BASICS
ON
A.F.C.S. A U O MA T
isd IS anuf anufac actu ture rer' r'
G H C ON O N TR TR O
M)
tr inin inin id It la tech techni nica ca docu docu enta entatio tion. n.
Issu Issue: e: sept septem embe be 1991 1991
Geurocopter
UR OS to
ic flig flig
tw
S T
S TA TA B ti
id
OF A. C.
T I
G U I D A
C E
AT ON lo
ll ws
to
ke
iliz iliz
it
it
ll
la
ve
ts
th
te
vi
te in
vi y.
Geurocopter
UR OS to
ic flig flig
tw
S T
S TA TA B ti
id
OF A. C.
T I
G U I D A
C E
AT ON lo
ll ws
to
ke
iliz iliz
it
it
ll
la
ve
ts
th
te
vi
te in
vi y.
Oeurocopter
ON OF Heli Helico copt pter er tran transv sver ersa sa PI le
tw
th
axis axis
Heli Helico copt pter er long longit itud udin inal al
xi
rizo rizo ta
la
th
).
lo
it
in
Control Cycl Cyclic ic stic stick: k:
pitch
axis axis
xi
up
Axis
Angle
Roll
ip
Control Cycl Cyclic ic stic stick: k: ri
Heli Heli
te
yr
or Collective axis
xi
or Yaw axis
311epsi 311e psi helicopter
horizontal plane
horizontal
plane
Control Yaw
Control
Axis
Pedals:
blad blad
collective
le ri
<;
~J
.A
I 7 t:
pitc pitc
angle
Tin
~i
coll collec ecti ti
leve leve
4teurocopter
attitude.
gh
OFFSET
on ol
A.P. sensors
li
components
te
id rs it
th
la
rs
rate
rd
th tely
is
qu
refe
ttit
te
re
ff
(D), tr
to
d s tr
fe
fu
ti
B/(E-S
ll
il ti
la
ra terize
th
AFCS
it th
(S)
_eurocopter
th
ff
precision
k,dA
valu dA
stabilite.rapidite
fiabilite fficie ts
k" ,k
th
ic
ti
th
ir
it
altitude.
.2.1
ir
rm
ro
rtio
(Kl.dA)
th in rtie th
th
ir raft te
to
te
illate
ro
it
refere
it. Bu
to th
ro
in
la
th
li
te
ttit
i1=io~ a) Stabilize
flight:
la
titu
(t
is
th
it
le
AO~.
tt tu
helicopte
attitud
.i2c~~ ic Th
id
presen attutude Alt) is
it
fe
-c
titu
if
~--
Ao
it
i2>io
-------_.
k1.dA>O
ic
it
Th present attitude Alt) is stil differen .The blad
th
fe th
ti referenc
attitu eAo.
pitch
li
te
Ao
k1.dA>O
re
it
refere
ttit
i4=iO~
.--------~.
k1.dA=O in
ia
ic
it
ti
;0 {15~
A~
-----k1.dA
....
OeUlDcopter
io .ffT
li
te
towa
it tu
it
refere
il lo
ti
ff
in
Th
present. blade.pitc
·9)
lico te
angl
re ch
it
ri6~
ttit
A~ ...--"""t'----~.
il le
16 is.greater than,iO"_· refere ce
k1.dA
ttit de i7=io~ iO).
to th
in rtia th
li
te
th
refe
ttit
---~----"~~
",
it
ia io
li
attitude offset
flight
ontr
rd
..
K1 K1
th
im ta ou ly ve hi referenc attitude K1. ic
accuracy it
nd hi
in
it is ec ss ry to ca ce th
is it
B!-oSICS
iv it
STA8ILIZAT:·.):~
it
flig
ontr ia io
orde before re
hi
_eurocopter K2
a]
tabilize
flight
re
(t is qu
rd
to
it
---------~.
K1.
in
it
re re
lu
ic
k1.dA
ro
re re
K2.dA/dt==0
it i2:>io Ao
----::::--_
1.d
li
K2
..... -=..-::.----~~-
/dt:
i3 iO~-----~.
it
re
(t
is
ll
re
is re re
it li
th th
le
is
i2:>i3>io
fe rivative term
re
re k1.dA
or <0
K2.dA/dt:>
i4
lico te
re helicote
re
la
it
ttit de
le i4
it
beyond it
refere
referenc
1.d
attitude will im ediately be countered.
io )D
in
th
re
li
yo
(t
th
ts re re
ti5~
it Ao
re
i5
k1.dA
li
f)
rd
ts re
K2.dA/dt<0
io
it
ri6~ ll lo
re re th
O. ic
re rn
ve ly
re
li it
re re
'C
'3
is
tu iv
Ao
rm
;---4....
A~
re
it
k1.dA
T A
T
I
"
'--------~
is
INSTRURBJONSMANUAL
41------------------------------------AUTOMATI
OPERATIO AL Th
LI HT CONTRO
SYSTEM
ES RIPTIO
synchr
to the
Displace-
Out
FWD rotor tilt
In Aft rotor tilt
400Hz
ou hase (nos up
Modulated gyro output showin displacemen curve
igur 2A
The vertical gyro sign .s ns
ount
nd
is
Fi ur 2B
li
to
of he
op
(d
nt
CHAPTER: PAGE:
DATE:
22
15.10.90
Seurocopter .2.3
iliz ti
term K1)
correction ..But this.i.s.Gr:I~'ftrue'forsmattattitude
offset. K1
term.
10%
th full
eflectio
A.P. authority.
ti
tu
ci
te
term
full authority
.2.5PHoting la
(100%
preparation.
-.
..
._
._
__
rate lane
position
feedback
series actuator
direct lane
sensor
integrated UTOTRIM~'-
,_._
A.P. co pu er ..
..
-- .. _.-.-._
_.-
ni
term
parallel
actuator
tDeurocopter
see
previously.
A.P. computer
(/~,
main servo control
t;:?
ua or
III);,
E:'SICS
ON
STABILIZAT:C'N
Oeurocopter .2
HYDRAULIC tr
itte
to th
flig
tr ls
controls.
A.P. computer
AP hv ra pressure turn -,
---_,._-,
hydraulic
IC
pressure Ij\return
b~
~j;"'w ,~
anchoring system
,A
I ' I Z
'!
Geurocopter OR le
im
is
la
it
in
te
to
im is in
tu
lv
rall
ll li
ic
tu tors
fl
ld
le tric
tr
ic th
in
isac qu
ydra li
CT In this
th
le tric
rall
tu to
ve
th
ri s. actuatorwherractinqon
th
flig
ontr ls
ch ri
A.P. computer
----~~-----
main servo control
_eurocopter
in th
helicopter
A.P,
computer
AP hydrauli
AP hydrauli
return;fl
~ d ~ W . piston ~b~
Ij'.return
W~
, ; . : JIIi C f v \ · 1\
return AP hydrauli pressure
_eurocopter
point.
tifi ia fe fo
ys
te
rtificia
lo
fe
yste torsio
lo
lo
syst
re
ll
to
te
in id
is
ve th
flig
ri
tr ls
tu to
lw ys locate
in id
th
it
tsid rall
in (f rc ct
th
in
int.
li k)
tor.
ly
systems.
co pressio
syste s.
A.P. computer
------.....,,---~
main
Vn~-·-
servo control
Seurocopter
A.P.
computer
-
~-~~,
;....__----
AP hydrauli
AP hydrauli pressure
main servo control
_eurocopter
STABILIZATION
main servo controls
the AFCS functioning.
aerodynamic loop
control unit and displays
computer
series actuator
main servo controls
_eurocopter
ly-t ro
li
ll
th
il
to
verrid
th
rs
li
th
it
refe
disengagement. is is
rf rm
th
ff
te tors fitt
in th
fl .i
tr ls
units control unit
main
an displays
servo controls
computer
serie parallel tifi ia
f.
actuators actuators fe
lo
S T
AT'
(1 ~!
_eurocopter
N CH RO N
AT ON fundamental.
GYROSCOPE
stabilization term
integrated
A.P. engagement
RI
AU
term
series actuator
parallel actuator
ON co
by
GYROSCOPE
rate lane direct lane
actuator
memory
integratio TRIM AUTOJ-';____
term
th switch
parallel actuator
Oeurocopter
DISENGAG,E-D·
D EC L V C H IN G O F
H E A RT IF IC IA L F EE L O AD S
ra
li ll
RELE
RI
RELE
it YCLI
-h
r:
RI
LE
GYROSCOPE
series actuator
PILOT CONTROLS
i~,
integrated
pitch
...:
parallel actuator
manuel
TRIM
artificial feel loads
release e
is
is
rm
is
(CYC in
(m
ri
io
rtif ia
LE
ly
lo
im
is
rh
l,
ic
f. S \ C S
S T
ro
I L I
-r-
r!
ro
_eurocopter
right).
th
li
GYROSCOPE
ic
la ly
th
lo
fo
im
tc
)~-------------I dire
1--',-..0-..:
lane
~~.y
l~
term
PILOT CONTROLS
f---;-i--1~""
integrated
A.P. engagement) permanent stick releasy
ts
actuator
pitch parallel actuator
term manuel TRIM
~-
artificial feel loads
'.
.. ""
(.
stick release
>---~-......,---'---' L • . . • ~ ._ ._ . . . . ., : .~
io
la
fo
ll
ti
xi
lo
is
,_.~:~~.~t~~ artificial feel
_eurocopter
ENGAGED, In (b
T AB IU ZA T O N
A L T OM AT l is
re re
S TA B
Z AT IO N E QU IP EM EN D (A
in
ic
re
tt
ic
tu
components.
GYRO$COP~
stabilization term
series actuator
integration
parallel actuator
TRIM AUTO
A.P. engagement
term
, _ _ c
th
stabilizatio
state.
, _
• _
• r
• _ • •
, •
, • • ' •
' ~
qu re
_eurocopter
D EC L
CH
CI
LL
GYROSCOPE
at
lane
dire
lane
series actuator
memory PILOT CONTROLS
integrated
pitch parallel
term
actuator
manuel TRIM
artificial feel loads
temporary stick release
roll parallel actuator
+~ c
•
·
..
·
.
c _
ee
c
\.._
referenc
attitude
loads _._._._
_eurocopter PT
lett].
GYROSCOPE
rate lane di ec
stabilization term
lane
r -. . . J.:.r---r----i
series
r---JIoi actuator
memory PILOT CONTROLS
term
pitch parallel
permanent
stick
artificial feel loads
~I~IJ-t--'----'
temporary roll parallel
stick rele'as~
_I-'-__J
loads
cvctic in
reco tr
(c
sign
ir
in ibit
th
io
rate la
is in
fu
ti
in
ic
th
fu
lo
ta
_eurocopter 1,
FLYFLY-TI TI-l -lRO ROUG UGHHAN HHANDL DLIN IN y- ro
lo
lo
verr verr
rd
li
re
it
re re
disengagement.
it GYROSCOPE
at
lane lane
dire dire
lane lane
series actuator
memory
pitch parallel actuator permanent stick releas:.-----
>---
artificial feel loads
e--j___,_----,
._'_T"T-··_··-~·~~l
r--,_
temporary stick releas~
roll parallel actuator ~.-.-.-.-.-. . . . . . . . . -. ..
.
L..... ;._... ..._~
artificial feel \..... \..... loads loads
inhibited ve
vi
rg
re
rt
by opti opti al da ping ping effe effect ct
li
Oeurocopter
SS
CK
steps: firs firs
te
te
th
rtif rtific icia ia
fe
lo
GYROSCOPE rate rate lane lane di ec
lane lane
(X}----.:!.r-.,---I .
memory PILOT CONTROLS
integrated
r;-J
A.P. engagement permanent stick
1~
pitch parallel
term
actuator
manual TRIM
r i
artificial
~I~
loads
temporary stick release~
_T ."
••__
"" "" ,:
roll
+>--
.._ . ~ ~ ~ . ~ . ~ t ~ ~ j
b':~
1•
r=
fl thro throug ug handling
stick
..
__ .....
···t..·-·--~
artificial feel
Oeurocopter UT
e"'-"
GYROSCOPE
stabilization term
dire direct ct lane lane
series actuator
memory
....
PILOT CONTROLS A.P. engagement)
integrated l---"'--.J
actuator mTaRnluMal;-
stick
-
feel loads
~~~~--,
r-·-·-············~·-·..... ".".
temporary stick
roll
releas~
>--e
actu actu to
----t--'-_.J
_._ ... .. ,
H---~rJl~ fl thro throug ug handling
stick
. L ._ L _ ._ . _ . .... L . .... . ' ._ . _ . . ,:,..
artificial
~--------------------------+-r---------------~
l~-----iii-
s..a.s
on th
parallel
heli helico co ter. ter.
roII synchronization
Oeurocopter M.
A.P. comput
unit
GYROSCOPE ra
lane
irec lane memory
1~ r-------,
stabilization ...to term I"""":"-~
.>-iX)-~___'r--i
series actuator
..........
....
PILOT CONTROLS
integrated pitch
!'l'
A.P. engagement}
term
permanent stick
parallel
1-:'---'"
TRIM
artificial
f_e_el~ \ ~ - 1 ' ~ ~ ~ ' - ~ 1 ~ -loads ~~,-
~I~I-+-'---'
~--~-~-------~r------r---~~---r~~
temporary slick release
roll paraliel actuator
>----:;'-f--'-~
.. -.-
Il.....____.__,~--j-j-f---
-.~.-:
ia
I.?~ .s..__ ) fly through
1 1 - +~ 7 + t J
handling beep plus stick
.......to the roll synchronization
.a.
'-a_u_to __tr_im __
J-:-_----- _--..----..-.---.._-._.-_._ -__.. _.~_._ _._-._.--
pedestal dependin in
th
th ty
leva
helicopter li
xi
this
it
ze
th
th
Geurocopter
load
anchorag
point.
••
GYROSCOPE
Ie
- •• -
_••
rate lane
t;
dire
lane
>-\X}----,w-"'""T-_,
memory
term
t-+--t~..,
actuator
---.,
........
PILOT CONTROLS A.P. engagement
•-
integrated
T:~:~TO
,',
permanent stick
:l-a_p:_ti~_:_I~e_~r-1
~~
,--_f_e_el___, loads II
/-_
temporary stick releas~
,.
roll parallel actuator artificial feel loads
b'~>
. ,
fly throug handling
~~ stick
i"
.~ .~
s.a.s
tao
un
.,
synchronization
________________________________________
ge
by
he bu
at
ed
pa
de
pt
_eurocopter
ZA ON by the
AFCS
.. eete lane
GYROSCOPE
tI~.ebi~~2 etten
-j~
direct lane
memory
PILOT CONTROLS
ef'lg8(lement
AL
component.
computer urtit
)-.1-
'<..Y
term
YAW series
actuator
Geurocopter
rate lane
GYROSCOPE
YAW
stabiftl'ation term
direct lane
'<
L____f
series
memQty
PILOT CONTROLS A.P. enoaoement
pedal.
in ibit
ve
ic
in
io
is
rf rm
in
thro
th
te la
ti th
. .
le
0/5.
_.
. _
GYROSCOPE
YAW series actuator
$~abiliz.ation term
direct lane
memory
PILOT CONTROLS
turn
rate
re 1.5° Is
A.P. computer unit
............ "._._.....
is
ie
..............--_._-._-
in
_.-
_.....................
li
t-.
C S
T .: :
LIZ
\J
...'
Geurocopter CO
CT VE AX le ti
is
iliz
fu
io
in
le ti qu
it
ls
is
tly, this
ll
ti
ll ws to
intain
quir
ig
or
lt tu
le ti
it
angle. if
necessary. th
is
iliz ti
th
le ti
xi
_---,,--
..
._
..
rete lane
sensors BARAN Rad.Alt. AlIi. Aceel.
COLL
et..b i H : z ericn
direct lane
term
series
actuator
memory PILOT CONTROLS
integrated
COLL and engaged mode
T'NTf64ue
term
1
compute
uni
COLL TRIM actuator
Signalization: I -
'
fteurocopter
rdin te is fu
io
turn
is
ff
sist
tive
teri
ve tu
id
li
ri
ri
inclin te
turn
ly (3
latera
lero
If
If ref.
te
te ts th
ve tu
id
li
'---~--------~~--~i
A.P. co pute
lateral
YAW
.._.
sideslip
series
error
actuator
unit
accelerometer
inimiz
WIND
th
fe
vers
tu
li
ta ilit
-r
re
is
ll
Geurocopter
ath
COL
C T IV E C Y C L
PR CON
OL
orecontrotstqnat
pitc
seri actuator
poten.tiom0 rate lane
itc tri
--+a:
ac~uato
rolltrim actuator
-..J..._----1L___r_at_e_la_n_e---.J)...._----~>------..T
pitc
Air Data module
1--~-----~A~iS~>~4~O~K~t~s-
AFCS computer
S T A 8 I L
seri actuator
_eurocopter .2
COLL CTIV
RE ONTROL
flig th
is
li
lo
le ti
This results in yawiAg to th le ti is
3. .1
-y
le
th
ri ht ,w en th te
tr
th tw
fo
ic ll
lo ,.
intain le tr
ic ll
ti-t qu
la
coll Gtive.pitc ,is'reduce ':
this
ie
lo
in in
th
tw li
ter.
Mechanical pr contro
ll
iv
is
ll
iv
collective shaft
iv
th
collective shaft
in
ll
collective
iv
----_ in
lc
th
Seurocopter
3.2.2
Electronic precontrol
th
li
te
ir
This precontroHs,eHectiveonlyin-Hightand·is1nhibited
potentiometers
'85'
soorrastheheltcopter
lands.
r~---------------~~--~~------------------~~----l rate lane
rate la
ri f . .
module
·;....1·------:..---- ...
[ C O L L L I N K } - 1 - ;~ ; ~ ~ ~ ; : t : ; ~ ~ ~ -- - - - - - - - - - - - - - -- - - - - - - - - - - :
EASICS
STABILIZATION
tu to
_eurocopter
cs Air-speed Altitude Heading radi -navigatio
modes:
isua mn Rang Instrume andi .localizer .glide-slope .bac course
ppro ch yste
(l
(LOC), (GIS),
Go-around Vertical spee navigation: Navigation Cruise height roun spee
(G.S
Tr nsitio
(T.DWN);
Down
Stationnarie mode hove
Cabl height Position cabl Guidance fo guid nc
urpose
Geurocopter
OF
im
lf
in
VOR,
lo
la
ir
tc ..
is
th
it ld
ta iliz
li it
the reference
main servo controls
control
units
unit
main
t;::;;s:J
if(bd"--
displays
servo controls
serie
actuator
~ A5 I
0 ~
I_
(air
ltit ir
_eurocopter th
I n a ut o
ti
computes.so.thar.the
t it u
referenc
by
attitude
fl
th
fl
control unit and displays guidance! computer
:-+
main servo controls .....J
Oeurocopter
th
flig
ir
id 'I
is
th
to
(F/D
li
te
trir
is
th
is
th lo
il
id
rd ts
th
ie -a
is
re flig
lo tr ls synchronizatio
li
to th rdin
AF
to th
info
ode.
A.D.I
main servo controls
serie
actuators
parallels actuators
in PFD.
A.D.I
control unit
main
an ~~~ldiSla~
servo guidance computer
BASICS
controls
j-i-
computer
GUjOA~lCE
ter. ti
Oeurocopter
A/S mode cannot
LT im lt
sl
th
re
tu ll
xclu iv
LT xi
(A/S
).
A/S
is
ic ly
le
xi
Pitch/Col A.P. \, engagement
xi
id
Pitch/Col series actuator
......... stabilization term
c?
~.
~:-J
Vertical gyro
'<.....
.... .. ..........
._._
........ '._
.... ._ .. .. _. ....
"I
~ -
•
~
•
,
_
.................
•
integrated TRIM AUTO term
···
_ _ . _. OC T _ . . . ' . . .
is
rm
.. .. ,._ .... ............
....
_._._
/'"):
-'_'-. ~'.;-
Pitch/Col parallel actuator
.... ..
H••
ALT engagement
ir ~<=>' Data
:to_'{
:·1~
memory
~l
Module
Vertical accel.
Afte
air speed control logic
-----------------~---~-~-----
th
ry co
in
th
refere
ltit
whic
tl
re
with th
re
ltit
4Deurocopter
A IR S te
ls lo
it
in
ttit
to
._-_._._ ta
co
te
ta
ir
_._._
_....
,_
MOD
it
Pitch
Pitch
A.P. engagement
stabilization
series
term
actuator
« I-r-t->_............
Pitch
integrated RI AU
r '
" "
parallel
Vertical
.,...
gyro
A/S engagement
'-
beep
~----------
<=>z I-r--. ·'-'-1 Air
'f _~ 'I
A/S indicator
accel. ..
Before
th
t. In this il
is
ir
th in
ry is
resele te xc
ve
rm
sp
is
.._ •. .• ._ ., ._. •• ._ •. •.•. •• •. •_ -_
tl
qu
irsp
valu
is laye
ia io
C S
to th
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ro
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beam
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guidance.
(GIS)
AIS AIS
A .P .
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stabilizatio term
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C=>z Module
Alt - 1
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altitude control logic
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parallel actuator
Seurocopter
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.- ....
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runway
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rate lane --
C-=j?:>
irec lane
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L{
gyro
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speed control logic
amplifier
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vertical speed
ALT ft/mn
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term
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.,
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it
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odes
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it
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memory altitude control logic
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it
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parallel actuator
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term
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actuator
unit
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2.44
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1.05°
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Mj W\
TRIM power amplifier
accelerometer
n _•
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th
roll
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in
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ixin
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vi
ti
ter,
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vertical acceleration control logic
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series actuator
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parallel actuator
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height
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it
tc
ta
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te
xi
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lo
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it
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urut
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th
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iati
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Doppler
parallel
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Ron
adju~;"'nt
I -~
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HOVER
stabilization
~~---------------------~
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series actuator
Geurocopter
ft
th
tc th
te
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il re
veri
it
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to
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late
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ig
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ture
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pute
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it
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H.HT
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..
amplifier
eries tu to
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height reference
~l
acceleration
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Radio
r--'---------IJiI"""
altimeter
Doppler
Coli
TRIM " _ " _
actuator
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amplifier
logic
parallel actuator
-~-------------------~
radar
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th
vertic rtic
is
th
ccel ro et lerati
le
te
ll ws th th
0.
tr ls th
xi
to re
fo flig
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co fort
iv
ia
li
is im ig
ra io-altim te
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in
ti
pute to resp ct li it ti
in il
ll
om
ig
de
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itio
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im lt
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ly
ll
itio
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it
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quir
is
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it
ve in in
th le
ll
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it
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im lt
quisitio
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itch
xe
th fr
fe li
ter'
presen position.
Vz
00 ft mn
Vz=o
~Y-i~ VZ=D
selected fina hover height
Vx=O
~------------------~-~----------~~~ HOV
T.DWN
H.HT
le iv
ft/mn ic allowing
lerati
to re
th
ti
le te
th
ig
lo
th
tr
it
itio
in
le
ri
im
je
plane,
----------------------------------------------------------------------------------------
Oeurocopter
./
t:
memory.
point
phases.
mode;
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ti
SEARCH
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ti
_.eurocopter
Pitch A.P. engagement
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stabilization term
e l
J:.z~
Vertical gyro
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integrated TRIM AUTO
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term i"""'T
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,'"
._
H.HT select
height logic
Radio altimeter
:,
Vertical accel,
<==>
.,
I t _ - ' - - - - : - ~ · - - U :g U , ; ~ ; ~ c . ~ A/S
Air
Module
75
ui an
speed control logic
om uter unit
SERIES actuator amplifier
TRIM actuator amplifier
Coli series actuator
Coli parallel actuator
