Method and apparatus for loss of control inhibitor systems

• US 20060284021A1
• Filed: 07/20/2005
• Published: 12/21/2006
• Est. Priority Date: 10/28/2003
• Status: Active Grant

• Current Assignee: United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration
• Original Assignee: U.S.A. as represented by the Administrator of the National Aeronautics and Space Administration
• Inventors: A'Harrah, Ralph C.
• Granted Patent: US 7,285,933 B2
• Time in Patent Office: Days
• US Class Current: 244/195
• CPC Class Codes: B64C 13/0423 yokes or steering wheels for primary flight controls
• CPC Class Codes: B64C 13/044 operated by feet, e.g. pedals
• CPC Class Codes: B64C 13/10 comprising warning devices
• CPC Class Codes: B64C 13/345 with artificial feel
• CPC Class Codes: B64C 13/507 with artificial feel
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce

Abstract

Active and adaptive systems and methods to prevent loss of control incidents by providing tactile feedback to a vehicle operator are disclosed. According to the present invention, an operator gives a control input to an inceptor. An inceptor sensor measures an inceptor input value of the control input. The inceptor input is used as an input to a Steady-State Inceptor Input/Effector Output Model that models the vehicle control system design. A desired effector output from the inceptor input is generated from the model. The desired effector output is compared to an actual effector output to get a distortion metric. A feedback force is generated as a function of the distortion metric. The feedback force is used as an input to a feedback force generator which generates a loss of control inhibitor system (LOCIS) force back to the inceptor. The LOCIS force is felt by the operator through the inceptor.

Claims

1. A loss of control inhibitor system for a vehicle, said system comprising:

an inceptor for receiving a control input from an operator of said vehicle,

an effector for effecting a control output in response to said control input from said operator of said vehicle,

an inceptor sensor, wherein said inceptor sensor measures a value of said control input,

an effector sensor, wherein said effector sensor measures an actual effector output of said effector,

means for modeling a relationship between said control input and said control output for a predetermined range of conditions, wherein said modeling means produces a desired effector output from said control input,

means for determining a distortion metric, wherein said distortion metric comprises a difference between said desired effector output and said actual effector output, and

means for providing a feedback force to said inceptor, wherein said feedback force is a function of said distortion metric.

2. The loss of control inhibitor system for a vehicle according to claim 1, wherein said modeling means receives additional inputs and said desired effector output is produced from said control input and said additional inputs.

3. The loss of control inhibitor system for a vehicle according to claim 1, wherein said inceptor sensor comprises a position transducer.

4. The loss of control inhibitor system for a vehicle according to claim 1, wherein said effector sensor comprises a position transducer.

5. The loss of control inhibitor system for a vehicle according to claim 1, wherein said value of said control input comprises an inceptor position.

6. The loss of control inhibitor system for a vehicle according to claim 1, wherein said value of said control input comprises an inceptor rate.

7. The loss of control inhibitor system for a vehicle according to claim 1, wherein said actual effector output comprises an actual effector position.

8. The loss of control inhibitor system for a vehicle according to claim 1, wherein said actual effector output comprises an actual effector rate.

9. The loss of control inhibitor system for a vehicle according to claim 1, wherein said vehicle is an aircraft.

10. The loss of control inhibitor system for a vehicle according to claim 9, wherein said inceptor is a yoke.

11. The loss of control inhibitor system for a vehicle according to claim 9, wherein said inceptor is a rudder pedal.

12. The loss of control inhibitor system for a vehicle according to claim 1, wherein said vehicle is an automobile.

13. The loss of control inhibitor system for a vehicle according to claim 12, wherein said inceptor is a steering wheel.

14. The loss of control inhibitor system for a vehicle according to claim 12, wherein said inceptor is a brake pedal.

15. The loss of control inhibitor system for a vehicle according to claim 14, wherein said effector is a brake.

16. A loss of control inhibitor system for a vehicle, said system comprising:

a plurality of inceptors for receiving control inputs from an operator of said vehicle,

a plurality of effectors for effecting a control outputs in response to said control inputs from said operator of said vehicle,

a plurality of inceptor sensors, wherein said inceptor sensors measures a plurality of values of said control inputs,

a plurality of effector sensors, wherein said effector sensors measures a plurality of actual effector outputs of said effectors,

a plurality of means for modeling a relationship between said control inputs and said control outputs for a predetermined range of conditions, wherein said plurality of modeling means produces a desired effector outputs from said control inputs,

means for determining a composite distortion metric, wherein said composite distortion metric comprises a difference between said desired effector outputs and said actual effector outputs, and

means for providing a feedback force to said inceptors, wherein said feedback force is a function of said composite distortion metric.

17. The loss of control inhibitor system for a vehicle according to claim 16, wherein said plurality of modeling means receive additional inputs and said desired effector outputs are produced from said control inputs and said additional inputs.

18. A method of inhibiting loss of control in a vehicle, said method comprising the steps of:

receiving a control input via an inceptor from an operator of said vehicle,

effecting a control output via an effector in response to said control input from said operator of said vehicle,

measuring a value of said control input,

measuring an actual effector output of said effector,

modeling a relationship between said control input and said control output for a predetermined range of conditions,

producing a desired effector output from said control input,

determining a distortion metric, wherein said distortion metric comprises a difference between said desired effector output and said actual effector output,

determining a feedback force as a function of said distortion metric, and

providing a feedback force to said inceptor.

19. The method of inhibiting loss of control in a vehicle according to claim 18, wherein modeling a relationship between said control input and said control output for a predetermined range of conditions comprises receiving additional inputs and modeling a relationship between said control input, said additional inputs, and said control output for a predetermined range of conditions, and

producing an desired effector output from said control input comprises producing a desired effector output from said control input and said additional inputs.

20. The method of inhibiting loss of control in a vehicle according to claim 18, wherein measuring a value of said control input comprises measuring an inceptor position.

21. The method of inhibiting loss of control in a vehicle according to claim 18, wherein measuring a value of said control input comprises measuring an inceptor rate.

22. The method of inhibiting loss of control in a vehicle according to claim 18, wherein measuring an actual effector output comprises measuring an effector position.

23. The method of inhibiting loss of control in a vehicle according to claim 18, wherein measuring an actual effector output comprises measuring an effector rate.

24. A method of inhibiting loss of control in a vehicle, said method comprising the steps of:

receiving a plurality of control inputs via a plurality of inceptors from an operator of said vehicle,

effecting a plurality of control outputs via a plurality of effectors in response to said plurality of control inputs from said operator of said vehicle,

measuring a plurality of values of said plurality of control inputs,

measuring a plurality of actual effector outputs of said plurality of effectors,

modeling a plurality of relationships between said plurality of control inputs and said plurality of control outputs for a predetermined range of conditions,

producing a plurality of desired effector outputs from said plurality of control inputs,

determining a composite distortion metric, wherein said composite distortion metric comprises a difference between said plurality of desired effector outputs and said plurality of actual effector outputs,

determining a plurality of feedback forces as a function of said composite distortion metric, and

providing a feedback forces to said plurality of inceptors.

25. The method of inhibiting loss of control in a vehicle according to claim 25, wherein

modeling a plurality of relationships between said plurality of control inputs and said plurality of control outputs for a predetermined range of conditions comprises receiving additional inputs and modeling a plurality of relationships between said plurality of control inputs, said additional inputs, and said plurality of control outputs for a predetermined range of conditions, and

producing a plurality of desired effector outputs from said plurality of control inputs comprises producing a plurality of desired effector outputs from said plurality of control inputs and said additional inputs.