Supplemental attitude with engaged and disengaged input device modes
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05D-001/08
B64C-019/00
B64C-029/00
B64C-017/00
B64C-039/12
출원번호
US-0830253
(2017-12-04)
등록번호
US-10082801
(2018-09-25)
발명자
/ 주소
Selwa, Alexander David
Cutler, Mark Johnson
출원인 / 주소
Kitty Hawk Corporation
대리인 / 주소
Van Pelt, Yi & James LLP
인용정보
피인용 횟수 :
0인용 특허 :
1
초록▼
An input attitude associated with an input device of an aircraft is received. A supplemental attitude is generated, including by selecting a position-based supplemental attitude to be the supplemental attitude in the event the input device is in a disengaged state and selecting a velocity-based supp
An input attitude associated with an input device of an aircraft is received. A supplemental attitude is generated, including by selecting a position-based supplemental attitude to be the supplemental attitude in the event the input device is in a disengaged state and selecting a velocity-based supplemental attitude to be the supplemental attitude in the event the input device is in an engaged state. The input attitude and the supplemental attitude are combined in order to obtain a combined attitude. The aircraft is controlled using the combined attitude.
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: receive an input attitude associated with an input device of an aircraft;generate a supplemental attit
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: receive an input attitude associated with an input device of an aircraft;generate a supplemental attitude using a switch, including: comparing a displacement, of the input device from a spring-centered position, against a first threshold;in the event the displacement exceeds the first threshold, deciding that the input device is engaged;comparing the displacement against a second threshold, wherein the second threshold is less than the first threshold;in the event the displacement does not exceed the second threshold, deciding that the input device is disengaged;selecting a position-based supplemental attitude to be the supplemental attitude in the event the input device is in a disengaged state; andselecting a velocity-based supplemental attitude to be the supplemental attitude in the event the input device is in an engaged state;combine, using an adder, the input attitude and the supplemental attitude in order to obtain a combined attitude; andinstruct a controller to control the aircraft using the combined attitude. 2. 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: obtain a desired velocity which includes a desired direction of movement;obtain a measured velocity; andgenerate the velocity-based supplemental attitude, including by: determining a difference between the desired velocity and the measured velocity; anddetermining a portion of the difference that is perpendicular to the desired direction of movement. 3. The system recited in claim 1, wherein the input device includes a joystick and the displacement includes a radial displacement. 4. The system recited in claim 1, wherein the instructions for generating the supplemental attitude include instructions for: in the event the input device switches from the engaged state to the disengaged state, gradually transition from the velocity-based supplemental attitude to the position-based supplemental attitude as the supplemental attitude; andin the event the input device switches from the disengaged state to the engaged state, gradually transition from the position-based supplemental attitude to the velocity-based supplemental attitude as the supplemental attitude. 5. A flight control system, comprising: an input device of an aircraft;a switch configured to generate a supplemental attitude, including by: comparing a displacement, of the input device from a spring-centered position, against a first threshold;in the event the displacement exceeds the first threshold, deciding that the input device is engaged;comparing the displacement against a second threshold, wherein the second threshold is less than the first threshold;in the event the displacement does not exceed the second threshold, deciding that the input device is disengaged;selecting a position-based supplemental attitude to be the supplemental attitude in the event the input device is in a disengaged state; andselecting a velocity-based supplemental attitude to be the supplemental attitude in the event the input device is in an engaged state;an adder configured to: receive an input attitude associated with the input device of the aircraft; andcombine the input attitude and the supplemental attitude in order to obtain a combined attitude; anda controller configured to control the aircraft using the combined attitude. 6. The system recited in claim 5, wherein the velocity-based supplemental attitude is generated, including by: obtain a desired velocity which includes a desired direction of movement;obtain a measured velocity; andgenerate the velocity-based supplemental attitude, including by: determining a difference between the desired velocity and the measured velocity; anddetermining a portion of the difference that is perpendicular to the desired direction of movement. 7. The system recited in claim 5, wherein the input device includes a joystick and the displacement includes a radial displacement. 8. The system recited in claim 5, wherein the switch is configured to generate the supplemental attitude, including by: in the event the input device switches from the engaged state to the disengaged state, gradually transition from the velocity-based supplemental attitude to the position-based supplemental attitude as the supplemental attitude; andin the event the input device switches from the disengaged state to the engaged state, gradually transition from the position-based supplemental attitude to the velocity-based supplemental attitude as the supplemental attitude. 9. A method, comprising: receiving an input attitude associated with an input device of an aircraft;generating a supplemental attitude using a switch, including: comparing a displacement, of the input device from a spring-centered position, against a first threshold;in the event the displacement exceeds the first threshold, deciding that the input device is engaged;comparing the displacement against a second threshold, wherein the second threshold is less than the first threshold;in the event the displacement does not exceed the second threshold, deciding that the input device is disengaged;selecting a position-based supplemental attitude to be the supplemental attitude in the event the input device is in a disengaged state; andselecting a velocity-based supplemental attitude to be the supplemental attitude in the event the input device is in an engaged state;combining, using an adder, the input attitude and the supplemental attitude in order to obtain a combined attitude; andcontrolling the aircraft using the combined attitude. 10. The method recited in claim 9 further comprising: obtaining a desired velocity which includes a desired direction of movement;obtaining a measured velocity; andgenerating the velocity-based supplemental attitude, including by: determining a difference between the desired velocity and the measured velocity; anddetermining a portion of the difference that is perpendicular to the desired direction of movement. 11. The method recited in claim 9, wherein the input device includes a joystick and the displacement includes a radial displacement. 12. The method recited in claim 9, wherein generating the supplemental attitude includes: in the event the input device switches from the engaged state to the disengaged state, gradually transitioning from the velocity-based supplemental attitude to the position-based supplemental attitude as the supplemental attitude; andin the event the input device switches from the disengaged state to the engaged state, gradually transitioning from the position-based supplemental attitude to the velocity-based supplemental attitude as the supplemental attitude. 13. A computer program product, the computer program product being embodied in a non-transitory computer readable storage medium and comprising computer instructions for: receiving an input attitude associated with an input device of an aircraft;generating a supplemental attitude using a switch, including: comparing a displacement, of the input device from a spring-centered position, against a first threshold;in the event the displacement exceeds the first threshold, deciding that the input device is engaged;comparing the displacement against a second threshold, wherein the second threshold is less than the first threshold;in the event the displacement does not exceed the second threshold, deciding that the input device is disengaged;selecting a position-based supplemental attitude to be the supplemental attitude in the event the input device is in a disengaged state; andselecting a velocity-based supplemental attitude to be the supplemental attitude in the event the input device is in an engaged state;combining, using an adder, the input attitude and the supplemental attitude in order to obtain a combined attitude; andinstructing a controller to control the aircraft using the combined attitude. 14. The system recited in claim 5, wherein the controller is configured to control the aircraft using the combined attitude including by actuating control surfaces of the aircraft.
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이 특허에 인용된 특허 (1)
Calise Anthony J. ; Kim Byoung-Soo,KRX, System and method for adaptive control of uncertain nonlinear processes.
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