Pitch feedback control splitting for helicopters with redundant actuators
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05D-001/08
B64C-027/10
출원번호
US-0166319
(2014-01-28)
등록번호
US-9317042
(2016-04-19)
발명자
/ 주소
Greenfield, Aaron L.
Wulff, Ole
White, Matthew A.
출원인 / 주소
SIKORSKY AIRCRAFT CORPORATION
대리인 / 주소
Cantor Colburn LLP
인용정보
피인용 횟수 :
2인용 특허 :
11
초록▼
Embodiments are directed to generating, by a processing device, a feedback command for an aircraft based on a reference input and an output response of the aircraft, and analyzing, by the processing device, the feedback command to allocate control to a plurality of control surfaces over a plurality
Embodiments are directed to generating, by a processing device, a feedback command for an aircraft based on a reference input and an output response of the aircraft, and analyzing, by the processing device, the feedback command to allocate control to a plurality of control surfaces over a plurality of separate frequency bands.
대표청구항▼
1. A method comprising: generating, by a processing device, a feedback command for an aircraft based on a difference between a reference input and an actual output response of the aircraft;analyzing, by the processing device, the feedback command to allocate control to a plurality of control surface
1. A method comprising: generating, by a processing device, a feedback command for an aircraft based on a difference between a reference input and an actual output response of the aircraft;analyzing, by the processing device, the feedback command to allocate control to a plurality of control surfaces over a plurality of separate frequency bands;applying an equivalence filter to the control that converts control of a first of the plurality of control surfaces into an equivalent amount of control in a second of the plurality of control surfaces to enable allocation over dynamically equivalent control surfaces; andapplying an inversion of the equivalence filter to re-allocate control in an opposite or second direction. 2. The method of claim 1, wherein at least two of the plurality of separate frequency bands partially overlap. 3. The method of claim 1, further comprising: applying an independent shaping filter to the control associated with each of the control surfaces. 4. The method of claim 1, further comprising: determining that the first of the control surfaces is saturated; andre-allocating a portion of the control allocated to the first of the control surfaces to at least the second of the control surfaces based on the determination that the first control surface is saturated. 5. The method of claim 4, further comprising: subsequent to re-allocating the portion of the control to the at least a second of the control surfaces, determining that the second of the control surfaces is saturated; andre-allocating a second portion of the control associated with the second control surface to at least one other control surface. 6. The method of claim 5, wherein the at least one other control surface comprises the first control surface. 7. The method of claim 1, wherein the control is allocated based on airspeed. 8. The method of claim 1, wherein the first of the control surfaces comprises an elevator control surface and the second of the control surfaces comprises a main rotor cyclic control surface. 9. The method of claim 1, wherein a coefficient of a low-frequency band is modified to avoid saturation, optimize trim load, or optimize performance. 10. An apparatus for use in a rotorcraft, the apparatus comprising: at least one processor; andmemory having instructions stored thereon that, when executed by the at least one processor, cause the apparatus to: generate a feedback command for the rotorcraft based on a difference between a reference input and an actual output response of the rotorcraft;analyze the feedback command to allocate control to a plurality of control surfaces over a plurality of separate frequency bands;apply an equivalence filter to the control that converts control of a first of the surfaces into an equivalent amount of control in a second of the surfaces to enable allocation over dynamically equivalent control surfaces; andapply an inversion of the equivalence filter to re-allocate control in an opposite or second direction. 11. The apparatus of claim 10, wherein the instructions, when executed by the at least one processor, cause the apparatus to: apply an independent shaping filter to the control associated with each of the control surfaces. 12. The apparatus of claim 10, wherein the instructions, when executed by the at least one processor, cause the apparatus to: determine that the first of the control surfaces is saturated based on a determination that a limit is reached in terms of at least one of: position, rate, and acceleration; andre-allocate a portion of the control allocated to the first of the control surfaces to at least the second of the control surfaces based on the determination that the first control surface is saturated. 13. The apparatus of claim 12, wherein the instructions, when executed by the at least one processor, cause the apparatus to: subsequent to re-allocating the portion of the control to the at least a second of the control surfaces, determine that the second of the control surfaces is saturated; andre-allocate a second portion of the control associated with the second control surface to at least one other control surface. 14. The apparatus of claim 13, wherein the at least one other control surface comprises the first control surface. 15. The apparatus of claim 10, wherein the control is allocated based on airspeed. 16. The apparatus of claim 10, wherein the first of the control surfaces comprises an elevator control surface and the second of the control surfaces comprises a main rotor cyclic control surface. 17. The apparatus of claim 10, wherein the feedback command comprises a pitch axis feedback command based on at least one of: pitch rate, pitch attitude, and feedback error. 18. The apparatus of claim 10, wherein the instructions, when executed by the at least one processor, cause the apparatus to: determine that the first of the control surfaces has failed; andre-allocate a portion of the control allocated to the first of the control surfaces to at least the second of the control surfaces based on determining that the first of the control surfaces has failed. 19. A co-axial rotorcraft comprising: a control computer configured to: generate a feedback command for the rotorcraft based on a difference between a reference input derived from a pilot command and an actual output response of the rotorcraft;analyze the feedback command to allocate a first portion of a control to an elevator control surface and a second portion of the control to a main rotor cyclic control surface;apply an equivalence filter to the control that converts control of the elevator control surface into an equivalent amount of control in the main rotor cyclic control surface to enable allocation over dynamically equivalent control surfaces; andapply an inversion of the equivalence filter to re-allocate control in an opposite or second direction. 20. The co-axial rotorcraft of claim 19, wherein the control computer is configured to allocate the first and second portions of the control over a plurality of distinct frequency bands. 21. The co-axial rotorcraft of claim 19, wherein the control computer is configured to: determine that the elevator control surface is saturated; andre-allocate at least a third portion of the first portion of the control allocated to the elevator control surface to the main rotor cyclic control surface based on the determination that the elevator control surface is saturated. 22. The co-axial rotor craft of claim 21, wherein the control computer is configured to: subsequent to re-allocating the third portion of the first portion of the control to the main rotor cyclic control surface, determine that the main rotor cyclic control surface is saturated; andre-allocate at least a fourth portion of the second portion of the control associated with the main rotor cyclic control surface to at least one other control surface.
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