Abstract:
An optical blade tracking system for a rotary wing aircraft, the system including a light source generating at least one light beam, the light source coupled to a rotor blade of the rotary wing aircraft, wherein movement of the rotor blade is imparted to the light source; a two-dimensional position detector generating signals indicative of a position of the light beam along a first axis and a position of the light beam along a second axis and generating a signal indicative of an angular position of the light beam about a third axis; a processor receiving the signals, the processor determining at least one of lead-lag, flap and pitch of the rotor blade in response to the signals; and a polarizer filter positioned between the light source and the two dimensional position detector, the polarizer filter modulating intensity of the light beam onto the two-dimensional position detector.

Description:
FEDERAL RESEARCH STATEMENT 
       [0001]    This invention was made with Government support under Agreement No. W911 W6-10-2-0006 COST-A. The Government has certain rights in the invention. 
     
    
     BACKGROUND 
       [0002]    The subject matter disclosed herein relates generally to rotary wing aircraft, and in particular to optically tracking blades of a rotary wing aircraft. 
         [0003]    In the field of rotary wing aircraft, it is desirable to track blade motion. Rotating blades of a helicopter main rotor undergo an extremely complex motion trajectory with severe load conditions in a harsh environment. The on-board measurement of such rigid body motion at the root of the blade constitutes a major challenge for the helicopter industry. This measurement is particularly difficult for blades mounted to an elastomeric hinge-less bearing where the three angular motions (flap, pitch and lead-lag) are highly coupled and the elastomeric bearing pivot center shifts along the blade span due to centrifugal acceleration that varies with aerodynamic load and flight regimes. Existing methods to determine the blade motion in real time and in a non-contact fashion include holographic, Morie and laser Doppler vibrometer techniques. These non-contact optical measurement methods are only able to track one degree of freedom of motion at a time and may often fail to measure both statically and dynamically. They may also be very complex, bulky and unreliable in the main rotor environment and only appropriate for the laboratory environments and wind tunnel tests. Other methods of integrating acceleration from accelerometers or gyroscopes usually require added sensors or prior knowledge of the motion characteristics to remove drift due to integration and may be incapable of measuring static and low frequency motion of the main rotor blade. 
       SUMMARY 
       [0004]    One embodiment includes an optical blade tracking system for a rotary wing aircraft, the system including a light source generating at least one light beam, the light source coupled to a rotor blade of the rotary wing aircraft, wherein movement of the rotor blade is imparted to the light source; a two-dimensional position detector generating signals indicative of a position of the light beam along a first axis and a position of the light beam along a second axis and generating a signal indicative of an angular position of the light beam about a third axis; a processor receiving the signals, the processor determining at least one of lead-lag, flap and pitch of the rotor blade in response to the signals; and a polarizer filter positioned between the light source and the two dimensional position detector, the polarizer filter modulating intensity of the light beam onto the two dimensional position detector. 
         [0005]    Another embodiment is an optical blade tracking system for a rotary wing aircraft, the system including a light source generating at least one light beam, the light source coupled to a rotor blade of the rotary wing aircraft, wherein movement of the rotor blade is imparted to the light source; a two dimensional position detector generating signals indicative of a position of the light beam along a first axis and a position of the light beam along a second axis; and a processor receiving the signals, the processor determining at least one of lead-lag, flap and pitch of the rotor blade in response to the signals; wherein the at least one light beam comprises a first light beam and a second light beam generated at different times, the two dimensional position detector generated signals comprising a first signal indicative of a position of the first light beam along the first axis, a second signal indicative of a position of the first light beam along the second axis, a third signal indicative of a position of the second light beam along the first axis, and a fourth signal indicative of a position of the second light beam along the second axis. 
         [0006]    Another embodiment is a method for optical blade tracking for a rotary wing aircraft, the method including generating a first light beam and a second light beam at different times, a position of the first light beam and a position of the second light beam being responsive to movement of a rotor blade of the rotary wing aircraft; determining a position of the first light beam along a first axis, a position of the first light beam along a second axis, a position of the second light beam along the first axis, and a position of the second light beam along the second axis; determining at least one of lead-lag, flap and pitch of the rotor blade in response to the position of the first light beam along the first axis, the position of the first light beam along the second axis, the position of the second light beam along the first axis, and the position of the second light beam along the second axis. 
         [0007]    Another embodiment is a method for optical blade tracking for a rotary wing aircraft, the method including generating a polarized light beam, a position of the polarized light beam being responsive to movement of a rotor blade of the rotary wing aircraft; determining a position of the polarized light beam along a first axis and a position of the polarized light beam along a second axis; determining a direction of polarization of the polarized light beam; determining at least one of lead-lag, flap and pitch of the rotor blade in response to the position of the polarized light beam along the first axis, the position of the polarized light beam along the second axis, and the direction of polarization of the polarized light beam. 
         [0008]    Other aspects, features, and techniques of the invention will become more apparent from the following description taken in conjunction with the drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0009]    Referring now to the drawings wherein like elements are numbered alike in the several FIGURES, in which: 
           [0010]      FIG. 1  depicts a rotary wing aircraft in an exemplary embodiment; 
           [0011]      FIG. 2  depicts a system for optically tracking blade position in an exemplary embodiment; 
           [0012]      FIG. 3  depicts a system for optically tracking blade position using dual light beams in an exemplary embodiment; 
           [0013]      FIG. 4  depicts a system for optically tracking blade position using a polarized light beam in an exemplary embodiment; and 
           [0014]      FIG. 5  is a plot of light intensity versus relative polarization in an exemplary embodiment. 
       
    
    
     DETAILED DESCRIPTION 
       [0015]      FIG. 1  illustrates a rotary wing aircraft  10  having a main rotor assembly  12  in an exemplary embodiment. The aircraft  10  includes an airframe  14  having an extending tail  16  which mounts a tail rotor system  18 , such as an anti-torque system, a translational thrust system, a pusher propeller, a rotor propulsion system, and the like. The main rotor assembly  12  is driven about an axis of rotation R through a main gearbox (illustrated schematically at  20 ) by one or more engines  22 . The main rotor assembly  12  includes a plurality of rotor blades  24  mounted to a rotor hub  26 . Although a particular rotary wing aircraft configuration is illustrated, other configurations and/or machines, such as high speed compound rotary wing aircraft with supplemental translational thrust systems, dual contra-rotating aircraft, coaxial rotor system aircraft, turbo-props, tilt-rotors and tilt-wing aircraft, will also benefit from embodiments of the invention. 
         [0016]      FIG. 2  depicts a system for optically tracking blade position in an exemplary embodiment. Shown in  FIG. 2  is a rotor blade spindle  30  mounted to an elastomeric bearing  32 . A pivot center of the elastomeric bearing  32  is shown by axis A. A light source  34  is mounted to the blade spindle  30 . Other mounting or positioning arrangements may be used so that light source  34  moves with movement of rotor blade  24  coupled to spindle  30 . It is understood that light source  34  may be mounted to components other than spindle  30 . Light source  34  may be any known type of light source, such as a laser diode. The term “light” is used herein to refer to any frequency so that visible and non-visible wavelengths may be generated by light source  34 . 
         [0017]    A position detector  36  receives light from light source  34  and generates position signals indicative of a location of a light beam from light source  34  relative to reference axes of the position detector  36 . Position detector  36  is described in further detail herein with reference to  FIGS. 3 and 4 . A processor  38  receives output signals from the position detector  36  and computes one or more of lead-lag, flap and pitch of rotor blade  24  coupled to blade spindle  30 . Processor  38  may be implemented using a general-purpose microprocessor executing a computer program to perform the operations described herein. Processor  38  may be implemented using hardware (e.g., ASIC, FPGA) and/or a combination of hardware and software. 
         [0018]      FIG. 3  depicts a system for optically tracking blade position using dual light beams in an exemplary embodiment. In the embodiment of  FIG. 3 , two lights sources  42  and  44  are mounted to blade spindle  30 . Light sources  42  and  44  may be laser diodes separated by a small angle, with each laser diode directed at position detector  36 . 
         [0019]    Position detector  36  is a two-dimensional position sensitive detector (2D PSD) that receives a light beam and outputs a voltage (Vx and Vy) proportional to x and y coordinates of the beam spot on the position detector  36 . Position detector  36  may be mounted on the rotor hub. 
         [0020]    As the position detector  36  only generates x and y coordinates for a single point, the light sources  42  and  44  are switched on and off, alternately, so that the instantaneous voltage outputs (Vx and Vy) of the position detector  36  represent the x and y coordinates along the x and y axes of the spot being currently illuminated. An alternating switch  50  is used to alternately provide power from power source  52  to the light sources  42  and  44 . In this manner, only one of light source  42  and  44  produces a light beam at a time. The switch  50  may be controlled by processor  38 , so that the processor  38  can synchronize the output signals from the position detector  36  with one of the light beams generated by light sources  42  and  44 . 
         [0021]    From the output signals of the position detector  36 , processor  38  determines lead-lag, flap and pitch of rotor blade  24  mounted to spindle  30 . The three angular motions of the blade spindle  30  can be calculated from the measured voltage outputs from the position detector  36  as shown below. 
         [0000]      Lead-lag 
         [0000]      α= a  tan(( x   a   +x   b )/(2 L ))≈( x   a   +x   b )/(2 L )= c   1 ( V   xa   +V   xb )
 
         [0000]      Flap 
         [0000]      β= a  tan(( y   a   +y   b )/(2 L ))≈( y   a   +y   b )/(2 L )= c   2 ( V   ya   +V   yb )
 
         [0000]      Pitch 
         [0000]      θ= a  tan(( y   b   −y   a )/( x   b   −x   a ))≈ c   3 ( V   ya   −V   yb )/( V   xa   −V   xb )
 
         [0022]    In the above equations, the notations a and b represent the two light sources  42  and  44 , respectively. The value L is the distance from the position detector  36  to the pivot axis of the blade spindle  30 . Coefficients c 1 , c 2  and c 3  are used to approximate the lead-lag, flap and pitch, respectively. 
         [0023]    The angular motions of flap and lead-lag are linearly determined by the average x and y coordinates of the two laser spots, respectively. The pitch motion is calculated based on the difference of two sets of the coordinates. The embodiment of  FIG. 3  provides a direct measurement (each motion is proportional to the voltages) without need for computational conversion. The measurements of the three angular motions are also immune to the shift of the elastomeric bearing pivot center due to various centrifugal loading (e.g., x and y coordinates change with shift in distance L). 
         [0024]    In the embodiment of  FIG. 3 , two light beams are produced by alternately powering a first light source  42  and a second light source  44 . It is understood that other techniques may be employed to generate the two light beams. For example, in an alternative embodiment both light sources  42  and  44  are constantly powered, and a shutter is alternately positioned to block one of the two light sources. The shutter may be controlled by processor  38 , so that the processor  38  can synchronize the output signals from the position detector  36  with one of the light beams generated by light sources  42  and  44 . In another embodiment, a single light source is used and a positionable optical element (e.g., prism, lens system) is used to generate two light beams having the desired angular relationship. The optical element may be controlled by processor  38 , so that the processor  38  can synchronize the output signals from the position detector  36  with one of the light beams generated by the optical element. 
         [0025]      FIG. 4  depicts a system for optically tracking blade position using a polarized light beam in an exemplary embodiment. As shown in  FIG. 4 , a single light source  60  (e.g., a laser diode) is mounted to blade spindle  30 . Light source  60  outputs a collimated, polarized light beam. Position detector  62  is a two-dimensional position sensitive detector (2D PSD) that receives a light beam and outputs a voltage (Vx and Vy) proportional to x and y coordinates along the x and y axes of the beam spot on the detector  62 . Position detector  62  also generates an intensity output V IO  that is proportional to an intensity of the light beam on the position detector  62 . Position detector  36  may be mounted on the rotor hub. A polarizing filter  64  is positioned in front of the position detector  60 . 
         [0026]    The x and y coordinates from position detector  62  provide for computation of lead-lag and flap. The use of a polarized light beam and polarizing filter  64  make it possible to determine pitch. When position detector  62  with polarizer filter  64  receives a polarized light beam, the intensity of the light beam impinging position detector  62  is modulated by the relative orientation of the light source polarization direction and the polarizer filter polarization direction. This is represented in the intensity output V IO . The intensity of the polarized light passing through the polarizing filter  64  varies between zero and maximum as the light source  60  rotates with respect to the polarizer filter  64  from 90 degrees to 0 degrees.  FIG. 5  illustrates light intensity at the position detector  62  versus relative angle between the polarization direction of the light source  60  and polarization direction polarization filter  64 . Therefore, the position detector  62  intensity output is representative of the pitch angle (rotation about z axis) of blade  24 . 
         [0027]    The three angular motions of the blade spindle  30  can be calculated from the measured voltage outputs from the position detector  62  as shown below. 
         [0000]      Lead-lag 
         [0000]      α= a  tan( x/L )≈ x/L=c   1   V   x  
 
         [0000]      Flap 
         [0000]      β= a  tan( y/L )≈ y/=c   2   V   y  
 
         [0000]      Pitch 
         [0000]      θ= bI   0  cos 2 (θ)≈ c   3   I   0   θ=c   3 V 10  
 
         [0028]    In the above equations, the value L is the distance from the position detector  62  to the pivot axis of the blade spindle  30 . Coefficients c 1 , c 2  and c 3  are used to approximate the lead-lag, flap and pitch, respectively. 
         [0029]    The embodiment of  FIG. 4  provides a direct measurement (each motion is proportional to the voltage) without need for computational conversion. The measurement of the three angular motions is also immune to the shift of the elastomeric bearing pivot center due various centrifugal loading (e.g., x and y coordinates change with shift in distance L). 
         [0030]    Embodiments provide three degrees of angular motion measurement simultaneously using one sensor. This provides for dynamic and static measurements with the same level of accuracy. The measurements are immune to shifts of the elastomeric bearing pivot center due aerodynamic and/or centrifugal loading. Direct measurements of angular motions are provided with minimal computation requirements. 
         [0031]    The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. While the description of the present invention has been presented for purposes of illustration and description, it is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications, variations, alterations, substitutions, or equivalent arrangement not hereto described will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. Additionally, while various embodiments of the invention have been described, it is to be understood that aspects of the invention may include only some of the described embodiments. Accordingly, the invention is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.