proportional to the rate of deviation of said helicopter from a reference direction of travel, a feedback transducer responsive to the output of said actuator for generating a signal proportional to the output thereof, a command signal transducer coupled to said lever for generating a signal proportional to the movement thereof, and fixed high gain amplifier means coupled at its input to the outputs of said rate gyro, said feedback transducer, and said command transducer for applying a signal to said actuator proportional to the sum of the signals applied to said input.
Claim 12
Independent Claim
178 words
A system for control and stabilization of a helicopter having control surfaces, the combination comprising: a pilot actuated lever for generating a signal proportional to a desired rate of change in direction of travel, an actuator responsive to movement of said lever for generating a mechanical movement proportional to the signal generated by said lever, a control system coupled to the control surfaces of said helicopter and responsive to the output of said actuator, a rate gyro coupled to said helicopter for generating a signal proportional to the rate of deviation of said helicopter from a reference direction of travel, a feedback transducer responsive to the output of said actuator for generating a signal proportional to the output thereof, a command signal transducer coupled to said lever for generating a signal proportional to the movement thereof, and fixed high gain amplifier means coupled at its input to the outputs of said rate gyro, said feedback transducer, and said command transducer for applying a signal to said actuator proportional to the sum of the signals applied to said input.
Claim 13
Independent Claim
84 words
The method of control of attitude rate of a craft which comprises: a. generating a high constant gain feedback signal dependent upon outside disturbances on said craft, b. generating a control signal by manual actuation of a control element, c. generating a feedforward signal in response to said control signal, and d. mixing said feedforward signal and said feedback signal with like time lag and frequency characteristics to modify the change rate without alteration of the response of said feedback loop to outside disturbances.
Claim 14
Independent Claim
84 words
The method of control of attitude rate of a craft which comprises: a. generating a high constant gain feedback signal dependent upon outside disturbances on said craft, b. generating a control signal by manual actuation of a control element, c. generating a feedforward signal in response to said control signal, and d. mixing said feedforward signal and said feedback signal with like time lag and frequency characteristics to modify the change rate without alteration of the response of said feedback loop to outside disturbances.
Claim 15
Dependent Claim
155 words
A control and stabilization system for an aircraft which comprises: a. an airframe, b. pilot steering means, c. a stability feedback loop including means for generating a first signal dependent upon the rate of movement of the aircraft relative to a given axis, control surface actuating means connected to be mechanically responsive to said steering means and fixed high gain means for treating said first signal for driving said actuating means in accordance with a transfer function greater than the transfer function of said airframe through the significant control/response range of said airframe, and d. means for generating a second signal in response to movement of said steering means, and e. coupling means for applying said second signal to said fixed high gain means in said stability loop to produce an airframe rate response about said given axis proportionate to movement of said pilot control input means throughout the significant control/response range of said airframe.
Claim 16
Dependent Claim
155 words
A control and stabilization system for an aircraft which comprises: a. an airframe, b. pilot steering means, c. a stability feedback loop including means for generating a first signal dependent upon the rate of movement of the aircraft relative to a given axis, control surface actuating means connected to be mechanically responsive to said steering means and fixed high gain means for treating said first signal for driving said actuating means in accordance with a transfer function greater than the transfer function of said airframe through the significant control/response range of said airframe, and d. means for generating a second signal in response to movement of said steering means, and e. coupling means for applying said second signal to said fixed high gain means in said stability loop to produce an airframe rate response about said given axis proportionate to movement of said pilot control input means throughout the significant control/response range of said airframe.
Claim 17
Dependent Claim
170 words
In an aircraft stability and control augmentation system, the combination comprising: a. an airframe of controllable attitude, b. a control system including an attitude stabilizing feedback loop including airframe attitude rate detecting means, a first signal generating means responsive to said attitude rate detecting means, and actuating means operative to control attitude of said airframe and responsive to said first signal generating means, c. fixed high gain amplifier means in said stabilizing feedback loop to establish gain in said loop throughout the significant control/response range of said airframe sufficient to dominate the response characteristics of the airframe to outside disturbances within said range, d. a pilot input means including pilot steering means, and a second signal generating means responsive to changes in position of said steering means, e. means connecting said second signal generating means to said amplifier means, f. means connecting said actuating means to said steering means for producing a proportionate airframe rate response throughout the significant control/response range of said airframe to movement of said steering means.
Claim 18
Dependent Claim
170 words
In an aircraft stability and control augmentation system, the combination comprising: a. an airframe of controllable attitude, b. a control system including an attitude stabilizing feedback loop including airframe attitude rate detecting means, a first signal generating means responsive to said attitude rate detecting means, and actuating means operative to control attitude of said airframe and responsive to said first signal generating means, c. fixed high gain amplifier means in said stabilizing feedback loop to establish gain in said loop throughout the significant control/response range of said airframe sufficient to dominate the response characteristics of the airframe to outside disturbances within said range, d. a pilot input means including pilot steering means, and a second signal generating means responsive to changes in position of said steering means, e. means connecting said second signal generating means to said amplifier means, f. means connecting said actuating means to said steering means for producing a proportionate airframe rate response throughout the significant control/response range of said airframe to movement of said steering means.
Claim 19
Independent Claim
216 words
A system for control and stabilization of a helicopter having control surfaces, the combination comprising: a pilot actuated lever for generating a signal proportional to a desired rate of change in direction of travel, an actuator response to movement of said lever for generating a mechanical movement proportional to the signal generated by said lever, a control system coupled to the control surfaces of said helicopter and responsive to the output of said actuator, a rate gyro coupled to said helicopter for generating a signal proportional to the rate of deviation of said helicopter from a reference direction of travel, a feedback transducer responsive to the output of said actuator for generating a signal proportional to the output thereof, a command signal transducer coupled to said lever for generating a signal proportional to the movement thereof, a time lag circuit coupled at its input to the output of said gyro and Said command transducer, first amplifier means connected to said lag circuit, a washout circuit connected to the output of said first amplifier means, and second amplifier means connected at its input to the output of said washout circuit and to the output of said feedback transducer for applying a feedback signal to said actuator proportional to the sum of the signals applied to said input.
Claim 20
Independent Claim
216 words
A system for control and stabilization of a helicopter having control surfaces, the combination comprising: a pilot actuated lever for generating a signal proportional to a desired rate of change in direction of travel, an actuator response to movement of said lever for generating a mechanical movement proportional to the signal generated by said lever, a control system coupled to the control surfaces of said helicopter and responsive to the output of said actuator, a rate gyro coupled to said helicopter for generating a signal proportional to the rate of deviation of said helicopter from a reference direction of travel, a feedback transducer responsive to the output of said actuator for generating a signal proportional to the output thereof, a command signal transducer coupled to said lever for generating a signal proportional to the movement thereof, a time lag circuit coupled at its input to the output of said gyro and Said command transducer, first amplifier means connected to said lag circuit, a washout circuit connected to the output of said first amplifier means, and second amplifier means connected at its input to the output of said washout circuit and to the output of said feedback transducer for applying a feedback signal to said actuator proportional to the sum of the signals applied to said input.
Claim 21
Dependent Claim
61 words
A helicopter control and stabilization system as set forth in claim 12 including: a first bilateral gate connected to the input of said first amplifier, a second bilateral gate connected to the output of said second amplifier, and a synchronizing pulse generator connected to said first bilateral gate, to the input of said second amplifier, and to said second bilateral gate.
Claim 22
Dependent Claim
53 words
A helicopter control and stabilization system as set forth in claim 13 wherein said pulse generator includes means for generating negative going pulses connected to said first and second bilateral gates and the input of said second amplifier, and means for generating positive going pulses connected to the input of said second amplifier.
Claim 23
Dependent Claim
42 words
A helicopter control and stabilization system as set forth in claim 13 wherein said lag circuit includes two parallel resistors connected to one side of said first bilateral gate and a capacitor connected to the opposite side of said first bilateral gate.
Claim 24
Dependent Claim
39 words
A helicopter control and stabilization system as set forth in claim 15 wherein said washout circuit includes a capacitor in series with a resistor connected to the output of said first amplifier and the input of said second amplifier.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1974-06-14 | 1974-12-14 | 1975-06-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1978-06-14 | 1978-12-14 | 1979-06-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1982-06-14 | 1982-12-14 | 1983-06-15 | $7700.00 | Window Closed / Lapsed |