• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to an electrical control device (1) provided with an operating means (3). The electrical control device (1) comprises a first measuring system (10) and a second measuring system (20) which respectively perform a first measurement and a second measurement of the current position of the operating means (3). A processing unit compares the first measurement and the second measurement to generate a control signal (ORD) according to said current position, said processing unit (30) considering that the operating means (3) is in a neutral position when the first measurement and the second measurement do not correspond to the same position of the means of maneuver.
    公开号:FR3057243A1
    申请号:FR1601481
    申请日:2016-10-12
    公开日:2018-04-13
    发明作者:Marc Salesse Lavergne；Kamel ABDELLI；Olivier SELLIER；Jean Romain Bihel
    申请人:Airbus Helicopters SAS；
    IPC主号:
    专利说明:

    © Publication no .: 3,057,243 (use only for reproduction orders)
    ©) National registration number: 16 01481 ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY
    COURBEVOIE © IntCI 8
    B 64 C 11/44 (2017.01), B 64 C 27/26
    A1 PATENT APPLICATION
    ©) Date of filing: 12.10.16. © Applicant (s): AIRBUS HELICOPTERS Company by (30) Priority: simplified actions - FR. @ Inventor (s): SALESSE LAVERGNE MARC, ABDELLI KAMEL, SELLIER OLIVIER and BIHEL JEAN (43) Date of public availability of the ROMAN. request: 13.04.18 Bulletin 18/15. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ® Holder (s): AIRBUS HELICOPTERS Company by related: simplified actions. ©) Extension request (s): (© Agent (s): GPI & ASSOCIES.
    ELECTRICAL CONTROL UNIT, AIRCRAFT WITH ROTARY WING AND METHOD.
    FR 3 057 243 - A1 (6 /) The present invention relates to an electrical control device (1) provided with an operating means (3). The electrical control device (1) comprises a first measurement system (10) and a second measurement system (20) which respectively perform a first measurement and a second measurement of the current position of the operating means (3). A processing unit compares the first measurement and the second measurement to generate a control signal (ORD) as a function of said current position, said processing unit (30) considering that the operating means (3) is in a neutral position when the first measurement and the second measurement do not correspond to the same position of the operating means.
    Electric control member, rotary wing aircraft and method
    The present invention relates to an electrical control member, a rotary wing aircraft comprising such a control member, and a method applied by the aircraft.
    A helicopter-type rotary wing aircraft comprises at least one main rotor which participates at least partially in the lift and propulsion of this aircraft.
    In addition, there is at least one system to control the yaw movement of the aircraft.
    Consequently, such a helicopter comprises three piloting axes. A first axis consists in using a first command to control the standard of the lift vector of the aircraft. A second axis consists in using a second command to control the orientation of this lift vector, and a third axis consists in using a third command to control the yaw movement of the aircraft.
    For example, a helicopter may include a main rotor participating in its propulsion and its lift. In addition, a helicopter may include an auxiliary rotor participating at least in controlling the yaw movement.
    Therefore, a collective pitch lever collectively controls the pitch of the main rotor blades to adjust the lift of the aircraft. A cyclic stick is used to cyclically control the pitch of the main rotor blades to adjust the orientation of the lift vector of the aircraft. Finally, a lifting beam collectively adjusts the pitch of the blades of the auxiliary rotor to control the helicopter's yaw movement.
    According to another embodiment, a helicopter can comprise two main rotors, possibly coaxial.
    Therefore, a collective pitch lever can collectively control the pitch of the main rotor blades to adjust the lift of the aircraft. A cyclic stick can be used to cyclically control the pitch of the main rotor blades to adjust the orientation of the lift vector of the aircraft. Finally, a lifting beam can make it possible to adjust the torque exerted by at least one main rotor on the fuselage of the aircraft, in order to control the yaw movement of the aircraft through the application of different torques.
    Another type of rotary wing aircraft known as "hybrid" for convenience comprises at least one rotor which participates at least partially in the lift and propulsion of this aircraft. In addition, the aircraft includes a device for controlling the yaw movement of the aircraft. This aircraft also comprises a system capable of exerting, at least according to the direction of advance of the aircraft, a thrust known as "additional thrust" for convenience. This additional thrust is qualified as "additional" insofar as this thrust is axially independent of the thrust exerted by the rotary wing.
    In addition to the usual three piloting axes, such a hydride rotary wing aircraft comprises a fourth piloting axis. This fourth control axis consists in using a fourth command to control the standard of the additional thrust.
    For example, a hybrid rotary wing aircraft can comprise a main rotor which at least partially participates in the lift and propulsion of this aircraft. In addition, this hybrid rotary wing aircraft comprises a propulsion system provided with two propellers participating at least partially in the propulsion of the aircraft and in the control of the yaw movement of this aircraft.
    A collective pitch lever can collectively control the pitch of the main rotor blades to adjust the standard of the aircraft lift vector. A cyclic stick can be used to cyclically control the pitch of the main rotor blades to adjust the orientation of the lift vector of the aircraft.
    In addition, a thrust control can allow a pilot to collectively adjust an average pitch of the propeller blades to control the additional thrust jointly generated by the propellers.
    In addition, a spreader can be used to adjust the distribution of this additional thrust between the two propellers to control the yaw movement of the aircraft through the application of different thrusts using the propellers. This lifting beam can for example make it possible to adjust a differential pitch, the pitch of the blades of a propeller being for example equal to the sum of the average pitch and half of the differential pitch, the pitch of the blades of the other propeller being for example equal to the difference of the average step and half of the differential step.
    The push command can take the form of an "all or nothing" command. When the thrust control is operated, this thrust control generates an order to increase or reduce the average pitch of the propeller blades. This order is transmitted to actuators to modify the pitch of the blades of the two propellers in the same way. For example, an actuator is arranged on a mechanical transmission chain controlling a hydraulic distributor, this hydraulic distributor supplying a hydraulic cylinder capable of causing movement of the blades of a propeller.
    Such a thrust control is interesting. However, the modification of the average pitch of the propellers may be too slow to be able to quickly request an increase in the power developed by the power plant driving the propellers, or even too rapid to finely control the forward speed of the aircraft for example during flights in the vicinity of other aircraft.
    In addition, a flight control independent of the thrust control can position the propeller blades in a predetermined position, in particular during a flight phase in autorotation.
    A mechanical emergency control can also be provided to enable the propellers to be piloted in the event of a malfunction of the thrust control. This mechanical control can include a mechanical lever capable of mechanically moving said mechanical transmission chain controlling a hydraulic distributor.
    In addition, aircraft known under the Bell V22® and Agusta Westland AW609® brands are equipped with tilting rotors. Commands are used to control the longitudinal thrust of the aircraft by controlling the tilting of the nacelles carrying the rotors, thus ensuring a transition between a helicopter operating mode and an airplane operating mode. This situation, however, differs from the problems encountered in piloting the propellers of a rotary wing hybrid aircraft.
    Patent WO 2016/043943A2 takes up the concept of an all-or-nothing control of the variation of the pitch of the propeller or propeller propellers and adds a possibility of controlling a return to zero thrust of this or these propeller propellers.
    The document FR 2984004 describes a rotary control device provided with a wheel, and with a return device tending to return the wheel in a neutral position. An indexing device allows the wheel to be held in at least one position relative to a support. The control device further comprises a printed circuit provided with a sensor for detecting movement of the dial.
    This document FR 2984004 is far from the invention by not relating to the control of an additional thrust of a hybrid rotary wing aircraft.
    The object of the present invention is therefore to propose an innovative control device which can in particular be used to control a thrust of an aircraft.
    The invention therefore relates to an electrical control device provided with an operating means and a support, the operating means being movable relative to this support, the operating means being intended to be moved relative to the support by a individual, the electrical control device comprising a first measurement system which performs a first measurement of a current position of the operating means with respect to a neutral position.
    The electrical control device comprises a second measurement system which performs a second measurement of the current position, the first measurement system and the second measurement system being independent and similar, the control device comprising a processing unit comparing the first measurement and the second measurement to generate a control signal as a function of said current position, the processing unit considering that the operating means is in the neutral position when the first measurement and the second measurement do not correspond to the same position of the means to maneuver.
    In this case, an audible and / or visual fault detection alert can be issued by the processing unit.
    The expression "means of maneuver" designates an organ which can be maneuvered by an individual. In particular, this expression designates a movable member of an electrical switch. For example, the maneuvering means may comprise a wheel which can move in rotation relative to the support, a lever, etc.
    The expressions “first measurement” and “second measurement” represent data which vary according to the position of the operating means with respect to a reference. For example, the angular position of a wheel relative to a reference is measured through the first measurement and the second measurement. Therefore, for two different positions of the operating means, the first measurement and the second measurement must each take two different values.
    The expression "independent and dissimilar" means that the first measurement system and the second measurement system generate signals of different natures, although both relate to the position of the operating means. The first measurement and the second measurement represent different data, although they are both representative of the position of the operating means. For example, the first measurement transcribes the position of the operating means in the form of an electric current having a certain electric voltage, while the second measurement transcribes the position of the operating means in the form of a binary value.
    Thus, the invention does not implement a single measurement system measuring the position of the operating means.
    On the contrary, the electrical control device comprises two dissimilar measurement systems which each measure the position of the operating means.
    The first measurement and the second measurement can pass through two different paths to the processing unit. The first measurement and the second measurement are compared to verify that the measurement systems are functioning properly.
    For example, each measurement can be associated with an order to be given. If the first measurement and the second measurement relate to two different orders, the processing unit deduces therefrom the presence of an inconsistency.
    Alternatively, each value of the first measurement can be associated with a theoretical value that the second measurement should reach. The processing unit then determines whether the second measurement corresponds to the memorized theoretical value. If not, the processing unit infers the presence of an inconsistency.
    In the event of an inconsistency, the processing unit deduces that a measurement system has failed. Consequently, the processing unit generates the predetermined and stored control signal corresponding to the neutral position of the operating means. The processing unit therefore ignores the information given by the first measurement system and the second measurement system.
    In the event of an inconsistency, a state of invalidity can also be generated to determine whether a signal corresponding to the neutral position has been sent following an inconsistency or following the positioning of the operating means in this neutral position.
    Alternatively, the processing unit can generate a control signal corresponding to the last coherent measurement.
    In the event of inconsistency, a state of invalidity can also be generated.
    In the absence of inconsistency, the processing unit generates the predetermined and stored control signal corresponding to the first measurement and to the second measurement.
    This characteristic makes it possible to obtain a device aimed at preventing common modes of breakdowns, in order to achieve an optimized level of reliability and security. Thus, the electrical control device can control an important function of an aircraft, such as a longitudinal thrust on a rotary wing hybrid aircraft.
    For example, the first measurement and the second measurement can be taken into account to control actuators acting on the longitudinal thrust of an aircraft according to an architecture of the command (COM) and monitoring (MON) type where the measurements developed by two independent channels must be in agreement for the action to be carried out, this or these actuators freezing their actions in the event of dissimilarity between the measurements received.
    The availability of independent and dissimilar measures makes it possible to passivate, by downstream software processing via two independent calculation channels, the malfunction of one of them without causing untimely control.
    Furthermore, the electrical control device may include one or more of the following characteristics.
    Thus, the first measurement system can be a means delivering the first measurement in the form of a first signal of analog type, the second measurement system being a means delivering the second measurement in the form of a second signal of digital type .
    The first measurement system can thus transmit an analog signal. Therefore, the first measurement can be in the form of an electric current having an electric voltage which varies according to the position of the operating means, for example in a range from 0 to 12 volts.
    Conversely, the second measurement system delivers a digital signal. The second measurement can thus be a digital measurement, for example of the “reflected binary” type. The second measurement system can indeed apply a Gray code
    For example, the first measurement system may comprise a potentiometer or a Hall effect sensor or an active electrical sensor of rotational displacements, the first measurement being expressed in the form of a first signal having an electrical voltage dependent on said current position .
    An active electric rotation displacement sensor is known by the acronym "RVDT" which corresponds to the English expression "Rotary Variable Differential Transformer".
    Furthermore, the second measurement system may comprise a coding wheel integral in rotation with the operating means and a processing system cooperating with the coding wheel to determine a current binary value corresponding to said current position, the second measurement being expressed in the form a second signal comprising said binary value.
    The processing system can be a conventional optical or magnetic system.
    A coding wheel is a generator of pure binary code. A coding wheel makes it possible to return a digital signal which depends on the movement made by the coding wheel.
    For example, the encoder wheel is in the form of a perforated wheel. The processing system generates a light beam which illuminates a measurement face of the wheel. Depending on the position of the wheel, the light beam passes through the wheel through a perforation and then reaches a sensor, or is interrupted against the measurement face of the wheel. When a sensor detects the presence of a beam, this sensor emits an electrical signal.
    For example, to obtain a three-bit digital signal, three beams and three sensors are possibly used. A digital signal comprising a number of different bits can be envisaged, and for example a four-bit digital signal.
    The degree of rotation of a coding wheel can be encoded in Gray code. Gray's code, also called "reflected binary", allows you to change only one bit when a number is increased by one to avoid potentially troublesome transient states.
    According to another aspect, the electrical control device can include a return system tending to return the operating means to the neutral position.
    The return system can include springs or miniature gas cylinders associated with mechanical stops preventing their action beyond returning to the neutral position.
    This recall system tends to mechanically recall and maintain the operating means in the neutral position. Consequently, when an individual moves the reminder means, this individual exerts an effort against the effort exerted by the reminder system. When this individual releases the operating means, the recall system moves the operating means to its neutral position.
    Consequently, a malfunction of the reminder system does not cause untimely rotation of the operating means, which can prove to be invaluable when the electrical control device controls a sensitive system of an aircraft.
    For example, the return system may comprise a first spring and a second spring which are respectively provided with a first movable end and with a second movable end, said maneuvering means comprising an element arranged circumferentially between the first movable end and the second movable end, said return system comprising a stop, said first spring tending to move circumferentially in a first direction said first movable end against the stop to position the operating member in the neutral position, said second spring tending to move circumferentially a second direction said second movable end against the stopper to position the operating member in the neutral position
    According to another aspect, the electrical control device may include a retention system tending to retain said operating means in at least one position called "indexed" relative to the support.
    The restraint system can take the form of a notching system, for example provided with a ball and an elastic member. The restraint system can therefore be of the type described in document FR 2984004.
    Alternatively or additionally, the restraint system can be a friction system. Such a friction system comprises a member rubbing against the operating means in order to tend to retain the operating means in a position.
    The restraint system can define several switching positions in which the maneuvering means can be located relative to the support, each position theoretically generating different measurements for both the first measurement and the second measurement.
    The restraint system tends to retain the operating means in each position. In the event of the presence of a reminder system, the reminder system provides a restoring force on the operating means greater than the holding force exerted by the restraint system. Thus, the restraint system ensures that the operating means are kept in position in the event of the return system breaking. The malfunction of the mechanical return system in neutral position therefore does not cause untimely rotation of the operating means, even in the presence of vibrations and in particular in an aircraft cockpit, due to the action of the restraint system.
    According to another aspect, the electrical control device can have a first assembly provided with the support as well as the operating means and the first measurement system and the second measurement system, said processing unit being fixed to the first assembly by being integral with the support, said processing unit being intended to be connected to at least one computer physically independent of the first set, said processing unit transmitting to the computer said control signal, said control signal being relative to a parameter whose value is established as a function of a measured position of the operating means when the first measurement and the second measurement each correspond to said measured position or of said neutral position when the first measurement and the second measurement do not correspond to the same position of the operating means.
    The control signal can also include validity information. Consequently, the command signal makes it possible to indicate whether an order relating to said neutral position is an order given voluntarily or an order resulting from an inconsistency.
    According to this first variant, the maneuvering means, the first measurement system, the second measurement system and the processing unit comparing the measurements are integrated in the same equipment able to transmit a control order to at least one computer. an automatic piloting system by at least one bus, for example of CAN type. The electrical control device can then be easily integrated into an aircraft for example.
    The acronym CAN corresponds to the English expression "Controller Area Network" and indicates a particular type of bus.
    The processing unit may for example take the form of a programmable logic circuit. A programmable logic circuit is a logic integrated circuit that can be reprogrammed after manufacture. Such a network includes numerous elementary logic cells and freely connectable logic flip-flops. A programmable logic circuit can take the form of an electronic component known by the acronym "FPGA" corresponding to the English expression "fieldprogrammable gâte array".
    For example, the processing unit generates and transmits the control signal to the computer of an autopilot system to control a propulsion system of an aircraft.
    According to a second variant, the electrical control device has a first assembly provided with the support as well as the operating means and the first measurement system and the second measurement system, said processing unit not being fixed to the first assembly, l the processing unit being offset relative to this first set, said processing unit being connected to the first set optionally by at least one bus, said bus being connected to the first measurement system and to the second measurement system, said processing unit transmitting to the computer, said control signal, said control signal relating to a parameter whose value is established as a function of a measured position of the operating means when the first measurement and the second measurement each correspond to said measured position or from said position neutral when the first measurement and the second measurement do not correspond to the same pos ition of the maneuvering means.
    According to this second variant, the operating means, the first measurement system, the second measurement system are integrated into the same equipment. This equipment is then connected to a remote processing unit, for example by a CAN bus or wired connections.
    For example, the processing unit is an integral part of an autopilot system that controls a propulsion system of an aircraft.
    In addition to an electrical control device, the invention relates to an aircraft provided with at least one main rotor participating at least partially in the lift of the aircraft, this aircraft comprising at least one propulsion system distinct from the main rotor, the propulsion system generating a so-called "additional thrust" to at least participate in the advancement of the aircraft.
    This aircraft comprises an electrical control device according to the invention, the electrical control device being connected to the propulsion system to at least partially control said additional thrust, the control signal requiring a rate of change of said additional thrust transmitted to the propulsion system.
    For example, the operating means is mounted on a collective pitch lever collectively controlling the pitch of the blades of the main rotor.
    In addition, the propulsion system may comprise at least one propeller, and a pitch modification system modifying the pitch of the blades of this propeller.
    Consequently and according to the variant, the processing unit can be connected to an automatic piloting system of the propulsive system, or can be a part of such an automatic piloting system by being connected to the system for modifying the pitch which acts on the pitch of the propeller blades.
    Regardless of the variant, the maneuver of the maneuvering means does not induce the generation of an all-or-nothing command, which is content to command an increase or a reduction of the additional thrust. Indeed, the operation of the operating means induces the generation of a control signal controlling a rate of change of this additional thrust.
    The rate of change can be directly a rate of change of the additional thrust expressed for example expressed in watts per second, or even a rate of change of the pitch of the blades of the propellers generating said thrust expressed in degrees of steps per second.
    This electrical control device thus makes it possible to finely control the speed of variation of the additional thrust.
    The aircraft may further include one or more of the following features.
    Thus and according to a variant, the propulsion system comprising at least one propeller comprising a plurality of blades with variable pitch, the propulsion system comprising a pitch modification system for modifying said pitch, the processing unit is connected to the pitch modification system not.
    According to another aspect, the aircraft may include an emergency electrical operating member connected to the propulsion system, to require a zero rate of change of the additional thrust or to position the mean pitch of the propeller blades in a predetermined position. Positioning the propeller blades in a safe position optimizes the pilot's workload.
    This emergency electrical operating device can prevail over the electrical control device and is independent of the operating means, this operating means being inhibited when the electrical emergency operating device is operated.
    To avoid inadvertent pressing on the emergency electrical operating device, a mechanical device for protecting the operating device can be applied. An avionics control can also be used to inhibit the function.
    According to the variant, the emergency electrical operating member can be connected to a computer communicating with the processing unit, or even to the processing unit.
    The emergency electrical operating device can be called upon during phases of flight in autorotation, or in the event of seizure of the operating means.
    The implementation of the electrical emergency operating device makes it possible to surpass the command received from this operating means and to force a return to a refuge thrust control position.
    In another aspect, the aircraft may include a mechanical back-up maneuver connected to the propulsion system.
    For example, this mechanical emergency operating device takes the form of a lever acting on a power transmission chain connected to a servo drive controlling the additional thrust, for example by controlling the pitch of the blades of a propeller.
    The invention further relates to a method for controlling a propulsion system of an aircraft.
    This process includes the following steps:
    - generation of the first measurement and the second measurement,
    - comparison of the first measurement and the second measurement,
    generation of a rate of change, of the additional thrust or of the pitch of propeller blades of the propulsive system, for controlling the additional thrust as a function of the position of said operating means with respect to a reference, said rate of change being generated as a function of a position called “measured position” of the operating means when the first measurement and the second measurement correspond simultaneously to said measured position of the operating means, said rate of change being set to zero when the first measurement and the second measurement do not correspond to the same position of the operating means.
    In the event of an inconsistency between the first measurement and the second measurement, a visual or audible alarm may be issued by an alarm system.
    This process can also include one or more of the following steps.
    For example, the step of comparing the first measurement and the second measurement may include the following phases:
    - determination of a first rate of change corresponding to the first measurement using a law giving said first rate of change as a function of the first measurement
    - determination of a second rate of change corresponding to the second measure using a law giving said second rate of change as a function of the second measure,
    - comparison of the first rate of change and the second rate of change.
    Alternatively, the method can compare the first measurement to a theoretical value of the second measurement.
    For example, when the first measurement has an electrical voltage of 10,285 and 12 Volts, 8,571 and 10,285 Volts, 6,857 and 8,571 Volts, 5,142 and 6,857 Volts, 3,428 and 5,142 Volts, 1,714 and 3,428 Volts, respectively, and between 0 and 1.714 Volt, the second measurement should have a binary value respectively equal to 001, 011, 010, 110, 111, 101, 100.
    If not, the rate of change is considered to be zero.
    If so, the rate of change is equal to the rate of change corresponding to the value of the first measurement or the second measurement. For example, the rate of change is equal to the rate of change corresponding to the value of the first measurement, the second measurement used to monitor the system.
    Regardless of the embodiment, the processing unit can therefore apply at least one law stored in the processing unit to compare the first measurement and the second measurement. A law can take the form of one or more mathematical relationships or an array of values for example.
    According to another aspect, the method may include a step of positioning an average pitch of the blades of each propeller in a predetermined position when an emergency electrical operating member is operated by a pilot.
    According to another aspect, the propulsion system possibly comprising at least one propeller comprising a plurality of blades with variable pitch, said propulsion system being able to comprise a system of modification of pitch to modify said variable pitch, said rate of variation is a rate of variation of said pitch of said propeller blades, said method comprising a step of modifying said pitch by applying said rate of change of said pitch.
    The invention and its advantages will appear in more detail in the context of the description which follows with examples given by way of illustration with reference to the appended figures which represent:
    - Figures 1 to 5, diagrams showing an electrical control device according to the invention,
    FIG. 6, a view of an aircraft according to the invention,
    FIG. 7, a diagram explaining the flight controls of this aircraft, and
    - Figure 8, a diagram explaining the method according to the invention.
    The elements present in several separate figures are assigned a single reference.
    FIG. 1 shows an electrical control device 1.
    This electrical control device 1 is provided with a support 2 carrying an operating means 3. The operating means 3 is connected to the support 2 by a fixing system giving freedom of movement to the operating means 3 relative to the support 2 .
    For example, the maneuvering means 3 comprises a wheel movable in rotation about an operating axis AX which is stationary relative to the support 2. The fixing system can then take the form of a rod 200 integral with the wheel and carried by bearings integral with the support 2
    Such a wheel can include a circumference provided with gripping means to promote its movement by manual action of an individual. The dial can be of the type of document FR 2984004.
    Furthermore, the electrical control device 1 may be provided with a return system 4. The function of such a return system 4 is to tend to return the operating means 3 to a reference position called "neutral position POS1".
    Such a return system 4 can for example comprise at least one spring 5 or at least one gas spring.
    FIG. 2 illustrates a rotary operating means 3. This operating means 3 comprises an element 300 wedged circumferentially between two movable ends of two springs 501, 502 of the return system.
    Thus, a first spring 501 extends in a first direction DIR1 over an arc of a circle between a seat 250 secured to the support 2 to a first movable end 503. Similarly, the second spring 502 extends in a second direction DIR2, opposite to the first direction DIR1, on an arc between a seat 250 secured to the support 2 to a second movable end 503.
    In addition, the return system 4 has a stop 505. The stop 505 has a first contact face capable of blocking the extension in the first direction DIR1 of the first spring 501 by interference with the first movable end 503, and a second face contact capable of blocking the extension of the second spring 502 in the second direction DIR2 by interference with the second movable end 504. The stop takes, for example, the shape of a shoulder of the support 2.
    This stop is also located at the right of the position which element 300 must reach in the neutral position.
    Consequently, following a rotation of the operating member in the second direction DIR2, the element 3 tends to compress the first spring 501. When a pilot no longer exerts any force on the operating member 3, the first spring 501 stretches and reposition the operating member 3 in its neutral position, even in the event of failure of the second spring 502 since the rotation of the operating member stops when the first movable end 503 reaches the stop 505.
    Conversely, following a rotation of the operating member in the first direction DIR1, the element 3 tends to compress the second spring 502. When a pilot no longer exerts any force on the operating member 3, the second spring 502 stretches and reposition the operating member 3 in its neutral position, even in the event of failure of the first spring 501 since the rotation of the operating member 3 stops when the second movable end 504 reaches stop 505.
    According to another aspect and with reference to FIG. 1, the electrical control device 1 can comprise a restraint system 6. The function of this restraint system 6 is to tend to retain the operating means 3 in at least one position called " indexed "relative to support 2.
    In fact, the operating means 3 can be positioned in a plurality of distinct indexed switching positions which are different from the neutral position. The restraint system 6 then tends to maintain the operating means 3 in each switching position.
    With reference to FIG. 3, an individual then moves the maneuvering means 3 from the neutral position POS1 to a current position POS2 to give an order to a system, such as a propulsion system of an aircraft.
    The operating means 3 then performs according to this example a rotation of an angle 100 around its operating axis AX.
    The angular position of the operating means 3 relative to the neutral position conditions the order given by the electrical control device 1 to a system.
    When the individual releases the operating means 3, the return system 4 returns the operating means 3 to the neutral position POS1. In the event of a malfunction of the return system, the restraint system tends to maintain the operating means in the position reached.
    According to the example of Figure 1, the restraint system 6 can take the form of a friction system. Such a friction system can for example comprise an elastic member 7 tending to press a shoe 8 against a member integral in rotation with the operating means 3
    Alternatively, a notch system can be envisaged, such as a system comprising a ball and housings formed in a ring of the operating means 3. An elastic member then tends to position a ball in a housing.
    Referring to Figure 1, the electrical control device 1 comprises two measuring means each measuring the position of the operating means.
    Thus, the electrical control device 1 comprises a first measurement system 10 which performs a first measurement representing the current position of the operating means 3. This first measurement system 10 is fixed to the support 2.
    In addition, the electrical control device 1 comprises a second measurement system 20 which performs a second measurement also representing this current position POS2.
    The first measurement system 10 and the second measurement system 20 are independent and dissimilar. Each measurement system therefore performs a measurement independently of the other measurement system.
    For example, the first measurement system 10 is a means delivering the first measurement in the form of a first signal S1 of analog type.
    According to FIG. 1, such a first measurement system 10 comprises a potentiometer 11 integrated into an electronic circuit 12.
    A displacement of the operating means 3 induces a variation in the resistance of the potentiometer 11. Consequently, the electronic circuit 12 delivers a first measurement M1 taking the form of a first electrical signal S1 having an electrical voltage dependent on the position of the means of maneuver 3.
    For example, the first measurement M1 has the form of a first signal S1 having an electrical voltage of between 10.285 and 12 Volts, 8.571 and 10. 285 Volts, 6.857 and 8.571 Volts, 5.142 and 6.857 Volts, 3.428 and 5.142 Volts, 1.714 and 3,428 Volts, or between 0 and 1,714 Volt depending on the position of the operating means 3 and therefore on the position of the mobile terminal of the potentiometer 11.
    As an alternative to the potentiometer, the first measurement system may include a hall effect sensor or an active electrical sensor for RVDT rotational displacements.
    Furthermore, the second measurement system 20 can deliver the second measurement M2 in the form of a second signal S2, not analog but of digital type. This second measurement system 20 is fixed to the support 2.
    For example, the second measurement system 20 comprises a coding wheel 21. In addition, the second measurement system 20 comprises a processing system 22 which cooperates with said coding wheel 21 to determine a current binary value corresponding to said current position POS2
    The coding wheel 21 is integral in rotation with the operating means 3. For example, the coding wheel may take the form of a body of a thumb wheel of the operating means. This body may include angular perforations to generate a binary value.
    Consequently, the processing system can comprise optical beam generators 23, 24, a sensor 25, 26 per optical beam generator 23, 24, and a calculation unit 27. FIG. 1 illustrates two optical beam generators. However, the processing system includes an optical beam generator per bit of the signal to be produced.
    When the beam passes through a perforation and reaches a sensor, the processing system can assign the value 1 to the corresponding bit of the second measurement. Conversely, if no perforation is in front of a beam and does not reach a sensor, the processing system can assign the value 0 to the corresponding bit.
    For example, the second measurement M2 has the form of a second signal S2 having a 3-bit binary value respectively equal to 001, 011, 010, 110, 111, 101, 100 depending on the position of the operating means 3.
    To analyze the measurements, the electrical control device 1 comprises a processing unit 30.
    This processing unit 30 may include an input 31 receiving the first signal S1 and the second signal S2 carrying respectively the first measurement M1 and the second measurement M2.
    In addition, the processing unit 30 can comprise at least 10 an output for transmitting to a system an ORD control signal. In addition, the processing unit 30 can for example comprise a processor 32 executing instructions stored in a memory 33.
    Alternatively or additionally, the processing unit can comprise an integrated circuit, a programmable system, a logic circuit, these examples not limiting the scope given to the expression "processing unit".
    Regardless of its implementation, the processing unit 30 has the function of comparing the first measurement M1 and the second measurement M2 to generate an ORD control signal.
    The processing unit 30 estimates that the operating means 3 is in the neutral position POS1 when the first measurement and the second measurement do not correspond to the same position of the operating means, possibly within a threshold tolerance. The processing unit then generates a predetermined ORD control signal corresponding in particular to this neutral position.
    Conversely, when the first measurement and the second measurement correspond to the same particular position of the operating means 3, the processing unit then generates a predetermined ORD control signal corresponding in particular to this particular position.
    According to the first variant of FIG. 1, the processing unit is located outside a first assembly provided with the support 2 as well as the operating means 3 and the first measurement system 10 and the second measurement system 20 .
    Unlike the operating means 3 and the first measuring system 10 and the second measuring system 20, the processing unit 30 is not fixed to the support 2. The processing unit is therefore offset relative to the first together.
    Consequently, the first measurement system 10 and the second measurement system 20 are for example connected to at least one bus 36 leading in particular to the processing unit 30. Such a bus 36 can be a CAN bus.
    For example, the processing unit 30 is a part of a computer 86 of an automatic piloting system controlling the pitch of the blades 83 of at least one propeller 800.
    According to an alternative illustrated in FIG. 4, the first measurement system 10 and the second measurement system 20 are for example connected to several processing units 30.
    This FIG. 4 indeed presents an architecture provided with two control devices 151, 152 for example intended respectively for a pilot and a co-pilot.
    Each control device comprises a first measuring means 10, a second measuring means 20 and a processing unit 30. Such a processing unit can include a computer.
    For example, such a computer can be a dual computer which includes two channels. Each channel has its own microprocessor. One of the two channels can be used to generate the COM command which can be inhibited due to the detection of inconsistency through the communication of the first channel and the second channel.
    Consequently, each measuring means 10, 20 is connected to each processing unit by two links. The connections shown are wired connections, but may include buses and in particular CAN buses.
    The processing units can also be linked to each other.
    According to the second variant of FIG. 5, the processing unit 30 is a part of the first set by being fixed to the support 2. For example, the processing unit 30 takes the form of an FPGA logic circuit.
    The processing unit 30 is thus connected to the first measurement system 10 and to the second measurement system 20. In addition, the processing unit 30 can be connected to the system to be controlled, for example by at least one bus 35, such as CAN bus. For example, the processing unit 30 is connected by at least one CAN bus to at least one computer 86 of an automatic piloting system controlling the pitch of the blades 83 of at least one propeller 800.
    For example, in a duplex architecture, the processing unit 30 can be connected by two CAN buses to two computers 86, each computer cooperating with a monitoring unit.
    The processing unit 30 can also be connected by two channels to a dual computer 86. Even if possible monitoring between two computers in a duplex architecture, can be done between two dual channels of the same computer.
    Furthermore, the processing unit transmits a control signal via each bus 35 to each computer 86. However, the processing unit can also transmit the first measurement and the second measurement to this computer, or even the result of the comparison carried out. . Thus, the computer can verify that the ORD control signal sent is correct by carrying out the same comparison as the processing unit.
    With reference to FIG. 6, the electrical control device 1 according to the invention can be arranged on a rotary wing aircraft, namely a rotorcraft 50.
    The rotorcraft 50 has a fuselage 52. The fuselage 52 extends longitudinally from a tail 54 to a nose 53 along an AXROL roll axis. In addition, the fuselage extends transversely from a first flank, called "left flank 56" for convenience, to a second flank, said "right flank 55" for convenience, along an axis of pitch AXTANG. Finally, the fuselage extends in elevation from a lower surface 58 to an upper surface 57 along an axis of the AXLAC yaw.
    The AXROL roll axis and the AXLAC yaw axis jointly define a vertical anteroposterior plane of symmetry of rotorcraft 1.
    Conventionally, a landing gear can project down from the lower surface 58 of the fuselage.
    The rotorcraft comprises a rotary wing 60 comprising at least one main rotor 61. This main rotor 61 overhangs the upper surface 57 of the fuselage 52. The main rotor 61 is provided with a plurality of blades 62 connected for example to a hub 63. These blades 62 are called "main blades" for convenience.
    The main rotor rotates around an axis called "AXROT main axis of rotation" to participate at least partially in the lift or even propulsion of the rotorcraft. This main axis of rotation can be stationary relative to the fuselage 52.
    Furthermore, the rotorcraft 1 may include a propulsion system 80 providing an additional longitudinal thrust P to participate in the movement of this rotorcraft. The propulsion system 80 can tend to propel or tow the rotorcraft.
    This propulsion system 80 can comprise at least one propeller 800 comprising a plurality of blades 83 with variable pitch.
    For example, the rotorcraft then has a lifting surface 70 which extends substantially transversely on either side of the fuselage. This lifting surface 70 can for example comprise a left half-wing 71 extending from the left flank 56 and a right half-wing 72 extending from the right flank 55.
    The lift surface then carries a propeller 800 called "first propeller 81" and a propeller 800 called "second propeller 82". For example, the left half-wing 71 carries the first propeller 81, and the right half-wing 72 carries the second propeller 82. The first propeller 81 and the second propeller 82 are therefore arranged transversely on either side of the fuselage 52 .
    Each propeller produces a thrust P1, P2 jointly generating the additional thrust P. The first thrust P1 generated by the first propeller 81 may differ from the second thrust P2 generated by the second propeller 82 for controlling the yaw movement of the rotorcraft.
    Furthermore, the rotorcraft 1 comprises a power plant 75 for setting in motion the first propeller 81, the second propeller 82 and the main rotor 60.
    Such a power plant 75 may comprise at least one motor 76 and a mechanical chain connecting the motor to the first propeller 81 as well as to the second propeller 82 and to the main rotor 60.
    For example, the mechanical chain includes a power transmission box 77 provided with a rotor mast rotating the main rotor. In addition, this gearbox can be connected to a first power transmission chain 78 driving in rotation the first propeller 81. Likewise, this gearbox can be connected to a second power transmission chain 79 driving in rotation the second propeller 82.
    Other architectures are possible.
    With reference to FIG. 7, the rotorcraft 50 has multiple flight controls for controlling the movement of this rotorcraft.
    Indeed, the pitch of the main rotor blades can be changed collectively and cyclically.
    For example, the rotorcraft comprises a set of swashplates 65 provided with a non-rotating plate 66 and a rotating plate 67. The non-rotating plate 66 is connected to at least three actuators called “main actuators 69” of servo-control type by example. The turntable 67 is connected to each blade 62 of the main rotor by a pitch rod 68 respectively.
    Therefore, the rotorcraft can include a collective pitch lever 91. This collective pitch lever 91 can rotate ROT 1 around a tilt axis AXBASCU to control the main actuators in the same way.
    In addition, the rotorcraft can include a cyclic stick 92. This cyclic stick 92 can perform a rotation ROT2 around a first axis and a rotation ROT3 around a second axis to drive the main actuators differently in order to control the rotorcraft platter.
    In addition, the pitch of the blades 83 of each propeller 800 can be modified by a pitch modification system 850.
    By way of illustration, a pitch modification system 850 of a propeller may comprise a hydraulic distributor 84 hydraulically supplying a jack. This cylinder can be arranged in a propeller hub by a long perforated shaft. This hydraulic distributor 84 can be controlled by a power transmission chain including an electric jack 85 for example. This electric actuator can be controlled by a computer 86.
    A spreader 93 can communicate with the computer 86 to control the yaw movement of the aircraft through a difference in thrust between the first thrust exerted by the first propeller and the second thrust exerted by the second propeller.
    To control the standard of the additional thrust, an electrical control device 1 according to the invention can be implemented. For example, the operating means 3 is arranged on the collective pitch lever 91.
    Consequently, the control signal emitted by the electrical control device 1 can be a control signal for a rate of change of the additional thrust. When a pilot maneuvers the maneuvering means 3, the electrical control device 1 requires the variation of the additional thrust according to a negative or positive rate of variation. The computer 86 then orders the pitch modification systems 850 of the propellers to modify the pitch of the blades of the propellers according to this rate of change.
    For example, the computer applies at least one mathematical relation or requests a database to generate the orders for modifying the pitch of the blades of the propellers corresponding to the rate of variation of pitch required by the electrical control device 1.
    Indeed, the positioning of the pitch of the propellers can be controlled via, on the one hand the generation of a command transmitted to the computer 86 and, on the other hand of a position sensor measuring information relating to the pitch of a blade . Such a position sensor can be connected to the computer 86. In addition, the position sensor can be and arranged as close as possible to the blades, for example at the level of a hydraulic distributor 84. The computer 86 then controls the electric actuator 86 to comply the command received with regard to a feedback given by the position sensor.
    Furthermore, the aircraft 50 may include an emergency electrical operating member 40 connected to the propulsion system 80.
    For example, this emergency electrical operating member 40 takes the form of a push button connected to the computer 86.
    According to another aspect, the aircraft 50 may include a mechanical emergency operating member 45 connected to the propulsion system. Such an emergency mechanical operating member 45 may comprise a lever moving the electric jack 85 for example.
    FIG. 8 illustrates the process implemented by this aircraft.
    During a first step STP1, an individual can maneuver the maneuvering means 3 to generate a modification of the additional thrust.
    During a first measurement step STP11 the first measurement system generates the first measurement M1. During a second measurement step STP12, the second measurement system generates the second measurement M2.
    During an STP2 comparison step, the first measurement and the second measurement are compared to each other.
    According to one embodiment, during a first phase STP21 of the comparison step STP2, a first rate of change, relating to a change in the additional thrust corresponding to the first measurement, is determined using a first law giving said first rate of change depending on the first measurement.
    During a second phase STP22 of the comparison step STP2, a second rate of change, relating to a change in the additional thrust corresponding to the first measurement, is determined using a second law giving said first rate of change as a function of the second measure.
    Therefore, the comparison is made by comparing the first rate of change and the second rate of change during an STP23 comparison phase. This comparison makes it possible to determine whether the first measurement and the second measurement correspond simultaneously to the same measured position of the operating means 3, or if the first measurement and the second measurement do not correspond to the same position.
    During a third step STP3, a rate of change of a thrust is generated to control the additional thrust P as a function of the position of the operating means 3 relative to a reference.
    The rate of change is generated as a function of a position called "measured position" of the operating means 3 when the first measurement and the second measurement correspond simultaneously to said measured position, said rate of change being set to zero when the first measurement and the second measurement does not correspond to the same position.
    If necessary, if the first rate of change is equal to the second rate of change, the rate of change generated to control the additional thrust P is equal to the value of these first and second rates of change.
    However, when the first rate of change is not equal to the second rate of change, the rate of change generated to drive the additional thrust P is zero.
    During a stage of modification of the STP5 thrust, the rate of variation developed during the third stage STP3 is transmitted to the propulsion system to control the standard of the additional thrust. If necessary, a step of modifying the pitch of the blades of the propellers is implemented by applying said rate of variation.
    This method can also include a step STP4 of positioning a propeller blades pitch at a predetermined position when a standby electrical operating device 40 is operated by a pilot.
    Naturally, the present invention is subject to numerous variations as to its implementation. Although several embodiments have been described, it is understood that it is not conceivable to identify exhaustively all the possible modes. It is of course conceivable to replace a means described by an equivalent means without departing from the scope of the present invention.
    权利要求:
    Claims (17)
    [1" id="c-fr-0001]
    1. Electric control device (1) provided with an operating means (3) and a support (2), the operating means (3) being movable relative to this support (2), said operating means (3) being intended to be moved relative to the support (2) by an individual, said electrical control device (1) comprising a first measurement system (10) which performs a first measurement of a current position (POS2) of the operating means (3) relative to a neutral position, characterized in that said electrical control device (1) comprises a second measurement system (20) which performs a second measurement of said current position (POS2), the first system measurement (10) and the second measurement system (20) being independent and dissimilar, the electrical control device (1) comprising a processing unit (30) comparing the first measurement and the second measurement to generate a control signal ( ORD) as a function of said p current position (POS2), said processing unit (30) considering that the operating means (3) is in said neutral position (POS1) when the first measurement and the second measurement do not correspond to the same position of the operating means.
    [2" id="c-fr-0002]
    2. Electrical control device according to claim
    1, characterized in that the first measurement system (10) is a means delivering the first measurement in the form of a first signal (S1) of analog type, the second measurement system (20) being a means delivering the second measurement in the form of a second digital signal (S2).
    [3" id="c-fr-0003]
    3. Electrical control device according to any one of claims 1 to 2, characterized in that the first measurement system (10) comprises a potentiometer or a Hall effect sensor or an active electrical sensor of rotational movements, the first measurement being expressed in the form of a first signal having an electric voltage depending on said current position.
    [4" id="c-fr-0004]
    4. Electrical control device according to any one of claims 1 to 3, characterized in that the second measurement system (20) comprises a coding wheel (21) integral in rotation with the operating means (3) and a system of processing (22) cooperating with said coding wheel (21) to determine a current binary value corresponding to said current position (POS2), the second measurement being expressed in the form of a second signal (S2) comprising said binary value.
    [5" id="c-fr-0005]
    5. Electrical control device according to any one of claims 1 to 4, characterized in that said electrical control device (1) comprises a return system (4) tending to recall said operating means (3) in said position neutral (POS1).
    [6" id="c-fr-0006]
    6. An electrical control device according to claim 5, characterized in that said return system (4) comprises a first spring (501) and a second spring (502) which are respectively provided with a first movable end (503) and a second movable end (504), said operating means (3) comprising an element arranged circumferentially between the first movable end (503) and the second movable end (504), said return system (4) comprising a stop ( 505), said first spring (501) tending to move circumferentially in a first direction (DIR1) said first movable end (503) against the stop (505) to position the operating member (3) in the neutral position, said second spring (502) tending to move circumferentially in a second direction (DIR2) said second movable end (504) against the stop (505) to position the operating member in the neutral position.
    [7" id="c-fr-0007]
    7. An electrical control device according to any one of claims 1 to 4, characterized in that said electrical control device (1) comprises a retaining system (6) tending to retain said operating means (3) in at least a so-called "indexed" position relative to the support (2).
    [8" id="c-fr-0008]
    8. Electrical control device according to any one of claims 1 to 7, characterized in that said electrical control device (1) has a first assembly provided with the support (2) as well as the operating means (3) and the first measurement system (10) and of the second measurement system (20), said processing unit (30) being fixed to the first assembly being integral with the support (2), said processing unit (30) being intended to be connected to at least one computer (86) physically independent of the first set, said processing unit (30) transmitting to the computer (86) said control signal (ORD), said control signal (ORD) being relative to a parameter whose value is established according to a measured position when the first measurement and the second measurement each correspond to said measured position or from said neutral position (POS1) when the first measurement and the second measurement do not correspond not in the same position.
    [9" id="c-fr-0009]
    9. An electrical control device according to any one of claims 1 to 7, characterized in that said electrical control device (1) has a first assembly provided with the support (2) as well as the operating means (3) and the first measurement system (10) and the second measurement system (20), said processing unit (30) not being fixed to the first assembly, the processing unit being offset relative to this first assembly, said processing unit processing (30) being connected to the first assembly by at least one bus (36), said bus (36) being connected to the first measurement system (10) and to the second measurement system (20), said control signal (ORD) being relative to a parameter whose value is established as a function of a measured position when the first measurement and the second measurement each correspond to said measured position or of said neutral position (POS1) when the first measurement and the second measurement do not do not correspond to the same position.
    [10" id="c-fr-0010]
    10. Aircraft (50) provided with at least one main rotor (61) participating at least partially in the lift of the aircraft (50), said aircraft (50) comprising at least one propulsion system (80) distinct from said main rotor (61), said propulsion system (80) generating a thrust known as "additional thrust (P)" to at least participate in the advancement of the aircraft (50), characterized in that said aircraft (50) comprises an electrical control device (1) according to any one of claims 1 to 9, said electrical control device (1) being connected to the propulsion system (80) to at least partially control said additional thrust (P), said signal command (ORD) requiring a rate of change of said additional thrust (P) transmitted to the propulsion system (80).
    [11" id="c-fr-0011]
    11. Aircraft according to claim 10, characterized in that said propulsion system (80) comprising at least one propeller (800) comprising a plurality of blades (83) with variable pitch, said propulsion system (80) comprising a modification system step (850) to modify said step, said processing unit (30) is connected to the step modification system (850).
    [12" id="c-fr-0012]
    12. Aircraft according to any one of claims 10 to
    11, characterized in that said aircraft (50) comprises an electrical emergency operating member (40) connected to the propulsion system (80).
    [13" id="c-fr-0013]
    13. Aircraft according to any one of claims 10 to
    12, characterized in that said aircraft (50) comprises a mechanical emergency operating member (45) connected to the propulsion system.
    [14" id="c-fr-0014]
    14. Method for controlling a propulsion system of an aircraft according to any one of claims 10 to 13, characterized in that the method comprises the following steps:
    - generation of the first measurement and the second measurement,
    - comparison of the first measurement and the second measurement,
    generation of a rate of change for controlling the additional thrust (P) as a function of the position of said operating means (3) relative to a reference (POS1), said rate of change being generated as a function of a so-called position "Measured position" of the operating means (3) when the first measurement and the second measurement correspond simultaneously to said measured position, said rate of change being set to zero when the first measurement and the second measurement do not correspond to the same position.
    [15" id="c-fr-0015]
    15. Method according to claim 14, characterized in that said step of comparing the first measurement and the second measurement comprises the following phases:
    - determination of a first rate of change corresponding to the first measurement using a law giving said first rate of change as a function of the first measurement,
    - determination of a second rate of change corresponding to the second measure using a law giving said second rate of change as a function of the second measure,
    - comparison of the first rate of change and the second rate of change.
    [16" id="c-fr-0016]
    16. Method according to any one of claims 14 to 15, characterized in that, the propulsion system comprising at least one propeller, said method comprises a step of positioning a mean pitch of the blades of the propeller in a predetermined position when an emergency electrical operating member (40) is operated by a pilot.
    [17" id="c-fr-0017]
    17. Method according to any one of claims 14 to 16, characterized in that said propulsion system (80) comprising at least one propeller (800) comprising a plurality of blades (83) to
    5 variable pitch, said propulsion system (80) comprising a pitch modification system for modifying said pitch, said rate of change is a rate of variation of said pitch of said blades (83) of the propeller (800), said method comprising a step of modifying said pitch by applying said rate of variation.
    2/4
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    同族专利:
    公开号 | 公开日
    EP3309061A1|2018-04-18|
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    CA2980295C|2020-03-10|
    US10518870B2|2019-12-31|
    PL3309061T3|2019-05-31|
    FR3057243B1|2018-10-05|
    US20180099739A1|2018-04-12|
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    法律状态:
    2017-10-24| PLFP| Fee payment|Year of fee payment: 2 |
    2018-04-13| PLSC| Search report ready|Effective date: 20180413 |
    2018-10-22| PLFP| Fee payment|Year of fee payment: 3 |
    2019-10-28| PLFP| Fee payment|Year of fee payment: 4 |
    2021-07-09| ST| Notification of lapse|Effective date: 20210605 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1601481A|FR3057243B1|2016-10-12|2016-10-12|ELECTRICAL CONTROL DEVICE, ROTARY WING AIRCRAFT AND METHOD|
    FR1601481|2016-10-12|FR1601481A| FR3057243B1|2016-10-12|2016-10-12|ELECTRICAL CONTROL DEVICE, ROTARY WING AIRCRAFT AND METHOD|
    CA2980295A| CA2980295C|2016-10-12|2017-09-25|Electric control element, rotorcraft and process|
    PL17192890T| PL3309061T3|2016-10-12|2017-09-25|An electric control member, a rotary wing aircraft, and a method|
    EP17192890.6A| EP3309061B1|2016-10-12|2017-09-25|An electric control member, a rotary wing aircraft, and a method|
    US15/727,826| US10518870B2|2016-10-12|2017-10-09|Electric control member, a rotary wing aircraft, and a method|
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