AUTONOMOUS OUTER LOOP CONTROL OF MAN-RATED FLY-BY-WIRE AIRCRAFT

• US 20090012657A1
• Filed: 06/21/2006
• Published: 01/08/2009
• Est. Priority Date: 06/21/2006
• Status: Active Grant

• Current Assignee: Calpine Corporation
• Original Assignee: Calpine Corporation
• Inventors: Ohmit, Eric E., Knotts, Louis H.
• Granted Patent: US 7,551,989 B2
• Time in Patent Office: Days
• US Class Current: 701/3
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246

Abstract

The present invention is directed to a control system for use on a fly-by-wire (FBW) aircraft. The system includes a controller coupled to the FBW aircraft. The controller is configured to generate a plurality of simulated pilot control signals from at least one aircraft maneuver command. The plurality of simulated pilot control signals are generated in accordance with a predetermined control law. The at least one aircraft maneuver command is derived from at least one command telemetry signal received from a remote control system not disposed on the FBW aircraft. The plurality of simulated pilot control signals are configured to direct the FBW aircraft to perform an aircraft maneuver in accordance with the at least one aircraft maneuver command.

Claims

1. A control system for use on a fly-by-wire (FBW) aircraft, the system comprising:

a controller coupled to the FBW aircraft, the controller being configured to generate a plurality of simulated pilot control signals from at least one aircraft maneuver command, the plurality of simulated pilot control signals being generated in accordance with a predetermined control law, the at least one aircraft maneuver command being derived from at least one command telemetry signal received from a remote control system not disposed on the FBW aircraft or from a pre-programmed trajectory, the plurality of simulated pilot control signals being configured to direct the FBW aircraft to perform an aircraft maneuver in accordance with the at least one aircraft maneuver command.

2. The system of claim 1, wherein the remote control system is a ground based control system.

3. The system of claim 1, wherein the remote control system is an airborne control system.

4. The system of claim 1, further comprising at least one interface circuit coupled between the controller and a fly-by-wire flight control system (FBW-FCS) configured to control the FBW aircraft control surfaces, the at least one interface circuit being configured to derive simulated pitch stick signals, simulated roll stick signals, and simulated rudder pedal signals from the simulated pilot control signals in accordance with FBW-FCS signal requirements.

5. The system of claim 1, further comprising:

a throttle interface circuit coupled to the controller, the throttle interface being configured to derive throttle servo commands from the simulated pilot control signals; and

an electro-mechanical throttle actuator coupled between the throttle interface circuit and an aircraft throttle, the electro-mechanical throttle actuator being configured to move the aircraft throttle in accordance with the throttle servo commands.

6. The system of claim 1, wherein the plurality of simulated pilot control signals include simulated pitch stick commands, roll stick commands, and rudder pedal commands.

7. The system of claim 1, further comprising at least one sensor interface circuit coupled to the controller, the at least one sensor interface circuit being configured to obtain measured sensor parameters.

8. The system of claim 7, wherein the predetermined control law generates the plurality of simulated pilot control signals by determining an error signal, the error signal being a function of the measured sensor parameters and the at least one aircraft maneuver command.

9. The system of claim 8, wherein the controller is programmed to perform a Proportional Integral Differential (PID) control algorithm to implement the predetermined control law.

10. The system of claim 7, wherein the at least one sensor interface circuit includes a high serial data bus coupled to the controller.

11. The system of claim 1, further comprising a landing gear interface circuit coupled to the FBW aircraft.

12. The system of claim 1, wherein the controller is configured to periodically generate the plurality of simulated pilot control signals in accordance with a predetermined frame rate.

13. The system of claim 12, wherein the predetermined frame rate is substantially equal to 64 Hz.

14. The system of claim 1, wherein the at least one aircraft maneuver command is based on pseudo pitch stick, pseudo roll stick, and pseudo rudder pedal signals generated by a flight simulator device disposed at the remote control system.

15. The system of claim 1, wherein the at least one aircraft maneuver command is based on a maneuver command signal generated by the remote control system.

16. The system of claim 1, wherein the control system is an embedded processor system configured to replace existing pilot stick controls and existing pilot rudder controls coupled to the FBW aircraft flight control system.

17. The system of claim 1, wherein the existing pilot stick controls and existing pilot rudder controls are configured to generate a plurality of pilot control signals having predetermined signal characteristics, the plurality of simulated pilot control signals having signal characteristics substantially identical to the predetermined signal characteristics.

18. A control system for use on a fly-by-wire (FBW) aircraft, the system comprising:

a sensor module configured to obtain aircraft flight parameters from the FBW aircraft;

a maneuver module configured to generate at least one reference parameter value from at least one aircraft maneuver command, the at least one aircraft maneuver command being derived from at least one command telemetry signal received from a remote control system not disposed on the FBW aircraft;

a control module coupled to the sensor module and the maneuver module, the control module being configured to generate a correction signal as a function of the aircraft flight parameters and the at least one aircraft maneuver command; and

a command module coupled to the control module, the command module being configured to generate simulated pilot control signals based on the correction signal, the simulated pilot control signals being configured to direct the FBW aircraft to perform an aircraft maneuver in accordance with the at least one aircraft maneuver command.

19. The system of claim 18, wherein the aircraft flight parameters are selected from a group of aircraft sensor parameters including aircraft heading, pitch, yaw, roll angle, altitude, dynamic air pressure, and/or static air pressure.

20. The system of claim 18, wherein the at least one aircraft maneuver command is based on pseudo pitch stick, pseudo roll stick, and pseudo rudder pedal signals generated by a flight simulator device disposed at the remote control system.

21. The system of claim 18, wherein the at least one aircraft maneuver command is based on a maneuver command signal generated by the remote control system.

22. The system of claim 18, wherein the correction signal is an error signal computed in accordance with a predetermined control law.

23. The system of claim 22, wherein the predetermined control law is implemented by an Proportional Integral Differential (PID) control algorithm.

24. The system of claim 18, further comprising at least one interface circuit coupled between the command module and the FBW flight control system (FBW-FCS), the at least one interface circuit being configured to derive simulated pitch stick signals, simulated roll stick signals, and simulated rudder pedal signals from the simulated pilot control signals in accordance with FBW-FCS signal requirements, the FBW-FCS being configured to control aircraft control surfaces.

25. The system of claim 18, wherein the sensor module, the maneuver module, the control module, and the command module are at least partially implemented as a computer-readable medium having computer-executable instructions stored thereon and at least one processing circuit configured to execute the computer-executable instructions.

26. A method for converting a man-rated fly-by-wire aircraft into a remote controlled unmanned airborne vehicle (UAV), the method comprising:

providing an embedded controller configured to generate a plurality of simulated pilot control signals from at least one aircraft maneuver command, the plurality of simulated pilot control signals being generated in accordance with a predetermined control law, the at least one aircraft maneuver command being derived from at least one command telemetry signal received from a remote control system not disposed on the FBW aircraft or from a pre-programmed trajectory, the plurality of simulated pilot control signals being configured to direct the FBW aircraft to perform an aircraft maneuver in accordance with the at least one aircraft maneuver command;

decoupling existing pilot controls from a fly-by-wire flight control system (FBW-FCS) disposed on the aircraft, the FBW-FCS being configured to control aircraft control surfaces disposed on the aircraft; and

connecting the embedded controller to the FBW-FCS.

27. The method of claim 26, wherein the step of providing the embedded controller includes a programming a processor to perform a method for controlling the FBW-FCS comprising:

obtain aircraft flight parameters from the FBW aircraft;

derive at least one reference parameter value from the at least one aircraft maneuver command;

generate an error signal as a function of the aircraft flight parameters and the at least one aircraft maneuver command in accordance with a predetermined control law; and

generate simulated pilot control signals based on the error signal, the simulated pilot control signals being configured to direct the FBW-FCS, whereby the FBW aircraft performs an aircraft maneuver in accordance with the at least one aircraft maneuver command.

28. The method of claim 27, wherein the method for controlling the FBW-FCS is stored on computer-readable firmware disposed in the embedded controller and coupled to the processor.

29. The method of claim 27, wherein the simulated pilot control signals include simulated pitch stick commands, roll stick commands, and rudder pedal commands.

30. The method of claim 27, wherein the simulated pilot control signals include throttle servo commands.

31. The method of claim 30, further comprising the step of providing an electro-mechanical throttle actuator coupled between the embedded controller and an aircraft throttle, the electro-mechanical throttle actuator being configured to move the aircraft throttle in accordance with the throttle servo commands.