IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
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출원번호 |
US-0551177
(2009-08-31)
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등록번호 |
US-8763955
(2014-07-01)
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발명자
/ 주소 |
- Musgrave, Jeffrey L.
- Stecko, Stephen M.
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 |
피인용 횟수 :
0 인용 특허 :
10 |
초록
▼
A method, apparatus and system are provided for facilitating aerial refueling by controlling a refueling drogue. In this regard, a respective error for at least one state associated with a hose or a drogue is provided, along with an indication of a current state of the drogue. An actuator command is
A method, apparatus and system are provided for facilitating aerial refueling by controlling a refueling drogue. In this regard, a respective error for at least one state associated with a hose or a drogue is provided, along with an indication of a current state of the drogue. An actuator command is then determined based upon the current state of the drogue, the respective error for at least one state associated with the hose or the drogue, and a current command that has been previously issued to the actuator. A command, that is, an updated command, may then be issued to the actuator carried by the drogue in order to reduce or eliminate the state error(s).
대표청구항
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1. A method of controlling a refueling drogue comprising: receiving a respective error for at least one state associated with a hose including at least one of a hose elevation rate, a hose azimuth rate or a combination thereof and a respective error for at least one state associated with the drogue
1. A method of controlling a refueling drogue comprising: receiving a respective error for at least one state associated with a hose including at least one of a hose elevation rate, a hose azimuth rate or a combination thereof and a respective error for at least one state associated with the drogue including at least one of a drogue pitch rate, a drogue yaw rate, a drogue roll rate or a combination thereof;weighting the respective error for at least one state associated with the hose or the drogue in order to prioritize one or more of the hose elevation rate, the hose azimuth rate, the drogue pitch rate, the drogue yaw rate or the drogue roll rate;receiving an indication of a current state of the drogue;determining, with a processor, a command to be issued to an actuator carried by the drogue based upon the current state of the drogue, the respective error, following weighting, for at least one state associated with the hose, the respective error, following weighting, for at least one state associated with the drogue and a current command that has been previously issued to the actuator; andissuing the command to the actuator to control the at least one state associated with the hose and the at least one state associated with the drogue. 2. A method according to claim 1 further comprising receiving a representation of dynamic pressure, and wherein determining the command to be issued to the actuator carried by the drogue is further based upon the dynamic pressure. 3. A method according to claim 1 wherein the refueling drogue comprises a plurality of actuators, wherein determining the command comprise determining the respective command to be issued to each of the plurality of actuators, and wherein issuing the command comprises issuing the respective command to each of the plurality of actuators. 4. An apparatus for controlling a refueling drogue, the apparatus comprising a processor configured to: receive a respective error for at least one state associated with a hose including at least one of a hose elevation rate, a hose azimuth rate or a combination thereof;receive a respective error for at least one state associated with the drogue including at least one of a drogue pitch rate, a drogue yaw rate, a drogue roll rate or a combination thereof;weight the respective error for at least one state associated with the hose or the drogue in order to prioritize one or more of the hose elevation rate, the hose azimuth rate, the drogue pitch rate, the drogue yaw rate or the drogue roll rate;receive an indication of a current state of the drogue;determine a command to be issued to an actuator carried by the drogue based upon the current state of the drogue, the respective error, following weighting, for at least one state associated with the hose, the respective error, following weighting, for at least one state associated with the drogue and a current command that has been previously issued to the actuator; andissue the command to the actuator to control the at least one state associated with the hose and the at least one state associated with the drogue. 5. An apparatus according to claim 4 wherein the processor is further configured to receive a representation of dynamic pressure, and wherein the processor is configured to determine the command to be issued to the actuator carried by the drogue based also upon the dynamic pressure. 6. An apparatus according to claim 4 wherein the refueling drogue comprises a plurality of actuators, wherein the processor is configured to determine the command by determining the respective command to be issued to each of the plurality of actuators, and wherein the processor is configured to issue the command by issuing the respective command to each of the plurality of actuators. 7. A refueling system comprising: a refueling drogue comprising at least one actuator; anda processor configured to: receive a respective error for at least one state associated with a hose including at least one of a hose elevation rate, a hose azimuth rate or a combination thereof;receive a respective error for at least one state associated with the drogue including at least one of a drogue pitch rate, a drogue yaw rate, a drogue roll rate or a combination thereof;weight the respective error for at least one state associated with the hose or the drogue in order to prioritize one or more of the hose elevation rate, the hose azimuth rate, the drogue pitch rate, the drogue yaw rate or the drogue roll rate;receive an indication of a current state of the drogue;determine a command to be issued to the actuator based upon the current state of the drogue, the respective error, following weighting, for at least one state associated with the hose, the respective error, following weighting, for at least one state associated with the drogue and a current command that has been previously issued to the actuator; andissue the command to the actuator to control the at least one state associated with the hose and the at least one state associated with the drogue. 8. A refueling system according to claim 7 wherein the refueling drogue comprises a plurality of actuators, wherein the processor is configured to determine the command by determining the respective command to be issued to each of the plurality of actuators, and wherein the processor is configured to issue the command by issuing the respective command to each of the plurality of actuators. 9. A refueling system according to claim 7 wherein the processor is further configured to receive a representation of dynamic pressure, and wherein the processor is configured to determine the command to be issued to the actuator carried by the drogue based also upon the dynamic pressure.
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