초록 ▼

Two methods of combining multiple response types into a single flexible command model are provided and include receiving a pilot stick input, generating an aircraft response to the pilot stick input that is a continuous blend of response types by including calculable time-varying coefficients set as

Two methods of combining multiple response types into a single flexible command model are provided and include receiving a pilot stick input, generating an aircraft response to the pilot stick input that is a continuous blend of response types by including calculable time-varying coefficients set as a function of a magnitude of the pilot stick input and other aircraft states such as airspeed, imposing at least an angular acceleration command limit and using other non-linear elements to optimize the aircraft response to the pilot stick input.

대표청구항 ▼

1. A method of implementing a flexible command model, the method comprising: receiving a pilot stick input;generating an aircraft response to the pilot stick input that is a continuous blend of first and second response types and comprises time-varying coefficients set as a function of a magnitude o

1. A method of implementing a flexible command model, the method comprising: receiving a pilot stick input;generating an aircraft response to the pilot stick input that is a continuous blend of first and second response types and comprises time-varying coefficients set as a function of a magnitude of the pilot stick input and an aircraft state;subjecting changes in the time-varying coefficients to a first non-linearity allowing for anti-symmetric control of transitions between the first and second response types;calculating a differential equation of the time-varying coefficients based on selected integrator states;applying the selected states of the differential equation to at least one additional non-linearity;outputting an output of the differential equation of the time-varying coefficients as a desired aircraft response; andcontrolling an aircraft based on the desired aircraft response. 2. The method according to claim 1, wherein transitions to more agile response types are more rapid than transition to more stable response types. 3. The method according to claim 1, wherein a setting of the time-varying coefficients comprises: setting the time-varying coefficients so that for low stick amplitudes and low speeds, attitude command parameters are set;setting the time-varying coefficients so that for high stick amplitudes at low speeds, rate command parameters are set; andsetting the time-varying coefficients so that for high speeds, rate command parameters are set regardless of stick amplitude. 4. The method according to claim 1, wherein the first and second response types comprise angular rate command and attitude command response types, respectively. 5. The method according to claim 1, wherein the states are selected such that the differential equation is realized with arbitrary time-varying coefficients. 6. The method according to claim 5, wherein the at least one additional non-linearity comprises at least one of an acceleration limit and an angular rate limit. 7. A method of implementing a flexible command model, the method comprising: receiving a pilot stick input;splitting the pilot stick input into different bands based on a threshold;inputting the pilot stick input in each band into a respective command model;applying at least one non-linearity to the respective command model in each band;summing outputs of each command model with the imposed at least one non-linearity to generate a total desired command model;generating an aircraft response command to the pilot stick input in accordance with the total desired command model; andcontrolling an aircraft based on the aircraft response command. 8. The method according to claim 7, wherein the different bands comprise a low stick magnitude band and a high stick magnitude band. 9. The method according to claim 8, wherein the respective command model for the low stick magnitude band comprises an attitude command response type. 10. The method according to claim 8, wherein the respective command model for the high stick magnitude band comprises a rate command response type. 11. The method according to claim 7, wherein the threshold is defined as a function of airspeed and pilot stick input amplitude. 12. The method according to claim 7, further comprising modifying the threshold to allow for anti-symmetric control of transitions between response types. 13. The method according to claim 7, wherein the at least one non-linearity enforces a total acceleration limit by subtracting a commanded acceleration from one command model from an allowed acceleration of a second command model. 14. The method according to claim 7, wherein the at least one non-linearity enforces a total rate limit by subtracting a commanded rate from one command model from an allowed rate of a second command model. 15. The method according to claim 7, wherein transitions to more agile response types are more rapid than transitions to more stable response types.