The objective of the present invention is to provide a control moment gyroscope which can be provided in a limited space since the volume thereof can be reduced without change in performance by optimizing the shapes and mounting positions of each component. To this end, the control moment gyroscope of the present invention is a control moment gyroscope for generating torque in the orthogonal directions to both of two shafts which are perpendicularly disposed to each other by rotating the two shafts, and the control moment gyroscope comprises: a gimbal motor formed in a hollow cylinder shape and supplying momentum; spin motor provided inside the gimbal motor and supplying momentum in a perpendicular direction to the momentum of the gimbal motor; and a flywheel provided in the inside of the gimbal motor and supplied with the rotational force of the gimbal motor and the rotational force of the spin motor.

A rotorcraft includes airspeed sensors, inertial sensors, and a flight control computer (FCC) operable to provide a longitudinal control for the rotorcraft. The FCC receives a first indication of longitudinal airspeed from the airspeed sensors and receives a first indication of longitudinal acceleration from the inertial sensors. The FCC generates a filtered indication of longitudinal airspeed from the first indication of longitudinal airspeed and generates a scaled and filtered indication of longitudinal acceleration from the first indication of longitudinal acceleration. The FCC combines the filtered indication of longitudinal airspeed with the scaled and filtered indication of longitudinal acceleration to generate a determined longitudinal airspeed. The FCC generates a flight control signal to control operation of the rotorcraft, the flight control signal based on the determined longitudinal airspeed.

A rotorcraft includes airspeed sensors, inertial sensors, and a flight control computer (FCC) operable to provide a longitudinal control for the rotorcraft. The FCC receives a first indication of longitudinal airspeed from the airspeed sensors and receives a first indication of longitudinal acceleration from the inertial sensors. The FCC generates a filtered indication of longitudinal airspeed from the first indication of longitudinal airspeed and generates a scaled and filtered indication of longitudinal acceleration from the first indication of longitudinal acceleration. The FCC combines the filtered indication of longitudinal airspeed with the scaled and filtered indication of longitudinal acceleration to generate a determined longitudinal airspeed. The FCC generates a flight control signal to control operation of the rotorcraft, the flight control signal based on the determined longitudinal airspeed.

A rotorcraft includes airspeed sensors, inertial sensors, and a flight control computer (FCC) operable to provide a longitudinal control for the rotorcraft. The FCC receives a first indication of longitudinal airspeed from the airspeed sensors and receives a first indication of longitudinal acceleration from the inertial sensors. The FCC generates a filtered indication of longitudinal airspeed from the first indication of longitudinal airspeed and generates a scaled and filtered indication of longitudinal acceleration from the first indication of longitudinal acceleration. The FCC combines the filtered indication of longitudinal airspeed with the scaled and filtered indication of longitudinal acceleration to generate a determined longitudinal airspeed. The FCC generates a flight control signal to control operation of the rotorcraft, the flight control signal based on the determined longitudinal airspeed.

A rotorcraft includes airspeed sensors, inertial sensors, and a flight control computer (FCC) operable to provide a longitudinal control for the rotorcraft. The FCC receives a first indication of longitudinal airspeed from the airspeed sensors and receives a first indication of longitudinal acceleration from the inertial sensors. The FCC generates a filtered indication of longitudinal airspeed from the first indication of longitudinal airspeed and generates a scaled and filtered indication of longitudinal acceleration from the first indication of longitudinal acceleration. The FCC combines the filtered indication of longitudinal airspeed with the scaled and filtered indication of longitudinal acceleration to generate a determined longitudinal airspeed. The FCC generates a flight control signal to control operation of the rotorcraft, the flight control signal based on the determined longitudinal airspeed.

A heavy-weight object such as a motor is installed separately from a movable portion to reduce the weight of the movable portion. The invention includes a support unit, a movable unit to which equipment is attached, and a drive unit interposed between the support unit and the movable unit. The movable unit has a first rotating member rotatably attached to the support unit about a first rotation axis line and a second rotating member rotatably attached to the first rotating member about a second rotation axis line orthogonal to the first rotation axis line. The support unit is provided with paired first brackets positioned so as to sandwich the first rotating member, and these first brackets are each provided with a first shaft configuring the first rotation axis line. The second rotating member is provided with paired second brackets positioned so as to sandwich the first rotating member from a direction orthogonal to the paired first brackets, and the second brackets are each provided with a second shaft configuring the second rotation axis line and causing the first rotating member to rotatably support the second rotating member. The drive unit includes paired motors attached to the support unit and having a rotation axis line parallel to each of the first shafts, an endless belt wound between a pulley and each of the motors, and paired gears respectively attached to the first shaft and the second shaft adjacent to each other as a set and converting rotation about the first rotation axis line into rotation about the second rotation axis line. One of the gears is fastened to the pulley and is rotatably attached to the first rotating member, the other gear is fastened to the second bracket of the second rotating member, and to the first shaft to which the gear is not attached, the pulley provided to this first shaft and the first rotating member are fastened.

Convertible-type aircraft, able to fly with the speed and the reduced operating costs of a fixed-wing aircraft and also to take-off/land vertically and hover/manoeuvre like an helicopter.

The aircraft object of the invention comes in the form of a classical plane, with a fuselage (1), a fixed wing (2), an horizontal stabilizer (3) and a vertical fin (4), as well as one or several jet engines or turboprops (5) for propulsion and it comprises exposable rotors (6 and 7) installed inside the wing and possibly inside the horizontal stabilizer or the fuselage for lifting the aircraft for vertical take-off/landing and stationary flight.

For the flight and the horizontal take-off/landing, the rotors are completely enclosed inside the wing and possibly inside the horizontal stabilizer or the fuselage.

A parallel platform tracking control apparatus and method using a visual device as a sensor are disclosed. The apparatus comprises a parallel platform body, a CCD camera (11), a lens (6), a camera light source (9), a computer (11), a Dspace semi-physical simulation controller, an ultrasonic motor driver and the like. The parallel platform comprises an ultrasonic linear motor (1), a linear grating encoder (5), a driven rod (2), a moving platform (3), a stationary platform (4) and the like. The CCD camera photographs the moving platform in a perpendicular and opposite manner, and the photographed images are subjected to an image processing algorithm to measure the position of the corresponding marker on the moving platform, which is not only applicable to measurement, but also implements real-time feedback of the termination position of the moving platform, such that a full closed-loop system is constituted. In this way, the parallel platform is precisely positioned.

Techniques are provided for an autopilot control system to maneuver a vehicle based upon attitude information. The autopilot control system includes an attitude and heading reference module (AHRM), a gyroscope confirmation module, a flight control module, and a housing. The AHRM includes a set of AHRM gyroscopes operable to provide an AHRM gyroscopic reading. The gyroscope confirmation module includes a set of confirmation gyroscopes operable to provide a confirmation gyroscopic reading.

A vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) system and a method of controlling the same, wherein such method controls the stability and maneuverability of the VTOL UAV by manipulating the speeds of the propellers at each rotor. The VTOL UAV includes a body with three extending arms, wherein each of such arms is aligned and fixed at a certain angle from a central axis passing through the body. Each extending arm is equipped with a rotor with propellers. The rotors are sufficient to control the yaw of the UAV, and there is no need for coaxial rotors or an extra servo-motor in order to control the yaw of the UAV, thus reducing the cost and the weight of the UAV.