Method and apparatus is disclosed which allocates the execution of a commanded vehicle maneuver among the vehicle's control effectors capable of affecting such maneuver, with consideration given to the possible nonlinear and/or non-monotonic effects each control effector's displacement may have on t
Method and apparatus is disclosed which allocates the execution of a commanded vehicle maneuver among the vehicle's control effectors capable of affecting such maneuver, with consideration given to the possible nonlinear and/or non-monotonic effects each control effector's displacement may have on the vehicle and on each other's performance.
대표청구항▼
1. A method for providing actual control effector command signals which allocate real time control authority among the control effectors of a vehicle for the execution of commanded maneuvers that are received as reference command signals which identify the control actions to be performed and the veh
1. A method for providing actual control effector command signals which allocate real time control authority among the control effectors of a vehicle for the execution of commanded maneuvers that are received as reference command signals which identify the control actions to be performed and the vehicle control axes in which those actions must be performed to enable vehicle execution of the commanded maneuver, the actual control effector command signal allocating control authority among those vehicle control effectors capable of producing the necessary control actions in the required vehicle control axes in satisfaction of the reference command signal, with consideration given in such control allocation to at least one of the possible nonlinear and non-monotonic effects each of the performing control effectors may have on the vehicle and on each other, the method comprising: apportioning the reference command signals among a suite of virtual control effectors having control authority to perform the commanded maneuvers, such apportions being identified as virtual control effector signals which command performance of their assigned portion of the reference command signal by their associated virtual control effector, such suite of virtual control effectors being present in such number as necessary to accommodate apportionment of all control actions as may be required by the reference command signals in pre-selected vehicle control axes;mapping the performance commanded of each of the virtual control effectors by their associated virtual control effector command signals, into actual control effector command signals which actuate those of the vehicle control effectors as are identified as capable, individually or in combination, of performance which achieves the control actions required by the reference command signal, wherein mapping comprises prioritizing the actuation of those vehicle control effectors elected for performance of the control actions to achieve the control actions required by the reference command signal in each of the vehicle control axes when the reference command signal in each of the vehicle control axes cannot be satisfied simultaneously; andmodifying the virtual control effector signals using a stable feedback loop which accommodates for at least one of such nonlinear and non-monotonic performance effects as are predicted, in response to the present control effector command signals, to occur on the vehicle or on the vehicle control effectors. 2. The method of claim 1, wherein the step of modifying comprises: presenting the actual control effector command signals obtained from the step of mapping to a possibly nonlinear control power transform g(x,u) that maps vehicle states and each actual control effector command signal to the predicted response dynamics of the vehicle to the vehicle control effector response to the actual control effector command signal, including such nonlinear and non-monotonic response dynamics as may be present therein, and obtaining therefrom the predicted response dynamics to the present actual control effector command signal; andaltering, in a stable feedback loop, the virtual control effector command signals in a manner which minimizes the difference signal magnitude between the predicted response dynamics provided by the g(x,u) transform and those commanded by the received reference command signals. 3. The method of claim 2, wherein the step of altering comprises: subtracting the predicted response dynamics of the g(x,u) transform from the received reference command signals, as provided in a tracking feedback loop, to determine a difference signal error there between; andintegrating the difference signal error using a proportional gain integrator to adjust the virtual control effector command signals in a manner which minimizes the difference signal magnitude between the predicted and the achieved response dynamics of the vehicle. 4. The method of claim 3, wherein the gain of the proportional gain integrator is selected to provide the tracking feedback loop with a bandwidth which minimizes amplification of the high frequency dynamics associated with structural modes of the aircraft and, at the same time, achieves time-scale separation between the vehicle and the integrator dynamics. 5. The method of claim 1, wherein the step of mapping includes: electing for actuation those vehicle control effectors capable, individually or in combination, of performance which achieves the control actions required by the reference command signal, as indicated by the virtual control effector signals. 6. The method of claim 1, wherein the step of mapping further includes staging the actuation of those vehicle control effectors elected for performance of the required control action in succeeding stages, from a first stage actuation of the minimum number of control effectors required, to a last stage maximum number of control effectors, as necessary to achieve the control actions required by the reference command signal. 7. A computer program product for allocating real time control authority among the control effectors of a vehicle in execution of commanded vehicle maneuvers, the computer program product comprising: a non-transitory computer usable medium having computer usable program code embodied therewith, the non-transitory computer usable medium comprising:computer usable program code configured to process received reference command signals that identify the vehicle actions to be performed and the vehicle control axes in which those actions must be performed to enable vehicle execution of the commanded maneuver, and to provide actual control effector command signals that allocate control authority among those vehicle control effectors capable of producing the necessary control actions in the required vehicle control axes in satisfaction of the reference command signal, with consideration given in such control allocation to the at least one of possible nonlinear and non-monotonic effects each of the performing control effectors may have on the vehicle and on each other, andwherein the computer usable program code configured to process received reference command signals and to provide actual control effector command signals comprises:computer usable program code configured to apportion the reference command signals among a suite of virtual control effectors having control authority to perform the commanded maneuvers, such apportions being identified as virtual control effector signals which command performance of their assigned portion of the reference command signal by their associated virtual control effector, such suite of virtual control effectors being present in such number as necessary to accommodate apportionment of all control actions as may be required by the reference command signals in pre-selected vehicle control axes;computer usable program code configured to map the performances commanded of each of the virtual control effectors by their associated virtual control effector command signals, into actual control effector command signals which actuate those of the vehicle control effectors as are identified as capable, individually or in combination, of performance which achieves the control actions required by the reference command signal;computer usable program code configured to prioritize the actuation of those vehicle control effectors elected for performance of the control actions to achieve the control actions required by the reference command signal in each of the vehicle control axes when the reference command signal in each of the vehicle control axes cannot be satisfied simultaneously; andcomputer usable program code configured to modify the virtual control effector signals using a stable feedback loop which accommodates for at least one of such nonlinear and non-monotonic performance effects as are predicted, in response to the present actual control effector command signals, to occur on the vehicle or on the vehicle control effectors. 8. The computer program product of claim 7, further comprising: computer usable program code configured to present, in execution of the modification of the virtual control effector signal, the actual control effector command signals obtained from mapping the virtual commands, to a possibly nonlinear control power transform g(x,u) that maps vehicle states and each actual control effector command signal to the predicted response dynamics of the vehicle to the vehicle control effector response to the actual control effector command signal, including such nonlinear and non-monotonic response dynamics as may be present therein, and obtaining therefrom the predicted response dynamics to the present actual control effector command signal; andcomputer usable program code configured to alter, in a stable feedback loop manner, the virtual control effector command signals to minimize the difference signal magnitude between the predicted response dynamics provided by the g(x,u) transform and those commanded by the received reference command signals. 9. The computer program product of claim 8, further comprising computer usable program code configured to subtract the predicted response dynamics of the g(x,u) transform from the received reference command signals, as provided in a tracking feedback loop, to determine a difference signal error there between; and integrating the difference signal error using a proportional gain integrator to adjust the virtual control effector command signals in a manner which minimizes the difference signal magnitude between the predicted and the achieved response dynamics of the vehicle. 10. The computer program product of claim 9, further comprising computer usable program code configured to alter the gain of the proportional gain integrator as necessary to provide the tracking feedback loop with a bandwidth which minimizes amplification of the high frequency dynamics associated with structural modes of the aircraft and, at the same time, achieves time-scale separation between the vehicle and integrator dynamics. 11. The computer program product of claim 8, further comprising computer usable program code configured to elect for actuation those vehicle control effectors capable, individually or in combination, of performance which achieves the control actions required by the reference command signal, as indicated by the virtual control effector signals. 12. The computer program product of claim 7, further comprising computer usable program code configured to stage the actuation of those vehicle control effectors elected for performance of the required control action in succeeding stages, from a first stage actuation of the minimum number of control effectors required to a last stage maximum number of control effectors, as necessary to achieve the control actions required by the reference command signal. 13. A vehicle control system for allocating real time control authority for the execution of commanded vehicle maneuvers among the vehicle's control effectors, comprising: control logic means, responsive jointly to sensed data representative of the vehicle's dynamic response to commanded vehicle maneuvers, and to commanded vehicle maneuvers from the vehicle operator, the control logic means formulating, within the control laws of the vehicle, reference command signals which specify the control actions to be performed in each of the vehicle's control axes for vehicle execution of the commanded maneuver, andcontrol computer means, responsive to the reference command signals from the control logic means, and having signal processing means for executing program signals, and memory means for storing program signals, including control allocation algorithm program signals, the control computer means, in executing the control allocation algorithm program signals, performs steps comprising:apportioning the reference command signals among a suite of virtual control effectors having control authority to perform the commanded maneuvers, such apportions being identified as virtual control effector signals which command performance of their assigned portion of the reference command signal by their associated virtual control effector, such suite of virtual control effectors being present in such number as necessary to accommodate apportionment of all control actions as may be required by the reference command signals in pre-selected vehicle control axes;mapping the performances commanded of each of the virtual control effectors by their associated virtual control effector command signals, into actual control effector command signals which actuate those of the vehicle control effectors as are identified as capable, individually or in combination, of performance which achieves the control actions required by the reference command signal;prioritizing the actuation of those vehicle control effectors elected for performance of the control actions to achieve the control actions required by the reference command signal in each of the vehicle control axes when the reference command signal in each of the vehicle control axes cannot be satisfied simultaneously; andmodifying the virtual control effector signals using a stable feedback loop which accommodates for at least one of such nonlinear and non-monotonic performance effects as are predicted, in response to the present control effector command signals, to occur on the vehicle or on the vehicle control effectors. 14. The vehicle control system of claim 13, wherein the control computer means, in execution of the control allocation algorithm program signals, further performs the steps of: presenting the actual control effector command signals obtained from the step of mapping, to a nonlinear control power transform g(x,u) that maps vehicle states and each actual control effector command signal to the predicted response dynamics of the vehicle to the vehicle control effector response to the actual control effector command signal, including such nonlinear and non-monotonic response dynamics as may be present therein, and obtaining therefrom the predicted response dynamics to the present actual control effector command signal; andaltering, in a stable feedback loop, the virtual control effector command signals in a manner which minimizes the difference signal magnitude between the predicted response dynamics provided by the g(x,u) transform and those commanded by the received reference command signals. 15. The vehicle control system of claim 14, wherein the control computer means, in execution of the control allocation algorithm program signals, further performs the steps of: subtracting the predicted response dynamics of the g(x,u) transform from the received reference command signals, as provided in a tracking feedback loop, to determine a difference signal error there between; andintegrating the difference signal error using a proportional gain integrator to adjust the virtual control effector command signals in a manner which minimizes the difference signal magnitude between the predicted and the achieved response dynamics of the vehicle. 16. The vehicle control system of claim 15, wherein the control computer means, in execution of the control allocation algorithm program signals, further performs the steps of: setting the gain of the proportional gain integrator to a value which provides the tracking feedback loop with a bandwidth that minimizes amplification of the high frequency dynamics associated with structural modes of the aircraft and, at the same time, achieves time-scale separation between the vehicle and the integrator dynamics. 17. The vehicle control system of claim 13, wherein the control computer means, in execution of the control allocation algorithm program signals, further performs the steps of: electing for actuation those vehicle control effectors capable, individually or in combination, of performance which achieves the control actions required by the reference command signal, as indicated by the virtual control effector signals. 18. The vehicle control system of claim 13, wherein the control computer means, in execution of the control allocation algorithm program signals, further performs the steps of: staging the actuation of those vehicle control effectors elected for performance of the required control action in succeeding stages, from a first stage actuation of the minimum number of control effectors required to a last stage maximum number of control effectors, as necessary to achieve the control actions required by the reference command signal. 19. An aircraft, comprising: a fuselage and wings attached to the fuselage;a cockpit in the fuselage if the aircraft is piloted; anda vehicle control system, in the fuselage, for allocating real time control authority for the execution of commanded vehicle maneuvers among the vehicle's control effectors, the vehicle control system comprising:control logic means, responsive jointly to sensed data representative of the vehicle's dynamic response to commanded vehicle maneuvers, and to commanded vehicle maneuvers from the vehicle operator, the control logic means formulating, within the control laws of the vehicle, reference command signals which specify the control actions to be performed in each of the vehicle's control axes for vehicle execution of the commanded maneuver, andcontrol computer means, responsive to the reference command signals from the control logic means, and having signal processing means for executing program signals, and memory means for storing program signals, including control allocation algorithm program signals, the control computer means, in executing the control allocation algorithm program signals, performs steps comprising:apportioning the reference command signals among a suite of virtual control effectors having control authority to perform the commanded maneuvers, such apportions being identified as virtual control effector signals which command performance of their assigned portion of the reference command signal by their associated virtual control effector, such suite of virtual control effectors being present in such number as necessary to accommodate apportionment of all control actions as may be required by the reference command signals in pre-selected vehicle control axes;mapping the performances commanded of each of the virtual control effectors by their associated virtual control effector command signals, into actual control effector command signals which actuate those of the vehicle control effectors as are identified as capable, individually or in combination, of performance which achieves the control actions required by the reference command signal;prioritizing the actuation of those vehicle control effectors elected for performance of the control actions to achieve the control actions required by the reference command signal in each of the vehicle control axes when the reference command signal in each of the vehicle control axes cannot be satisfied simultaneously; andmodifying the virtual control effector signals using a stable feedback loop which accommodates for at least one of such nonlinear and non-monotonic performance effects as are predicted, in response to the present control effector command signals, to occur on the vehicle or on the vehicle control effectors. 20. The aircraft of claim 19, wherein the vehicle control system control computer means, in execution of the control allocation algorithm program signals, further performs the steps of: presenting the actual control effector command signals obtained from the step of mapping, to a possibly nonlinear control power transform g(x,u) that maps vehicle states and each actual control effector command signal to the predicted response dynamics of the vehicle to the vehicle control effector response to the actual control effector command signal, including such nonlinear and non-monotonic response dynamics as may be present therein, and obtaining therefrom the predicted response dynamics to the present actual control effector command signal; andaltering, in a stable feedback loop, the virtual control effector command signals in a manner which minimizes the difference signal magnitude between the predicted response dynamics provided by the g(x,u) transform and those commanded by the received reference command signals. 21. The aircraft of claim 20, wherein the vehicle control system control computer means, in execution of the control allocation algorithm program signals, further performs the steps of: subtracting the predicted response dynamics of the g(x,u) transform from the received reference command signals, as provided in a tracking feedback loop, to determine a difference signal error there between; andintegrating the difference signal error using a proportional gain integrator to adjust the virtual control effector command signals in a manner which minimizes the difference signal magnitude between the predicted and the achieved response dynamics of the vehicle. 22. The aircraft of claim 21, wherein the vehicle control system control computer means, in execution of the control allocation algorithm program signals, further performs the steps of: setting the gain of the proportional gain integrator to provide the tracking feedback loop with a bandwidth which minimizes amplification of the high frequency dynamics associated with structural modes of the aircraft and, at the same time, achieves time-scale separation between the vehicle and the integrator dynamics. 23. The aircraft of claim 20, wherein the vehicle control system control computer means, in execution of the control allocation algorithm program signals, further performs the steps of: electing for actuation those vehicle control effectors capable, individually or in combination, of performance which achieves the control actions required by the reference command signal, as indicated by the virtual control effector signals. 24. The aircraft of claim 23, wherein the vehicle control system control computer means, in execution of the control allocation algorithm program signals, further performs the steps of: staging the actuation of those vehicle control effectors elected for performance of the required control action in succeeding stages, from a first stage actuation of the minimum number of control effectors required to a last stage maximum number of control effectors, as necessary to achieve the control actions required by the reference command signal.
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이 특허에 인용된 특허 (11)
Mark A. Hreha ; Gerard Schkolnik, Adaptive method to control and optimize aircraft performance.
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