Gyroscope for remote-controlled helicopters

• US 6,227,482 B1
• Filed: 03/09/1999
• Issued: 05/08/2001
• Est. Priority Date: 03/27/1998
• Status: Expired due to Term

• Current Assignee: Futaba Denshi Kogyo KK
• Original Assignee: Futaba Denshi Kogyo KK
• Inventors: Yamamoto, Michio
• Primary Examiner(s): Barefoot, Galen L.
• Application Number:
  US09/264,675
• Time in Patent Office: 791 Days
• Field of Search: 244/17.11, 244/17.13, 244/76 R, 244/194, 244/195, 244/79, 244/17.19, 244/17.21, 244/190, 701/4
• US Class Current: 244/17.13
• CPC Class Codes: A63H 27/12 Helicopters A63H27/04 takes precedence; Flying tops
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: G01C 19/56 Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
• CPC Class Codes: G01P 13/025 indicating air data, i.e. flight variables of an aircraft, e.g. angle of attack, side slip, shear, yaw
• CPC Class Codes: G05D 1/0858 specially adapted for vertical take-off of aircraft

Abstract

A gyroscope suitable for a remote-controlled helicopter is provided that can improve the control characteristics to a disturbance factor such as wind as well as the response characteristics under yaw-axis control in a correct pitch operation. The angular velocity detection signal from the yaw-axis angular velocity sensor 10 is added to the yaw-axis control signal and the angular velocity reference value from the controlling gear. The PID controller 2 receives the resultant addition signal. The control signal from the PID controller 2 is added to the correct pitch control signal and the yaw-axis control signal sent via the correct pitch to yaw-axis control mixing unit 3. The actuator 6 receives the resultant addition signal and controls the yaw-axis driving unit 7. The yaw-axis angular velocity detection sensor 10 detects the angular velocity around the yaw-axis of the airframe 9.

Claims

1. A gyroscope for a remote-controlled helicopter, wherein a yaw-axis of the remote-controlled helicopter is subjected to PID control, comprising:

a yaw-axis control angular velocity detection sensor;

a PID controller; and

a correct-pitch to yaw-axis mixing unit; and

said PID controller inputting an error between a yaw-axis angular velocity reference value and a yaw-axis control signal and an error between the yaw-axis angular velocity reference value and an output signal from said yaw-axis angular velocity detection sensor;

wherein a counter torque to said yaw-axis due to said correct pitch is prevented by outputting an output signal from said PID controller, an output signal from said correct-pitch to yaw-axis control mixing unit, and said yaw-axis control signal to a yaw-axis driving system.

2. The gyroscope of claim 1, further comprising:

said yaw-axis control angular velocity detection sensor outputting an angular velocity detection signal;

said correct-pitch to yaw-axis control mixing unit outputting a mixing signal;

said PID controller configured to provide a control signal derived from an error between an angular velocity reference value and a yaw-axis control signal and an error between said angular velocity reference value and said angular velocity detection signal;

a summation device configured to add said control signal, said mixing signal and said yaw-axis control signal, and outputting a sum signal;

an actuator configured to produce an actuation signal from said sum signal output by said summation device; and

said yaw-axis driving system comprises said summation device, said actuator, and a yaw-axis driving unit.

3. The gyroscope claim 1, further comprising:

said yaw-axis control angular velocity detection sensor outputting an angular velocity detection signal;

said correct-pitch to yaw-axis control mixing unit outputting a mixing signal;

said PID controller configured to provide a control signal derived from an error between an angular velocity reference value and a yaw-axis control signal and an error between said angular velocity reference value and said angular velocity detection signal;

a summation device configured to add said control signal and said mixing signal, and outputting a sum signal;

an actuator configured to produce an actuation signal from said sum signal output by said summation device; and

said yaw-axis driving system comprises said summation device, said actuator, and a yaw-axis driving unit.