# US 10,479,513 B2 · Helicopter rotor icing detection system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,479,513 B2 - Document ID: US10479513B2 - Status: Granted - Kind: B2 - Application number: 16/222,738 - Filed: 2018-12-17 - Published: 2019-04-18 - Granted: 2019-11-19 - Earliest claimed: 2014-08-21 - Assignees: Northrop Grumman Systems Corporation - Applicants: Jonathan D. Almond - Inventors: Jonathan D. Almond - Web page: https://patentgrep.com/patent/US10479513B2 ## CPC - B64D 15/20: Means for detecting icing or initiating de-icing - B64D 15/22: Automatic initiation by icing detector - B64U 10/17: Helicopters (flying platforms B64U10/13) - G05D 1/0816: {to ensure stability} - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - B64U 2201/20: Remote controls - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A system includes a signal monitor to monitor a time rate of change of a revolution per minute (RPM) trim signal that is received from an RPM command path to control a velocity of a helicopter rotor. An icing detector detects for the presence of ice accumulation on the helicopter rotor by comparing the time rate of change of the RPM trim signal to a predetermined threshold for the time rate of change. ## Claims ### Claim 1 An unmanned aerial vehicle (UAV), comprising: a UAV controller to control flight operations of the UAV; and an icing detector to monitor a time rate of change of a revolution per minute (RPM) trim signal received from an RPM command path with respect to a predetermined threshold for the time rate of change, the icing detector notifies the UAV controller to initiate corrective actions for the UAV if the time rate of change of the RPM trim signal exceeds the predetermined threshold for the time rate of change. ### Claim 2 (depends on 1) The UAV of claim 1, further comprising an RPM controller to monitor the RPM command path and generate an RPM command, the RPM command path further comprising an error node to generate an error signal based on the RPM command fed to the RPM command path and a feedback signal representing engine speed of a helicopter engine, the RPM command and the feedback signal subtracted at the error node to generate the error signal. ### Claim 3 (depends on 2) The UAV of claim 2, wherein the RPM controller includes a collective pitch command path that includes a first gain component having a first gain to scale a collective pitch command applied to the collective pitch path. ### Claim 4 (depends on 3) The UAV of claim 3, further comprising a second gain component having a second gain to scale the RPM command into an output signal. ### Claim 5 (depends on 4) The UAV of claim 4, further comprising an integrator to integrate the output signal into an integrated output signal to supply the RPM trim signal. ### Claim 6 (depends on 5) The UAV of claim 5, wherein the output signal or the integrated output signal are employed to determine the time rate of change for the RPM trim signal. ### Claim 7 (depends on 5) The UAV of claim 5, further comprising a differencing component to perform differencing of successive discrete samples of the integrated output signal to determine the time rate of change for the RPM trim signal. ### Claim 8 (depends on 1) The UAV of claim 1, further comprising a filter that includes a band pass or washout function to determine the time rate of change for the RPM trim signal. ### Claim 9 A method, comprising: controlling flight operations of an unmanned aerial vehicle (UAV); monitoring a revolution per minute (RPM) command path with respect to an RPM command for the RPM command path; monitoring a time rate of change of an RPM trim signal in the RPM command path with respect to a predetermined threshold for the time rate of change; and initiating corrective actions for the UAV if the time rate of change of the RPM trim signal exceeds the predetermined threshold for the time rate of change. ### Claim 10 (depends on 9) The method of claim 9, the RPM command path further comprising an error node to generate an error signal based on the RPM command fed to the RPM command path and a feedback signal representing engine speed of a helicopter engine, the RPM command and the feedback signal subtracted at the error node to generate the error signal. ### Claim 11 (depends on 9) The method of claim 9, further comprising monitoring a collective pitch command path that includes a first gain component having a first gain to scale a collective pitch command applied to the collective pitch command path. ### Claim 12 (depends on 11) The method of claim 11, further comprising a second gain component having a second gain to scale the RPM command into an output signal. ### Claim 13 (depends on 12) The method of claim 12, further comprising integrating the output signal into an integrated output signal to supply the RPM trim signal. ### Claim 14 (depends on 13) The method of claim 13, further comprising determining the time rate of change for the RPM trim signal based on the output signal or the integrated output signal. ### Claim 15 (depends on 13) The method of claim 13, further comprising performing differencing of successive discrete samples of the integrated output signal to determine the time rate of change for the RPM trim signal. ### Claim 16 (depends on 9) The method of claim 9, further comprising determining the time rate of change for the RPM trim signal based on a band pass or washout function.