VEHICLE MANAGEMENT SYSTEM USING FINITE STATE MACHINES

• US 20130261853A1
• Filed: 06/11/2013
• Published: 10/03/2013
• Est. Priority Date: 11/08/2004
• Status: Active Grant

• Current Assignee: Bell Helicopter Textron Incorporated (Textron Inc)
• Original Assignee: Bell Helicopter Textron Incorporated (Textron Inc)
• Inventors: Shue, Shyhpyng Jack, Shillings, John J.
• Granted Patent: US 8,948,936 B2
• Time in Patent Office: Days
• US Class Current: 701/3
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: G05B 2219/23289 State logic control, finite state, tasks, machine, fsm
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0858 specially adapted for vertical take-off of aircraft

Abstract

A system includes a plurality of actuators and a management system operably associated with the plurality electronic and mechanical devices. The management architecture includes interfaces configured to the entire electronics and mechanics to provide a parameter to a computer. The computer includes a control and management architecture using modular finite state flow designs configured to analyze the parameter. The computer with a plurality of finite state machines can conduct a plurality of control laws operably associated with one or more actuators for finite functions of mobility. The method includes matching the parameter with the finite state machine and controlling the actuator via control law operably associated with finite state machine. The method can therefore be achieved either manually, semi-autonomously and autonomously with seamless and switchless control using a central control computer with integration of electronic and mechanic sensors and devices.

Claims

1. A vehicle, comprising:

a plurality of actuators; and

a management system, having;

an interface configured to provide a parameter; and

a computer operably associated with the interface, the computer having;

a control architecture configured to analyze the parameter, the control architecture having;

a plurality of finite state machines; and

a plurality of control laws operably associated with one or more actuators;

wherein the computer is configured to selectively match the parameter to a finite state machine in the plurality of finite state machines;

wherein the finite state machine is operably associate with a control law in the plurality of control laws; and

wherein the control law is configured to provide command to one or more actuators of the plurality of actuators.

2. The vehicle of claim 1, the plurality of finite state machines comprising:

an automatic mode selection state machine configured to override control of the vehicle during normal operation situations.

3. The vehicle of claim 2, wherein the automatic mode selection state machine is configured to generate a central management concept machine for auto-reconfiguration.

4. The vehicle of claim 2, wherein the automatic mode selection state machine is configured to implement manual, semi-autonomous and fully autonomous operation of the vehicle.

5. The vehicle of claim 3, wherein the aircraft is an unmanned aircraft.

6. The vehicle of claim 1, the plurality of finite state machines comprising:

an automatic mode selection state machine configured to override control of the vehicle during emergency situations.

7. The vehicle of claim 6, wherein the automatic mode selection state machine is configured to override control during a hijacking situation and/or during an operator unconsciousness situation.

8. The vehicle of claim 6, wherein the automatic mode selection state machine is configured to override control of the vehicle during sensor failure situations.

9. The vehicle of claim 3, wherein the management system is configured switch between a partial authority condition and a full authority condition based upon selective flight performances.

10. The vehicle of claim 3, wherein the finite state machine is a control turn coordination state machine configured to turn on and off to assist the aircraft in bank turn control.

11. The vehicle of claim 10, wherein the control turn coordination is operably associated with an airspeed/ground speed assistant state machine;

wherein the airspeed/ground speed assistant state machine assists manned and unmanned aircraft to determine when a turn coordination will be turned on or off.

12. An aircraft, comprising:

an interface;

a plurality of actuators; and

a flight control computer operably associated with the interface and the actuator, the flight control computer having;

a state flow logic architecture having a plurality of finite state machines; and

a plurality of control laws, each control law being operably associated with one or more finite state machines;

wherein each control law is operably associated with one or more actuators;

wherein the interface is configured to provide input to the flight control computer, which in turn selects the finite state machine for controlling the actuator via one or more control laws.

13. The aircraft of claim 12, wherein the flight control computer is configured to decouple the control law in individual control law flight components.

14. The aircraft of claim 13, wherein the flight computer is configured to compute each control law flight components with a Riccati equation.

15. The aircraft of claim 14, wherein the flight control computer is configured to regroup the control law flight components.

16. A method, comprising:

selecting a control law based upon a flight performance of an aircraft;

decoupling the control law into a first individual component and a second individual component of the aircraft flight motion;

analyzing each individual component separately; and

regrouping the component of flight motion.

17. The method of claim 16, further comprising:

calculating each individual component with a Ricatti equation.

18. The method of claim 16, further comprising:

utilizing gain scheduling based upon the aircraft airspeed.

19. The method of claim 16, further comprising:

selecting a finite state machine operably associated with the control law.

20. The method of claim 16, further comprising:

commanding an actuator with the control law.