While an aircraft is mid-flight, a braking start point associated with a stoppable rotor is calculated where the stoppable rotor includes a first and second blade and the stoppable rotor is configured to rotate about a substantially vertical axis. A process to stop the stoppable rotor is started, wh
While an aircraft is mid-flight, a braking start point associated with a stoppable rotor is calculated where the stoppable rotor includes a first and second blade and the stoppable rotor is configured to rotate about a substantially vertical axis. A process to stop the stoppable rotor is started, while the aircraft is mid-flight, when the stoppable rotor reaches the braking start point, where the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward.
대표청구항▼
1. A system, comprising: a processor; anda memory coupled with the processor, wherein the memory is configured to provide the processor with instructions which when executed cause the processor to: calculate, while an aircraft which includes a stoppable rotor is mid-flight, a braking start point ass
1. A system, comprising: a processor; anda memory coupled with the processor, wherein the memory is configured to provide the processor with instructions which when executed cause the processor to: calculate, while an aircraft which includes a stoppable rotor is mid-flight, a braking start point associated with the stoppable rotor, wherein the stoppable rotor includes a first blade and a second blade and the stoppable rotor is configured to rotate about a substantially vertical axis;start a process to stop the stoppable rotor, while the aircraft which includes the stoppable rotor is mid-flight, when the stoppable rotor reaches the braking start point, wherein the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward;determine if the stoppable rotor is in an unstable position once the stoppable rotor has stopped; andin the event it is determined that the stoppable rotor is in an unstable position: rotate the stoppable rotor at least one more rotation in a regular direction of rotation; andbegin the stopping process to stop the stoppable rotor when the stoppable rotor reaches a second braking start point. 2. The system recited in claim 1, wherein the stopping process includes: applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; andadjusting an amount of torque applied to the stoppable rotor using feedback. 3. The system recited in claim 1, wherein the stopping process includes: applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; andadjusting an amount of torque applied to the stoppable rotor using feedback, including by using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor. 4. The system recited in claim 1, wherein the memory is further configured to provide the processor with instructions which when executed cause the processor to: while the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward, adjust a nominal torque of zero applied to the stoppable rotor using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor. 5. The system recited in claim 1, wherein: the stopping process includes: applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; andadjusting an amount of torque applied to the stoppable rotor using feedback, including by using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor; andthe memory is further configured to provide the processor with instructions which when executed cause the processor to: while the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward, adjust a nominal torque of zero applied to the stoppable rotor using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor. 6. The system recited in claim 1, wherein the memory is further configured to provide the processor with instructions which when executed cause the processor to: begin to search for the braking start point once the stoppable rotor has reached a searching start point. 7. The system recited in claim 1, wherein the memory is further configured to provide the processor with instructions which when executed cause the processor to: begin to search for the braking start point once the stoppable rotor has reached a searching start point, wherein a difference between the searching start point and the braking start point is a pre-defined amount. 8. A system comprising: a processor; anda memory coupled with the processor, wherein the memory is configured to provide the processor with instructions which when executed cause the processor to: calculate, while an aircraft which includes a stoppable rotor is mid-flight, a braking start point associated with the stoppable rotor, wherein the stoppable rotor includes a first blade and a second blade and the stoppable rotor is configured to rotate about a substantially vertical axis; andstart a process to stop the stoppable rotor, while the aircraft which includes the stoppable rotor is mid-flight, when the stoppable rotor reaches the braking start point, wherein the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward;determine if the stoppable rotor is in an unstable position before the stoppable rotor comes to a stop; andin the event it is determined that the stoppable rotor is in an unstable position: rotate the stoppable rotor at least one more rotation in a regular direction of rotation; andbegin the stopping process to stop the stoppable rotor when the stoppable rotor reaches a second braking start point. 9. A method, comprising: calculating, while an aircraft which includes a stoppable rotor is mid-flight, a braking start point associated with the stoppable rotor, wherein the stoppable rotor includes a first blade and a second blade and the stoppable rotor is configured to rotate about a substantially vertical axis;starting a process to stop the stoppable rotor, while the aircraft which includes the stoppable rotor is mid-flight, when the stoppable rotor reaches the braking start point, wherein the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward;determining if the stoppable rotor is in an unstable position once the stoppable rotor has stopped; andin the event it is determined that the stoppable rotor is in an unstable position: rotating the stoppable rotor at least one more rotation in a regular direction of rotation; andbeginning the stopping process to stop the stoppable rotor when the stoppable rotor reaches a second braking start point. 10. The method recited in claim 9, wherein the stopping process includes: applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; andadjusting an amount of torque applied to the stoppable rotor using feedback. 11. The method recited in claim 9, wherein the stopping process includes: applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; andadjusting an amount of torque applied to the stoppable rotor using feedback, including by using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor. 12. The method recited in claim 9 further comprising: while the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward, adjusting a nominal torque of zero applied to the stoppable rotor using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor. 13. The method recited in claim 9, wherein: the stopping process includes: applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; andadjusting an amount of torque applied to the stoppable rotor using feedback, including by using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor; andthe method further includes: while the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward, adjusting a nominal torque of zero applied to the stoppable rotor using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor. 14. The method recited in claim 9 further comprising: beginning to search for the braking start point once the stoppable rotor has reached a searching start point. 15. The method recited in claim 9 further comprising: begin to search for the braking start point once the stoppable rotor has reached a searching start point, wherein a difference between the searching start point and the braking start point is a pre-defined amount. 16. A method comprising: calculating, while an aircraft which includes a stoppable rotor is mid-flight, a braking start point associated with the stoppable rotor, wherein the stoppable rotor includes a first blade and a second blade and the stoppable rotor is configured to rotate about a substantially vertical axis;starting a process to stop the stoppable rotor, while the aircraft which includes the stoppable rotor is mid-flight, when the stoppable rotor reaches the braking start point, wherein the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward;determining if the stoppable rotor is in an unstable position before the stoppable rotor comes to a stop; andin the event it is determined that the stoppable rotor is in an unstable position: rotating the stoppable rotor at least one more rotation in a regular direction of rotation; andbeginning the stopping process to stop the stoppable rotor when the stoppable rotor reaches a second braking start point. 17. A computer program product, the computer program product being embodied in a non-transitory computer readable storage medium and comprising computer instructions for: calculating, while an aircraft which includes a stoppable rotor is mid-flight, a braking start point associated with the stoppable rotor, wherein the stoppable rotor includes a first blade and a second blade and the stoppable rotor is configured to rotate about a substantially vertical axis;starting a process to stop the stoppable rotor, while the aircraft which includes the stoppable rotor is mid-flight, when the stoppable rotor reaches the braking start point, wherein the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward;determining if the stoppable rotor is in an unstable position once the stoppable rotor has stopped; andin the event it is determined that the stoppable rotor is in an unstable position: rotating the stoppable rotor at least one more rotation in a regular direction of rotation; andbeginning the stopping process to stop the stoppable rotor when the stoppable rotor reaches a second braking start point. 18. A computer program product, the computer program product being embodied in a non-transitory computer readable storage medium and comprising computer instructions for: calculating, while an aircraft which includes a stoppable rotor is mid-flight, a braking start point associated with the stoppable rotor, wherein the stoppable rotor includes a first blade and a second blade and the stoppable rotor is configured to rotate about a substantially vertical axis;starting a process to stop the stoppable rotor, while the aircraft which includes the stoppable rotor is mid-flight, when the stoppable rotor reaches the braking start point, wherein the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward;determining if the stoppable rotor is in an unstable position before the stoppable rotor comes to a stop; andin the event it is determined that the stoppable rotor is in an unstable position: rotating the stoppable rotor at least one more rotation in a regular direction of rotation; andbeginning the stopping process to stop the stoppable rotor when the stoppable rotor reaches a second braking start point.
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이 특허에 인용된 특허 (10)
Nyhus Daniel A. ; Osder Stephen S., Active brake control for rotor/wing aircraft.
Gemmati, Bernard; Queiras, Nicolas; Eglin, Paul, Method of controlling a hybrid helicopter in yaw, and a hybrid helicopter provided with a yaw control device suitable for implementing said method.
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