IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0836398
(2004-05-03)
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등록번호 |
US-7305285
(2007-12-04)
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우선권정보 |
FR-03 05764(2003-05-14) |
발명자
/ 주소 |
- Villaume,Fabrice
- Duprez,Jean
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출원인 / 주소 |
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대리인 / 주소 |
Stevens, Davis, Miller & Mosher, LLP
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인용정보 |
피인용 횟수 :
6 인용 특허 :
7 |
초록
▼
A piloting device may include a section for generating control orders for the control surfaces acting on the yaw movement of an aircraft. A central unit determines an instruction to rotate the aircraft, based on control orders, and determines a global moment to be applied to the aircraft about the y
A piloting device may include a section for generating control orders for the control surfaces acting on the yaw movement of an aircraft. A central unit determines an instruction to rotate the aircraft, based on control orders, and determines a global moment to be applied to the aircraft about the yaw axis so that the aircraft performs the rotation instruction. The central unit divides the global moment into a sum of elementary moments and computes, for each control surface, the instruction to be applied to its actuator so that the latter generates the associated elementary moment.
대표청구항
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The invention claimed is: 1. A method of piloting an aircraft traveling on the ground, comprising automatically: a) determining an instruction to rotate the aircraft; b) determining a global moment having to be applied to the aircraft about the yaw axis so that said aircraft performs said rotation
The invention claimed is: 1. A method of piloting an aircraft traveling on the ground, comprising automatically: a) determining an instruction to rotate the aircraft; b) determining a global moment having to be applied to the aircraft about the yaw axis so that said aircraft performs said rotation instruction; c) dividing said global moment into a sum of elementary moments, each of which corresponds to the effect generated on the aircraft respectively by one of a plurality of control surfaces, each of said control surfaces representing a particular section that is capable of acting on the yaw movement of the aircraft and which is controlled by at least one actuator; and d) for each of said control surfaces, computing an instruction to be applied to the actuator of the corresponding control surface such that the latter generates the associated elementary moment, wherein: the aircraft comprises, as control members, at least one control column and one steering wheel to steer the front landing gear of said aircraft, and in step a): an order generated by the control column is converted directly into a first yaw speed instruction; an order generated by the steering wheel is converted into an intermediate instruction of angle of orientation of the speed vector of the front landing gear, which is converted into a second yaw speed instruction; and said first and second yaw speed instructions are added together to obtain a global yaw speed which represents said instruction to rotate the aircraft. 2. The method as claimed in claim 1, wherein, when the aircraft is on manual pilot, said rotation instruction is determined in step a), based on the orders generated by at least one control member of the aircraft which is capable of being actuated by a pilot of said aircraft. 3. The method as claimed in claim 1, wherein, when the aircraft is on automatic pilot, said rotation instruction is determined in step a), based on the possible difference between the position of the aircraft on a runway on the ground and the center line of that runway. 4. The method as claimed in claim 1 wherein, in step a), said rotation instruction is a yaw speed instruction for the aircraft. 5. The method as claimed in claim 1, wherein said intermediate instruction of angle of orientation of the speed vector is multiplied by a limitation coefficient which depends on the longitudinal speed of the aircraft, the result obtained being converted into said second yaw speed instruction. 6. The method as claimed in claim 1, wherein use is made, as a control surface, of at least the tail fin rudder control surface of the aircraft, which is steered, and the front landing gear, which is also steered. 7. The method as claimed in claim 1, wherein use is made, as control surfaces, of at least two different landing gears of the aircraft, the braking of which is controlled in dissymmetrical manner. 8. The method as claimed in claim 1, wherein use is made, as control surfaces, of at least two engines of the aircraft, disposed either side of the longitudinal axis of said aircraft, the thrust of which is controlled in dissymmetrical manner. 9. The method as claimed in claim 1, wherein in step c), to divide said global moment into a sum of elementary moments associated respectively with different control surfaces, account is taken of at least one of the following criteria, relating to said control surfaces: the hierarchy of the control surfaces; the availability of the control surfaces; the effectiveness of the control surfaces; and the level of authority of the control surfaces. 10. The method as claimed in claim 1, wherein use is made, as a control surface, of at least the front landing gear of the aircraft, which is steered, and wherein, in step c), the global moment is divided as a function at least of the longitudinal speed of the aircraft. 11. The method as claimed in claim 10, wherein: when said longitudinal speed of the aircraft is lower than a first predetermined speed, the division is maximal on said front landing gear; when said longitudinal speed of the aircraft is higher than a second predetermined speed which is higher than said first predetermined speed, the division is minimal on said front landing gear; and said division is decreasing with respect to said front landing gear between said first and second predetermined speeds. 12. The method as claimed in claim 10, wherein: when said longitudinal speed of the aircraft is lower than a first predetermined speed, the control by division mode is deactivated and a direct control of the front landing gear is applied; when said longitudinal speed of the aircraft is higher than a second predetermined speed, which is higher than said first predetermined speed, the direct control is deactivated and only a control by division mode is applied; and between said first and second predetermined speeds, control moves progressively from direct control to the control by division mode. 13. The method as claimed in claim 1, wherein use is made, as a control surface, of the front landing gear of the aircraft, which is steered, and wherein the instruction to be applied to the corresponding actuator is the sum of a first front landing gear steering instruction determined in step d) and a second front landing gear steering instruction, generated by a specific open loop. 14. A method of piloting an aircraft traveling on the ground, comprising automatically: a) determining an instruction to rotate the aircraft; b) determining a global moment having to be applied to the aircraft about the yaw axis so that said aircraft performs said rotation instruction; c) dividing said global moment into a sum of elementary moments, each of which corresponds to the effect generated on the aircraft respectively by one of a plurality of control surfaces, each of said control surfaces representing a particular section that is capable of acting on the yaw movement of the aircraft and which is controlled by at least one actuator; and d) for each of said control surfaces, computing an instruction to be applied to the actuator of the corresponding control surface such that the latter generates the associated elementary moment, wherein: use is made, as a control surface, of at least the front landing gear of the aircraft, which is steered, in step c), the global moment is divided as a function at least of the longitudinal speed of the aircraft, when said longitudinal speed of the aircraft is lower than a first predetermined speed, the division is maximal on said front landing gear, when said longitudinal speed of the aircraft is higher than a second predetermined speed which is higher than said first predetermined speed, the division is minimal on said front landing gear, and said division is decreasing with respect to said front landing gear between said first and second predetermined speeds. 15. The method as claimed in claim 14, wherein, when the aircraft is on manual pilot, said rotation instruction is determined in step a), based on the orders generated by at least one control member of the aircraft which is capable of being actuated by a pilot of said aircraft. 16. The method as claimed in claim 14, wherein, when the aircraft is on automatic pilot, said rotation instruction is determined in step a), based on the possible difference between the position of the aircraft on a runway on the ground and the center line of that runway. 17. The method as claimed in claim 14 wherein, in step a), said rotation instruction is a yaw speed instruction for the aircraft. 18. The method as claimed in claim 14, wherein: the aircraft comprises, as control members, at least one control column and one steering wheel to steer the front landing gear of said aircraft, in step a): the order generated by the control column is converted directly into a first yaw speed instruction; the order generated by the steering wheel is converted into an intermediate instruction of angle of orientation of the speed vector of the front landing gear, which is converted into a second yaw speed instruction; and said first and second yaw speed instructions are added together to obtain a global yaw speed which represents said instruction to rotate the aircraft, and said intermediate instruction of angle of orientation of the speed vector is multiplied by a limitation coefficient which depends on the longitudinal speed of the aircraft, the result obtained being converted into said second yaw speed instruction. 19. The method as claimed in claim 14, wherein use is made, as a control surface, of at least the tail fin rudder control surface of the aircraft, which is steered, and the front landing gear, which is also steered. 20. The method as claimed in claim 14, wherein use is made, as control surfaces, of at least two different landing gears of the aircraft, the braking of which is controlled in dissymmetrical manner. 21. The method as claimed in claim 14, wherein use is made, as control surfaces, of at least two engines of the aircraft, disposed either side of the longitudinal axis of said aircraft, the thrust of which is controlled in dissymmetrical manner. 22. The method as claimed in claim 14, wherein in step c), to divide said global moment into a sum of elementary moments associated respectively with different control surfaces, account is taken of at least one of the following criteria, relating to said control surfaces: the hierarchy of the control surfaces; the availability of the control surfaces; the effectiveness of the control surfaces; and the level of authority of the control surfaces. 23. The method as claimed in claim 14, wherein use is made, as a control surface, of the front landing gear of the aircraft, which is steered, and wherein the instruction to be applied to the corresponding actuator is the sum of a first front landing gear steering instruction determined in step d) and a second front landing gear steering instruction, generated by a specific open loop. 24. A method of piloting an aircraft traveling on the ground, comprising automatically: a) determining an instruction to rotate the aircraft; b) determining a global moment having to be applied to the aircraft about the yaw axis so that said aircraft performs said rotation instruction; c) dividing said global moment into a sum of elementary moments, each of which corresponds to the effect generated on the aircraft respectively by one of a plurality of control surfaces, each of said control surfaces representing a particular section that is capable of acting on the yaw movement of the aircraft and which is controlled by at least one actuator; and d) for each of said control surfaces, computing an instruction to be applied to the actuator of the corresponding control surface such that the latter generates the associated elementary moment, wherein: use is made, as a control surface, of at least the front landing gear of the aircraft, which is steered, in step c), the global moment is divided as a function at least of the longitudinal speed of the aircraft, when said longitudinal speed of the aircraft is lower than a first predetermined speed, the control by division mode is deactivated and a direct control of the front landing gear is applied, when said longitudinal speed of the aircraft is higher than a second predetermined speed, which is higher than said first predetermined speed, the direct control is deactivated and only a control by division mode is applied, and between said first and second predetermined speeds, control moves progressively from direct control to the control by division mode. 25. The method as claimed in claim 24, wherein, when the aircraft is on manual pilot, said rotation instruction is determined in step a), based on the orders generated by at least one control member of the aircraft which is capable of being actuated by a pilot of said aircraft. 26. The method as claimed in claim 24, wherein, when the aircraft is on automatic pilot, said rotation instruction is determined in step a), based on the possible difference between the position of the aircraft on a runway on the ground and the center line of that runway. 27. The method as claimed in claim 24 wherein, in step a), said rotation instruction is a yaw speed instruction for the aircraft. 28. The method as claimed in claim 24, wherein: the aircraft comprises, as control members, at least one control column and one steering wheel to steer the front landing gear of said aircraft, in step a): the order generated by the control column is converted directly into a first yaw speed instruction; the order generated by the steering wheel is converted into an intermediate instruction of angle of orientation of the speed vector of the front landing gear, which is converted into a second yaw speed instruction; and said first and second yaw speed instructions are added together to obtain a global yaw speed which represents said instruction to rotate the aircraft, and said intermediate instruction of angle of orientation of the speed vector is multiplied by a limitation coefficient which depends on the longitudinal speed of the aircraft, the result obtained being converted into said second yaw speed instruction. 29. The method as claimed in claim 24, wherein use is made, as a control surface, of at least the tail fin rudder control surface of the aircraft, which is steered, and the front landing gear, which is also steered. 30. The method as claimed in claim 24, wherein use is made, as control surfaces, of at least two different landing gears of the aircraft, the braking of which is controlled in dissymmetrical manner. 31. The method as claimed in claim 24, wherein use is made, as control surfaces, of at least two engines of the aircraft, disposed either side of the longitudinal axis of said aircraft, the thrust of which is controlled in dissymmetrical manner. 32. The method as claimed in claim 24, wherein in step c), to divide said global moment into a sum of elementary moments associated respectively with different control surfaces, account is taken of at least one of the following criteria, relating to said control surfaces: the hierarchy of the control surfaces; the availability of the control surfaces; the effectiveness of the control surfaces; and the level of authority of the control surfaces. 33. The method as claimed in claim 24, wherein use is made, as a control surface, of the front landing gear of the aircraft, which is steered, and wherein the instruction to be applied to the corresponding actuator is the sum of a first front landing gear steering instruction determined in step d) and a second front landing gear steering instruction, generated by a specific open loop. 34. A method of piloting an aircraft traveling on the ground, comprising automatically: a) determining an instruction to rotate the aircraft; b) determining a global moment having to be applied to the aircraft about the yaw axis so that said aircraft performs said rotation instruction; c) dividing said global moment into a sum of elementary moments, each of which corresponds to the effect generated on the aircraft respectively by one of a plurality of control surfaces, each of said control surfaces representing a particular section that is capable of acting on the yaw movement of the aircraft and which is controlled by at least one actuator; and d) for each of said control surfaces, computing an instruction to be applied to the actuator of the corresponding control surface such that the latter generates the associated elementary moment, wherein: use is made, as a control surface, of the front landing gear of the aircraft, which is steered, and the instruction to be applied to the corresponding actuator is the sum of a first front landing gear steering instruction determined in step d) and a second front landing gear steering instruction, generated by a specific open loop. 35. The method as claimed in claim 34, wherein, when the aircraft is on manual pilot, said rotation instruction is determined in step a), based on the orders generated by at least one control member of the aircraft which is capable of being actuated by a pilot of said aircraft. 36. The method as claimed in claim 34, wherein, when the aircraft is on automatic pilot, said rotation instruction is determined in step a), based on the possible difference between the position of the aircraft on a runway on the ground and the center line of that runway. 37. The method as claimed in claim 34 wherein, in step a), said rotation instruction is a yaw speed instruction for the aircraft. 38. The method as claimed in claim 34, wherein: the aircraft comprises, as control members, at least one control column and one steering wheel to steer the front landing gear of said aircraft, in step a): the order generated by the control column is converted directly into a first yaw speed instruction; the order generated by the steering wheel is converted into an intermediate instruction of angle of orientation of the speed vector of the front landing gear, which is converted into a second yaw speed instruction; and said first and second yaw speed instructions are added together to obtain a global yaw speed which represents said instruction to rotate the aircraft, and said intermediate instruction of angle of orientation of the speed vector is multiplied by a limitation coefficient which depends on the longitudinal speed of the aircraft, the result obtained being converted into said second yaw speed instruction. 39. The method as claimed in claim 34, wherein use is made, as a control surface, of at least the tail fin rudder control surface of the aircraft, which is steered, and the front landing gear, which is also steered. 40. The method as claimed in claim 34, wherein use is made, as control surfaces, of at least two different landing gears of the aircraft, the braking of which is controlled in dissymmetrical manner. 41. The method as claimed in claim 34, wherein use is made, as control surfaces, of at least two engines of the aircraft, disposed either side of the longitudinal axis of said aircraft, the thrust of which is controlled in dissymmetrical manner. 42. The method as claimed in claim 34, wherein in step c), to divide said global moment into a sum of elementary moments associated respectively with different control surfaces, account is taken of at least one of the following criteria, relating to said control surfaces: the hierarchy of the control surfaces; the availability of the control surfaces; the effectiveness of the control surfaces; and the level of authority of the control surfaces. 43. A device for piloting an aircraft traveling on the ground, said device comprising: a first section that determines an instruction to rotate the aircraft; a second section that determines a global moment to be applied to the aircraft about the yaw axis so that said aircraft performs said rotation instruction; a third section that divides said global moment into a sum of elementary moments, each of which corresponds to the effect generated on the aircraft respectively by one of a plurality of control surfaces, each of said control surfaces representing a particular component that is capable of acting on the yaw movement of the aircraft and which is controlled by at least one actuator; and a computer that computes, for each of said control surfaces, an instruction to be applied to the actuator of the corresponding control surface such that the latter generates the associated elementary moment, wherein: the aircraft comprises, as control members, at least one control column and one steering wheel to steer the front landing gear of said aircraft, and to determine the instruction to rotate the aircraft: the order generated by the control column is converted directly into a first yaw speed instruction; the order generated by the steering wheel is converted into an intermediate instruction of angle of orientation of the speed vector of the front landing gear, which is converted into a second yaw speed instruction; and said first and second yaw speed instructions are added together to obtain a global yaw speed which represents said instruction to rotate the aircraft.
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