LOAD CONTROL DEVICE

Abstract

An attitude control device attached to a remotely controlled model aircraft, which is a controlled object controlled based on a control signal received from an external control device, comprises a processing unit configured to selectively output a first aileron control signal, which is input as a control signal, and a second aileron control signal, which is calculated based on a roll angle of the controlled object, in order to maintain the controlled object in a level attitude. The processing unit selects and outputs the second aileron control signal when the following conditions are met: D The activation of a function is ordered by a function setting signal received from the external control device; the first aileron control signal is a signal indicating neutral position; and the roll angle of the controlled object is within a specified angle.

Description

Technical field

[0001] The present disclosure relates to a position control device attached to a controlled object which is controlled on the basis of a control signal received from the outside. background

[0002] Some control systems for remote control of controlled objects such as model aircraft and drones have an attitude control function, as disclosed, for example, in the following patent documents 1 and 2.

[0003] Patent specification 1 discloses a method for controlling a multicopter which reduces the complexity of controlling the multicopter and makes controlling the multicopter more appealing.

[0004] Patent specification 2 discloses a flying object with a function to keep itself in a horizontal position. (Patent specification 1) Japanese patent application with publication number 2018-2132 (Patent specification 2) Japanese patent application with publication number 2020-67880 Summary

[0005] Attitude control devices for aircraft are devices that provide flight assistance functions for beginners to advanced users, such as devices that automatically perform leveling control by automatically returning to level flight to maintain a level attitude. Accordingly, the aircraft's roll and pitch angles are detected by a gyroscope (angular velocity sensor) and an accelerometer, which automatically controls the ailerons and elevator to maintain a level attitude. During the automatic return-to-level control, the control inputs for the ailerons and elevator are limited to a predetermined angle to prevent excessive input.

[0006] In a normal turn, an operator (user) uses the aileron stick on the transmitter to pitch the aircraft, then returns the aileron stick to neutral and subsequently pulls back the elevator stick to rotate the aircraft. After completing the turn, the aileron stick is moved in the opposite direction to return the aircraft to level flight and complete the maneuver. However, if a turn is attempted during the above-described automatic return-to-level control sequence, aileron movement is limited, and the aircraft cannot rotate at the desired angle, resulting in a large turn radius.

[0007] Furthermore, the elevator must be used during landing to raise the nose of the aircraft. However, the elevator is automatically controlled to return to level flight, causing the nose of the aircraft to dip, which can make a stable landing difficult.

[0008] Furthermore, during the automatic return to level flight control, the pitch angle is limited and the elevator control is ineffective, making fine elevator control for altitude and speed control difficult.

[0009] Therefore, the present disclosure provides an attitude control device with a flight assistance function that differs from the automatic return to level flight function described above and is capable of responding appropriately to operator input during turns or landing.

[0010] An attitude control device according to the present disclosure is an attitude control device attached to a remotely controlled model aircraft, which is a controlled object controlled on the basis of a control signal received from an external control device, and comprises a computing unit configured to selectively input a first aileron control signal, which is input as the control signal, and a second aileron control signal, which is calculated on the basis of a roll angle of the controlled object, in order to maintain the controlled object in a horizontal position, wherein the computing unit selects and outputs the second aileron control signal when the following conditions are met: the activation of a function is ordered by a function setting signal received from the external control device; the first aileron control signal is a signal indicating neutral position;and the roll angle of the controlled object lies within a defined angle.

[0011] In other words, the activation of a new flight assistance function is configured. Furthermore, the new flight assistance function is activated when the following conditions are met: the initial aileron control signal is neutral; and the roll angle is within a specified range. This function uses the aileron control signal calculated based on the roll angle to maintain the controlled object in a level attitude. Maintaining a level attitude means keeping the roll angle at approximately 0° or approximately 180°.

[0012] The position control device of the present disclosure can have a condition added to the condition for activating the new function, namely that the pitch angle of the controlled object lies within a specified angle.

[0013] According to the present disclosure, in the case of controlling a controlled object, it is possible to adequately control turns, landings or similar maneuvers even when the flight assistance function is activated. Brief description of the drawings Fig. Figure 1 is a diagram showing a configuration example of a control system according to an embodiment of the present disclosure. Fig. Figure 2 is a block diagram of an example of an internal configuration of a transmitter and a controlled object according to an embodiment. Fig. Figure 3 is a block diagram of a configuration example of a position control device according to a first embodiment. Fig. Figure 4 is an explanatory diagram of a pulse width of a function setting signal according to one embodiment. Fig. Figure 5 is an explanatory diagram of a pulse width of an aileron control signal according to one embodiment. Fig. Figure 6 is a flowchart of a selection process for an aileron control signal according to a first embodiment. Fig. Figure 7 is a block diagram of a configuration example of a position control device according to a second embodiment. Fig. Figure 8 is a flowchart of a selection process for an aileron control signal according to a second embodiment. Fig. Figure 9 is a block diagram of a configuration example of a position control device according to a third embodiment. Detailed description

[0014] The following are embodiments of the present disclosure described in the following order. <1. First embodiment> [1-1 Example of a system configuration] [1-2 Example of sender and controlled object configuration] [1-3 Configuration and processing of the attitude control device] <2. Second embodiment> <3. Third embodiment> <4. Effects of the embodiments> <1. First Implementation>[1-1 Example of a System Configuration]

[0015] Fig. Figure 1 shows a configuration example of a flight control system 1 according to an embodiment of the present disclosure.

[0016] In the following embodiment, a new flight assistance function is referred to as the "Roll-Flat Function." The Roll-Flat Function is also a function that automatically maintains the aircraft in a level attitude. However, it differs from the "Automatic Return to Level Flight Function" described above and is therefore distinguished from the Automatic Return to Level Flight Function.

[0017] The flight control system 1 comprises at least one controlled object 2 and one transmitter 3.

[0018] The controlled object 2 is an object that is controlled based on a control signal received from an external source. The transmitter 3 is a device that sends various signals, including a control signal, to the controlled object 2.

[0019] In the present embodiment, a model airplane is an example of the controlled object 2.

[0020] The controlled object 2, which is a model aircraft, comprises a fuselage 21, a pair of main wings 22 and 22 on the left and right sides, horizontal tail wings 23 and 23, and a tail wing 24.

[0021] The position of the controlled object 2 can be expressed by its direction of rotation about the longitudinal axis, the direction of rotation about the transverse axis, and the direction of rotation about the vertical axis. The directions of the longitudinal, transverse, and vertical axes are shown in the drawing. As depicted in the drawing, the longitudinal axis is an axis that penetrates the body 21 of the controlled object 2 from front to back, the transverse axis is an axis that penetrates the controlled object 2 from left to right, and the vertical axis is an axis that penetrates the controlled object 2 from top to bottom.

[0022] In the controlled object 2, each main wing 22 is equipped with an aileron 26. Each horizontal tail wing 23 is equipped with an elevator 27, and the vertical tail wing 24 is equipped with a rudder 28.

[0023] The aileron 26 is a movable wing for rotating the controlled object 2 about its longitudinal axis. The elevator 27 is a movable wing for rotating the controlled object 2 about its lateral axis, and the rudder 28 is a movable wing for rotating the controlled object 2 about its vertical axis.

[0024] The flight attitude of the controlled object 2 can be changed by actuating the aileron 26, the elevator 27 and the rudder 28.

[0025] The controlled object 2 is equipped with a propeller 25. The forward and reverse thrust of the controlled object 2 can be generated by rotating the propeller 25.

[0026] The controlled object 2 is configured so that the direction of rotation of propeller 25 can be reversed. By reversing the direction of rotation of propeller 25, the forward and reverse movement of the controlled object 2 can be switched.

[0027] Transmitter 3 has the function of receiving a control operation from a user as operator and sending a control signal in response to the received operation.

[0028] The transmitter 3 has an antenna 3a for wirelessly transmitting a control signal, a control element 3b for receiving an operating input for control and a screen 33a for displaying various information for a user as operator.

[0029] Here, as an example, a transmitter 3 with two rod-shaped control elements (control element 3b) is shown. However, control element 3b does not necessarily have to be rod-shaped; it can also have other shapes, such as a wheel. Furthermore, the number of control elements 3b can also differ from two.

[0030] In this description, "control signal" refers to a signal that instructs the operation of moving parts of the controlled object 2, such as the propeller 25, the aileron 26, the elevator 27 and the rudder 28.

[0031] In control system 1, signals other than control signals that instruct the operation of the moving parts can also be transmitted from transmitter 3 to the controlled object 2. For example, a function setting signal that instructs the switching on and off of the roll-flat function is transmitted from transmitter 3 to the controlled object 2.

[0032] In control system 1, multiple channels can be used as signal transmission channels from transmitter 3 to the controlled object 2. For example, a total of 18 channels are available as signal transmission channels in control system 1.

[0033] By using multiple channels, the control signals for each moving part, such as the propeller 25, the aileron 26, the elevator 27, and the rudder 28, can be transmitted separately for each channel. In particular, it is possible to define a specific signal to be transmitted for each channel. For example, the control signal for the propeller 25 can be assigned to channel CH1, the control signal for the aileron 26 to channel CH2, and the control signal for the elevator 27 to channel CH3.

[0034] When configuring the assignment of transmission signals for each channel, it is also possible to assign signals other than control signals as transmission signals. For example, a function setting signal can be assigned to channel CH5. [1-2 Configuration example for transmitter and controlled object]

[0035] The internal configuration example of sender 3 and controlled object 2 is shown with reference to the block diagram in Fig. 2 described.

[0036] Fig. Figure 2 shows the example of the electrical configuration of the transmitter 3 and the controlled object 2, without taking into account their mechanical configuration.

[0037] As shown in the drawing, the transmitter 3 comprises a transmitter-side control part 31, an actuating part 32, a display part 33 and a transmission part 34.

[0038] The actuating part 32 generally represents an actuating element with which a user can input various actions into the transmitter 3. In particular, it generally represents the rod-shaped control element 3b described above for control operations and control elements for various other operations besides the control operations, such as buttons, switches, levers, touchscreens and the like.

[0039] In the transmitter 3 of the present embodiment, a touchscreen for detecting touch operations is provided on the screen 33a described above, and the actuating element in the actuating part 32 includes the touchscreen.

[0040] The display unit 33 comprises a display device, such as a liquid crystal display (LCD) or an organic electroluminescent display (EL), and shows various information to the user. The screen 33a described above is a display screen on the display unit 33.

[0041] The transmitter-side control unit 31 comprises a microcomputer equipped, for example, with a central processing unit (CPU), a read-only memory (ROM), and a random-access memory (RAM). The CPU performs the overall control of the transmitter 3 by executing a process corresponding to a program stored in memory, such as a ROM.

[0042] For example, the transmitter-side control unit 31 performs processing to generate a control signal based on the actuation of the operating element 3b in the actuating unit 32.

[0043] Furthermore, the transmitter-side control unit 31 performs processing to display various information on the display unit 33 based on the manipulation of a specific manipulation element in the actuating unit 32, other than the control element 3b, in particular based on the touchscreen on the screen 33a in the present embodiment. For example, the transmitter-side control unit 31 performs processing to cause the display unit 33 to display a settings menu screen or a settings screen for an item selected on the settings menu screen.

[0044] Furthermore, the transmitter-side control unit 31 performs processing to induce the transmission unit 34 to send the generated control signal and other signals to the controlled object 2.

[0045] The transmission unit 34 sends the signal ordered by the transmitter-side control unit 31 via the antenna 3a.

[0046] Furthermore, the transmission unit 34 can have a receiving function in addition to a transmitting function. If a receiver 4 (described later) has a transmitting function, the transmitter 3 can receive information acquired by the controlled object 2. For example, if the controlled object 2 is equipped with a monitoring sensor such as a temperature sensor or a propeller speed sensor 25 (drive motor 7 described later), the information acquired by the sensor can be received on the transmitter 3 and displayed on the display unit 33.

[0047] The controlled object 2 comprises the receiver 4, a position control device 5, an electronic speed controller (ESC) (also referred to as a speed controller) 6, the drive motor 7 and a variety of servo motors 8 (8R, 8E and 8A).

[0048] The drive motor 7 is a motor that powers the in Fig. The propeller 25 shown in Figure 1 rotates and drives the system. For example, a motor that can switch the direction of rotation depending on the polarity of the drive current is used as the drive motor 7.

[0049] There are three servomotors 8, namely a servomotor 8A that drives the aileron 26, a servomotor 8E that drives the elevator 27, and a servomotor 8R that drives the rudder 28.

[0050] Receiver 4 has an antenna 4a and receives a signal sent by the transmission unit 34 in transmitter 3. Receiver 4 outputs the received signal to the ESC 6 and the attitude control device 5.

[0051] The ESC 6 detects a control signal that controls the operation of the propeller 25 and that is contained in the transmission signal input from the transmitter 3 via the receiver 4, and generates a drive signal for the drive motor 6 on the basis of the control signal.

[0052] The drive signal is output to the drive motor 7, and the drive motor 7 is driven.

[0053] The position control device 5 has sensors (three-axis angular velocity acceleration sensor 11) corresponding to the longitudinal axis, the transverse axis and the vertical axis, as will be described later, and serves as a unit that controls the position of the controlled object 2 on the basis of the measurement signals, i.e. the signals of the angular velocities and accelerations of the respective axes.

[0054] As will be described in detail later, the attitude control device 5 extracts the aileron control signal, which controls the operation of the aileron 26, the elevator control signal, which controls the operation of the elevator 27, and the rudder control signal, which controls the operation of the rudder 28, which are contained in the transmission signal input by the transmitter 3 via the receiver 4, and generates drive signals to achieve attitude control (attitude stabilization control) as drive signals AL2, EL2 and RD2 for the servomotors 8A, 8E and 8R respectively, based on the three control signals and the measurement signals of the sensors.

[0055] In this way, the position control device 5 drives the servomotors 8A, 8E, and 8R on the basis of the drive signals AL2, EL2, and RD2 generated by the position control device 5, thus achieving position control of the controlled object 2. [1-3 Design and processing of the position control device]

[0056] Fig. Figure 3 shows a configuration example for the position control device 5. Fig. Figure 3 shows a configuration in which it is possible to switch between the case where the drive signals AL2, EL2 and RD2 are sent to the servomotors 8A, 8E and 8R according to the aileron control signal AL1, the elevator control signal EL1 and the rudder control signal RD1 transmitted by transmitter 3 (i.e. when the flight assistance function is not executed), and the case where the drive signals are sent to the servomotors 8A, 8E and 8R by the roll-flat function (i.e. when the flight assistance function is activated).

[0057] Fig. Figure 3 shows the configuration example in which the roll-flat function is implemented, but the automatic return to level flight function is not shown. The attitude control device 5 can have both the automatic return to level flight function and the roll-flat function, and a user can select and activate either one. However, this is described in the third embodiment, and the roll-flat function is mainly described in the first embodiment.

[0058] The position control device 5 may be provided with functions or circuit blocks other than those shown in the drawing, or some of the functions or circuit blocks shown may not be present.

[0059] Fig. 3 also shows the one in Fig. 2 receiver 4 shown together with the configuration example of the attitude control device 5.

[0060] The position control device 5 has a communication part 10, a three-axis angular velocity acceleration sensor 11 (hereinafter referred to as “sensor 11”), a roll-flat computing unit 12 and drive signal generation parts 15, 16 and 17.

[0061] The communication unit 10 receives a signal from the transmitter 3, which is then received by the receiver 4. Although a detailed description is omitted, the attitude control device 5 can transmit information to an external device via the communication unit 10.

[0062] The sensor 11 detects an angular velocity Rag and an acceleration Rac about the longitudinal axis (the direction of rotation of the aileron 26), an angular velocity Pag and an acceleration Pac about the lateral axis (the direction of rotation of the elevator 27) and an angular velocity Yag and an acceleration Yac about the vertical axis (the direction of rotation of the rudder 28).

[0063] The roll-flat computing unit 12 is configured to perform wired communication with an external device via the communication part 10. During control of the controlled object 2, the receiver 4 is wired to the communication part 10, as shown in the drawing, and the roll-flat computing unit 12 can receive the transmit signal from the transmitter 3 via the communication part 10.

[0064] In particular, the roll-flat computing unit 12 receives the rudder control signal RD1, the elevator control signal EL1, the aileron control signal AL1 and the function setting signal RFF as transmission signals from transmitter 3.

[0065] When the roll-flat function is not activated, the roll-flat computing unit 12 supplies the rudder control signal RD1, the elevator control signal EL1 and the aileron control signal AL1 to the drive signal generation parts 15, 16 and 17.

[0066] The drive signal generation part 15 generates the drive signal RD2 for the servo motor 8R based on the rudder control signal RD1.

[0067] The drive signal generation part 16 generates the drive signal EL2 for the servo motor 8E based on the elevator control signal EL1.

[0068] The drive signal generation unit 17 generates the drive signal AL2 for the servo motor 8A based on the aileron control signal AL1.

[0069] By transmitting the control signals RD2, EL2 and AL2 to the servomotors 8R, 8E and 8A, the position of the controlled object 2 is controlled depending on the input of the operator using the transmitter 3.

[0070] When the roll-flat function of the present embodiment is activated, the rudder control signal RD1 is routed to the drive signal generator 15 and the elevator control signal EL1 to the drive signal generator 16. In other words, the rudder and elevator inputs from the operator are directly transmitted to the rudder 28 and elevator 27, respectively. The aileron control signal ALa is routed to the drive signal generator 17. The aileron control signal ALa is an actuation signal that is automatically generated based on the measurement signal from sensor 11 to return to a horizontal position.

[0071] In other words, if the roll-flat function is not activated, the aileron actuation signal AL1 is selected and fed to the drive signal generator 17. Since the aileron actuation signal AL1 is fed to the drive signal generator 17, the roll-flat function is activated.

[0072] The functional configuration of the roll-flat computing unit 12 for activating the roll-flat function is described below.

[0073] In particular, the roll-flat function of the present embodiment is not simply activated or continued by the command to turn on the roll-flat function. The roll-flat function of the present embodiment is activated and continued when the following conditions are met: the command to turn on the roll-flat function is received by transmitter 3; the aileron control signal AL1 is a signal indicating a neutral state; and the roll angle of the controlled object 2 is within a specified angle. Here, the state in which the roll-flat function is activated and continued refers to a state in which the aileron control signal AL1 is sent to the drive signal generator 17. Fig. Figure 3 shows the configuration of the roll-flat computing unit 12, which controls the activation / non-activation of the roll-flat function under the conditions mentioned above.

[0074] The roll-flat processing unit 12 can be implemented as a computing device using a microprocessor or as a computing device using a hardware logic circuit. Furthermore, the roll-flat processing unit 12 functions as a processing function using software or as a processing function using a hardware logic circuit, as shown in the drawing. In other words, the roll-flat processing unit 12 comprises a pulse determination section 50, a pitch angle calculation unit 51, an ON / OFF determination section 52, a selection section 54, a neutral position determination section 55, an aileron operating value calculation unit 56, and a roll angle confirmation section 57.

[0075] The pulse determination unit 50 receives the function setting signal RFF from the transmitter 3 via the communication unit 10 and determines the pulse width of the ON side of the function setting signal RFF. The transmitter 3 transmits the ON / OFF switching of the roll-flat function by the user and information about the preset roll angle via the function setting signal RFF. In this embodiment, the roll angle information is the information about the set angle, which is one of the conditions for activating the roll-flat function.

[0076] Fig. Figure 4 shows the function setting signal RFF. The function setting signal RFF is a signal that, for example, generates high-level (H-level) pulses of 1500 µs ±600 µs with a period of 15 ms.

[0077] The diagram shows the H-level periods of 1500 µs, 1800 µs, 2000 µs, 2100 µs, and 1100 µs. The pulse widths are determined by the user's settings on transmitter 3.

[0078] The pulse widths serve as information specifying the instruction to turn the function on / off and the set angle for the roll angle, i.e., the roll angle as a function activation condition.

[0079] For example, if the function setting signal RFF is a signal with a high-level period of 1500 µs ±600 µs, this means that the roll-flat function is enabled in the high-level period from 1500 µs to 2100 µs.

[0080] A high-level period from 1499 µs to 900 µs indicates that the roll-flat function is switched off. For example, a high-level period of 1100 µs serves as a signal to switch off the roll-flat function, as shown in the diagram.

[0081] The pulse width (duration) of the high-level pulse from 1500 µs to 2100 µs, which indicates that the roll-flat function is enabled, specifies the roll angle. For example, 1500 µs corresponds to 0°, and the angle increases by 1° every 10 µs. Therefore, as shown in the diagram, the roll angle is 30° at 1800 µs, 50° at 2000 µs, and 60° at 2100 µs.

[0082] In this example, the user can, for instance, set any angle between 0° and 60° as a condition for activating the roll-flat function.

[0083] With a set angle of 0°, the roll-flat function is only activated if the roll angle is 0° or 180° in reverse flight, i.e., if the aircraft is flying horizontally in forward or reverse flight.

[0084] With a set angle of 30°, the roll-flat function is activated when the roll angle is within 0° ± 30° or 180° ± 30° in reverse flight, i.e., within ± 30° of the horizontal state in forward or reverse flight.

[0085] The pulse determination part 50 determines the pulse width of the H level in the function setting signal RFF as described above and informs the ON / OFF determination part 52 and the roll angle confirmation part 57 of the pulse width.

[0086] If the reported pulse width is 1500 µs or more, the ON / OFF determiner 52 determines that the roll-flat function is switched on. The ON / OFF determiner 52 then reports the result of the ON / OFF determination of the roll-flat function to the selection part 54.

[0087] The roll angle determination unit 57 determines the set angle as a condition for the roll angle depending on the pulse width reported by the pulse determination unit 50, between 1500 µs and 2100 µs. For example, if the pulse width is 1800 µs, the set angle is ±30°.

[0088] The aileron control signal AL1, entered via the communication part 10, is fed to the neutral position determination part 55 and the selection part 54 (connection m in the drawing).

[0089] The neutral position determination part 55 determines whether the aileron control signal AL1 is neutral or not.

[0090] Fig. Figure 5 shows an example of the aileron control signal AL1. For example, the aileron control signal AL1 is a signal that, similar to the function setting signal RFF, generates a high-level pulse with a cycle of 15 ms. The aileron control signal AL1 indicates neutral when the high-level pulse is 1500 µs, clockwise rotation of servo motor 8 when the high-level pulse exceeds 1500 µs, and counterclockwise rotation of servo motor 8 when the high-level pulse is less than 1500 µs.

[0091] Fig. Figure 5 shows the cases where the H-level periods are 1500 µs, 1500+T1 µs and 1500-T2 µs.

[0092] If the H-level period is 1500 µs, the signal indicates neutral.

[0093] If the H-level period is 1500+T1 µs, the signal indicates the clockwise rotation corresponding to the duration of period T1.

[0094] If the H-level period is 1500-T2 µs, the signal indicates the rotation to the left corresponding to the duration of the period T2.

[0095] In this example, the neutral position determination part 55 informs the selection part 54 whether the H-level period is 1500 µs, i.e., whether the signal indicates the neutral position or whether the aileron drive is being controlled.

[0096] The position angle calculation unit 51 calculates the position angle of the controlled object 2 on the basis of the measurement signal of the sensor 11.

[0097] For example, the roll angle Ra, the pitch angle Pa and the yaw angle Ya are calculated.

[0098] The information about the roll angle Ra received by the attitude angle calculation unit 51 is forwarded to the aileron operating value calculation unit 56 and the roll angle confirmation part 57.

[0099] The roll angle confirmation part 57 compares the roll angle specified by the function setting signal RFF with the current roll angle Ra to determine whether the current roll angle Ra is within the specified roll angle, and then communicates the result of the determination to the selection part 54.

[0100] The aileron operating value processing unit 56 calculates the aileron control signal ALa to return the flight attitude of the controlled object 2 to a horizontal state, i.e., to reduce the roll angle to 0° (or 180°), based on the current roll angle Ra. The aileron control signal ALa is forwarded to the selection part 54 (terminal a in the drawing).

[0101] The selection element 54 is shown as a switch with terminals m and a, but this is a schematic representation. Although the selection element 54 can be implemented as an actual selection circuit, it only needs to select and output one of the two signals, the aileron control signal AL1 and the aileron control signal ALa, by calculation.

[0102] Selection section 54, for example, lists the following: Fig. The selection processing shown in section 6 is carried out.

[0103] In step S101, the selection part 54 determines whether the roll-flat function is to be activated. In other words, this is determined based on the message from the ON / OFF determining part 52.

[0104] In step S102, the selection part 54 determines, based on the message from the neutral position determination part 55, whether the aileron control signal AL1 is neutral.

[0105] In step S103, the selection part 54 determines, based on the message from the roll angle confirmation part 57, whether the current roll angle Ra is within the specified roll angle.

[0106] If positive results are obtained in all steps S101, S102 and S103, the selection section 54 proceeds to step S110 to select terminal a, i.e. the aileron control signal ALa, and route it to the propulsion signal generation section 17.

[0107] If negative results are obtained in any of the steps S101, S102 and S103, the selection section 54 proceeds to step S111 to select the terminal m, i.e. the aileron control signal AL1, and route it to the propulsion signal generation section 17.

[0108] Due to the above-described function of the roll-flat computing unit 12, the aileron control signal ALa is supplied to the drive signal generation unit 17 to activate the roll-flat function for flight assistance when the following conditions are met: The activation of the roll-flat function is ordered by the function setting signal RFF from the transmitter 3; the aileron control signal AL1 is a signal indicating the neutral position; and the roll angle Ra of the controlled object 2 is within a specified angle.

[0109] In this case, the rudder control signal RD1 and the elevator control signal EL1 are supplied to the drive signal generation parts 15 and 16, so that the user's rudder and elevator controls remain valid and unrestricted even while the roll-flat function is activated.

[0110] Once the roll-flat function has been activated, the control continues to automatically maintain a horizontal attitude using the aileron control signal ALa until the conditions are no longer met, for example, until the aileron control signal AL1 is in a state other than the neutral state.

[0111] When a user operates the aileron, the aileron control signal AL1 is in a state other than neutral. Therefore, the aileron control signal AL1 is selected by selection part 54, and the roll-flat function is deactivated.

[0112] The above results in the following advantages.

[0113] With the automatic return-to-level-flight function described above, aileron input is restricted during a turn attempt while the aircraft is in automatic control mode, preventing it from turning the desired angle and resulting in a large turning circle. Furthermore, the elevator must be used to raise the nose during landing, but since the elevator is automatically used to return the aircraft to a level position, the nose dips.

[0114] In contrast, due to the roll-flat function of the present embodiment, even when the roll-flat function is activated during a landing approach turn, both the ailerons and the elevator can be operated normally. Furthermore, the aircraft can respond according to the operator's input, so that no disturbance is felt by the operator and operator errors are unlikely.

[0115] Furthermore, in a landing position (in a state where the roll angle is horizontal on the extension of the runway), the roll angle is automatically kept horizontal, allowing the operator to concentrate on controlling the aircraft's speed and altitude, i.e., operating the throttle and elevator.

[0116] Furthermore, the elevator remains in normal operation and can therefore be operated without any disturbance.

[0117] Furthermore, the roll-flat function enables stable horizontal flight in the air above the front or rear of the aircraft.

[0118] Since the roll angle at which the roll-flat function is activated can be set via transmitter 3, beginners can increase the roll angle for activation. This allows the function to be activated quickly, and the aircraft will automatically be held in a level attitude. Advanced pilots, on the other hand, can activate the roll-flat function after the aircraft has reached a near-level attitude. In other words, the roll-flat function can be used according to the pilot's skill and preference. <2. Second embodiment>

[0119] Fig. Figure 7 shows the configuration example of the position control device 5 according to a second embodiment. For the same parts as in Fig. 3. The same reference numerals are used, and a redundant description of them is omitted. The second embodiment differs from the first embodiment in that a pitch angle confirmation part 58 is provided, as shown in Fig. 7 shown.

[0120] The pitch angle confirmation unit 58 detects the aircraft's current pitch angle Pa, calculated by the attitude angle calculation unit 51, and determines whether it is less than or equal to a preset angle. For example, a pitch angle of 60° is preset.

[0121] In this case, the pitch angle (e.g., 60°) is set to an angle corresponding to a dive or climb. During a dive or climb, it is difficult to determine whether the aircraft is level with the ground, and levelness may not be critical. In particular, the roll-flat function is irrelevant. Therefore, if the pitch angle Pa exceeds the set angle, the roll-flat function is disabled.

[0122] Therefore, the pitch angle confirmation part 58 informs the selection part 54 that the pitch angle Pa is less than or equal to the set angle.

[0123] Selection section 54 leads to the Fig. The selection processing shown in section 8 is carried out. For the same steps as in... Fig. The same step numbers are used in step 6 to avoid a detailed description.

[0124] In steps S101, S102 and S103, the selection part 54 determines whether the Roll-Flat function is set to ON, whether the aileron control signal AL1 is neutral, and whether the current roll angle Ra is within the set roll angle.

[0125] In step S104, the selection part 54 determines, based on the message from the pitch angle confirmation part 58, whether the current pitch angle Pa is within the set pitch angle.

[0126] If positive results are obtained in all steps S101, S102, S103 and S104, the selection part 54 proceeds to step S110, selects the aileron control signal ALa and delivers it to the propulsion signal generation part 17.

[0127] If a negative result is obtained in any of the steps S101, S102, S103 and S104, the selection section 54 continues with step S111, selects the aileron control signal AL1 and delivers it to the propulsion signal generation section 17.

[0128] In the second embodiment, similar to the first embodiment, the operation by the user is also valid in a state in which the roll-flat function is activated, so that the roll-flat function is canceled during a dive or a gliding maneuver.

[0129] Furthermore, the set angle for the pitch angle can be changed by the user via transmitter 3. <3. Third embodiment>

[0130] Fig. Figure 9 shows a configuration example of the position control device 5 according to a third embodiment. For the same parts as in Fig. 7. The same reference symbols are used, and a redundant description of them is omitted.

[0131] Fig. Figure 9 shows an example where the roll-flat function and the automatic return to level flight function exist side by side, and the function is selected by the function setting signal RFF of a signal transmission channel from transmitter 3. Therefore, the part that corresponds to the roll-flat processing unit 12 in Fig. 7 corresponds to the flight assistance function computing unit 12A.

[0132] The automatic return-to-level-flight function is a function that outputs the aileron control signal ALa, which is calculated to keep the controlled object 2 in a level state based on the roll angle Ra of the controlled object 2, and the elevator signal ELa, which is calculated to keep the controlled object 2 in a level state based on the pitch angle Pa of the controlled object 2, when the condition that the function is enabled is met. Therefore, in Fig. 9 in addition to the configuration of Fig. 7 the elevator actuation quantity calculation unit 60 and the selection part 61 are provided.

[0133] The elevator actuation quantity control unit 60 calculates the elevator actuation quantity for returning to a horizontal position based on the current pitch angle Pa, which was calculated by the attitude control unit 51, and outputs the elevator actuation signal ELa. The elevator actuation signal ELa is fed to the selection part 61 (terminal a in the drawing).

[0134] Selection part 61 is shown schematically as a switch with terminals m and a. While selection part 61 can be implemented as an actual selection circuit, it only needs to select and output the elevator signal EL1 and the elevator signal ELa by calculation.

[0135] The on / off detection element 52 uses the pulse width of the function setting signal RFF to determine whether the function is switched off, the roll-flat function is switched on, or the automatic return to level flight function is switched on. The on / off detection element 52 then communicates the result of this determination to the selection elements 54 and 61.

[0136] For example, in Fig. As described in section 4, if the high-level pulse width is 1500 µs or greater, the roll-flat function is detected, and the set angle is determined as a condition for the roll angle. In this case, the roll-flat function is activated when the duration of the high level is between 1500 µs and less than 2100 µs, and the duration of the high level specifies the roll angle.

[0137] If the duration of the H-level period is 2100 µs, which is the maximum, it is determined that the automatic return to level flight function is enabled.

[0138] In other words, the pulse width determines whether the roll-flat function is activated or whether the automatic return to level flight function is activated.

[0139] The following describes the selection processing carried out by selection parts 54 and 61.

[0140] If the pulse width of the function setting signal RFF is less than 1500 µs and the flight assist function is switched off, both selection parts 54 and 61 select terminal m. Therefore, the aileron control signal AL1 and the elevator control signal EL1 are supplied to the propulsion signal generation parts 16 and 17.

[0141] If the pulse width of the function setting signal RFF is between 1500 µs and less than 2100 µs, the selection part 54 determines that the roll-flat function is enabled and selects the aileron control signal AL1 or the aileron control signal ALa in the processing example of Fig. 8. On the other hand, selection part 61 constantly selects the elevator control signal EL1 (connection m). In other words, the selection is made by the roll-flat function described above.

[0142] If the pulse width of the function setting signal RFF is 2100 µs, both selection parts 54 and 61 select terminal a. Therefore, the aileron control signal ALa and the elevator control signal ELa are supplied to the propulsion signal generation parts 16 and 17. Accordingly, the automatic return to level flight function is activated.

[0143] In both the roll-flat function and the automatic return to level flight function, the rudder signal RD1 is supplied to the propulsion signal generation unit 15.

[0144] In actual cases, aileron and elevator control are restricted, but not disabled, even when the automatic return to level flight function is activated. Therefore, the calculation in Fig. The roll actuation unit 56 shown in Figure 9 calculates the roll actuation signal ALa with reference to the roll actuation signal AL1 in addition to the roll angle Ra. Furthermore, the elevator actuation unit 60 calculates the elevator actuation signal ELa with reference to the elevator actuation signal EL1 in addition to the pitch angle Pa.

[0145] According to the in Fig. In the configuration shown (9), both the roll-flat function and the automatic return to level flight function can be selectively activated. Furthermore, the roll-flat function and the automatic return to level flight function can be controlled via a signal transmission channel from transmitter 3.

[0146] Additionally, independent signal transmission channels can be used to control the roll-flat function and the automatic return-to-level-flight function. In this case, if the activation of the function is ordered in both channels, the attitude control device 5 can prioritize one of the functions and interpret the instruction as an activation instruction for the priority function.

[0147] In the third embodiment, the roll-flat function was described as an activation condition that includes the pitch angle condition described in the second embodiment. However, it is possible to use the conditions described in the first embodiment to define the roll-flat function. Fig. 6 to determine whether the roll-flat function is activated or not. <4. Effects of the embodiments>

[0148] The following effects can be achieved according to the above-mentioned embodiments.

[0149] The attitude control device 5 of the first embodiment comprises the roll-flat processing unit 12, which selectively outputs the first aileron control signal AL1, input as a control signal, and the second aileron control signal ALa, calculated on the basis of the roll angle Ra of the controlled object 2, in order to maintain the controlled object 2 in a horizontal state. Furthermore, the roll-flat processing unit 12 is configured to selectively output the second aileron control signal ALa when the following conditions are met: the activation of the roll-flat function is directed by the function setting signal RFF; the first aileron control signal AL1 is a signal indicating neutral; and the roll angle Ra of the controlled object 2 is within a set angle.

[0150] Due to the roll-flat function, automatic aileron control is only performed when the roll-flat function is activated, no aileron input is being applied by the user, and the roll angle of the controlled object 2 is within a predetermined angle from the horizontal. Automatic aileron control is performed when the automatic elevator control using the roll-flat function does not interfere with user control, thus improving controllability and allowing control to be implemented according to the operator's skill level.

[0151] In the attitude control device 5 of the second embodiment, the roll-flat processing unit 12 is configured to select and output the second aileron control signal ALa when the following conditions are met: The activation of the roll-flat function is requested by the function setting signal RFF. The first aileron control signal AL1 is a signal indicating the neutral position. The roll angle Ra of the controlled object 2 is within a set angle; and the pitch angle Pa of the controlled object 2 is within a set angle.

[0152] In other words, the condition that the pitch angle Pa lies within a specified angle is added as a condition for activating the roll-flat function.

[0153] By taking the pitch angle into account, the roll-flat function can be prevented from being activated when it would be pointless, for example, during a dive or a gliding maneuver. In other words, the roll-flat function is activated when the altitude control is in effect.

[0154] In the first, second and third embodiments, the roll-flat computing unit 12 is configured to select and output the first aileron control signal AL1, except when the conditions are met.

[0155] Even if the aileron control signal ALa is output by selector 54 due to the roll-flat function, the aileron control signal AL1 is immediately output by selector 54 if the aileron control signal AL1 is not neutral due to the control signal. In other words, if aileron input is performed while the roll-flat function is activated, the aileron input will be accepted. Accordingly, it is possible to perform a turn without any issues, and operator errors are unlikely to occur.

[0156] In the first, second and third embodiments, the roll-flat calculation section 12 is configured such that, during the period in which the second aileron control signal ALa is selected and output due to the fulfilled conditions, it outputs the elevator control signal EL1, which is input as a control signal from transmitter 3.

[0157] Even when the roll-flat function is engaged, the elevator functions normally, allowing for uninterrupted operation. Particularly during landing, the roll angle can be automatically controlled, enabling the operator to focus on the elevator and throttle controls.

[0158] In the first, second and third embodiments, the roll-flat computing unit 12 is configured to determine the setting angle as a condition for the roll angle of the controlled object 2 based on the pulse width of the function setting signal RFF.

[0159] Therefore, the angle range for automatic roll angle control can be set from transmitter side 3, allowing the automatic control range to be changed according to the operator's skill level. A beginner can perform automatic leveling when the roll angle deviates somewhat from the horizontal position, while an advanced operator can perform automatic leveling only when the aircraft is essentially horizontal.

[0160] By defining the set angle as a condition for the roll angle using the pulse width, the on / off control of the roll-flat function and the angle adjustment can be performed via a single channel from transmitter 3, thus making efficient use of the transmission information. The values ​​described above, from 1500 µs to 2100 µs, are examples for illustrative purposes. There are no specific restrictions regarding the concrete numerical value of the pulse width.

[0161] In the third embodiment, the roll-flat processing unit 12 is configured to output the aileron control signal ALa and the elevator signal ELa when the pulse width of the function setting signal RFF has a predetermined value, e.g., the maximum value. In other words, the automatic return to level flight function is activated.

[0162] Accordingly, the roll-flat function and the automatic return to level flight control can be controlled by the RFF function setting signal of a channel, and the information transmitted by transmitter 3 can be used efficiently. Although an example has been described where the pulse width has the maximum value (e.g., 2100 µs), this maximum value of 2100 µs is only an example. While the maximum value is described as an example, the pulse width does not necessarily have to be the maximum value, and a specific pulse width can determine the activation of the automatic return to level flight function. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2018-2132

[0004] JP 2020-67880

[0004]

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