SYSTEMS AND METHODS FOR RAPID CONVERGENCE ANTISKID INITIALIZATION

• US 20200130661A1
• Filed: 12/18/2018
• Published: 04/30/2020
• Est. Priority Date: 10/29/2018
• Status: Active Grant

• Current Assignee: Goodrich Corporation (Rtx Corporation)
• Original Assignee: Goodrich Corporation (Rtx Corporation)
• Inventors: Arsenault, Tyler, Mastrocola, Naison E.
• Granted Patent: US 10,933,849 B2
• Time in Patent Office: Days
• CPC Class Codes: B60T 1/10 by utilising wheel movement for accumulating energy, e.g. driving air compressors
• CPC Class Codes: B60T 2201/124 Rain brake support [RBS]; Cleaning or drying brake discs, e.g. removing water or dirt
• CPC Class Codes: B60T 2270/604 Merging friction therewith; Adjusting their repartition
• CPC Class Codes: B60T 8/1703 for aircrafts
• CPC Class Codes: B60T 8/1725 Using tyre sensors, e.g. Sidewall Torsion sensors [SWT] for tyre pressure and temperature detection B60C23/00
• CPC Class Codes: B60T 8/17616 Microprocessor-based systems
• CPC Class Codes: B60T 8/1766 Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
• CPC Class Codes: B60T 8/325 Systems specially adapted for aircraft
• CPC Class Codes: B60T 8/52 Torque sensing, i.e. wherein the braking action is controlled by forces producing or tending to produce a twisting or rotating motion on a braked rotating member
• CPC Class Codes: B60T 8/74 sensing a rate of change of velocity
• CPC Class Codes: B64C 25/46 Brake regulators for preventing skidding or aircraft somersaulting

Abstract

An antiskid controller for controlling braking operation of a wheel of a vehicle based on an output signal provided by a wheel speed sensor coupled to the wheel may comprise a delay toggle, a switch logic for switching between an initial rate and a running rate, and a linear control used for calculating an antiskid correction signal, wherein the linear control receives one of the initial rate and the running rate, depending on a state of the switch logic. The linear control receives the initial rate upon initialization of the antiskid controller. The linear control receives the running rate after a predetermined duration or after the linear control has converged on a desired solution.

Claims

1. A system for controlling a braking force applied to a wheel of a vehicle, comprising:

a brake controller having an input for receiving a brake force command indicative of a desired amount of brake force to be applied to the wheel, and an output for providing a brake force output command to a brake actuator and assembly which applies a brake force to the wheel based on the brake force output command;

a wheel speed sensor, operatively coupled to the wheel, for measuring a speed of the wheel and providing an output signal indicative of the measured wheel speed; and

a differential reference controller, comprising;

a delay toggle;

a switch logic for switching between an initial rate and a running rate; and

a linear control used for calculating an antiskid correction signal, wherein the linear control receives one of the initial rate and the running rate, depending on a state of the switch logic.

2. The system of claim 1, wherein at least one of the initial rate and the running rate is a maximum rate of change which can occur in the measured wheel speed during a sampling period of the linear control.

3. The system of claim 1, wherein the delay toggle is configured to send a toggle signal to the switch logic to switch between the initial rate and the running rate.

4. The system of claim 3, wherein the running rate is received by the linear control in response to the toggle signal being received by the switch logic.

5. The system of claim 3, wherein the toggle signal is sent from the delay toggle to the switch logic a predetermined duration after the differential reference controller is enabled.

6. The system of claim 3, wherein the toggle signal is sent from the delay toggle to the switch logic in response to an error of the linear control decreasing below a threshold value.

7. The system of claim 1, wherein the initial rate is less than −

10 meters per second squared.

8. The system of claim 1, wherein the running rate is greater than −

9 meters per second squared.

9. A differential reference controller for controlling braking operation of a wheel of a vehicle based on an output signal provided by a wheel speed sensor coupled to the wheel, the differential reference controller comprising:

a delay toggle;

a switch logic for switching between an initial rate and a running rate; and

a linear control used for calculating an antiskid correction signal, wherein the linear control receives one of the initial rate and the running rate, depending on a state of the switch logic.

10. The differential reference controller of claim 9, wherein at least one of the initial rate and the running rate is a maximum rate of change which can occur in a measured wheel speed during a sampling period of the linear control.

11. The differential reference controller of claim 9, wherein the delay toggle is configured to send a toggle signal to the switch logic to switch between the initial rate and the running rate.

12. The differential reference controller of claim 11, wherein the running rate is received by the linear control in response to the toggle signal being received by the switch logic.

13. The differential reference controller of claim 11, wherein the toggle signal is sent from the delay toggle to the switch logic a predetermined duration after the differential reference controller is enabled.

14. The differential reference controller of claim 11, wherein the toggle signal is sent from the delay toggle to the switch logic in response to an error of the linear control decreasing below a threshold value.

15. The differential reference controller of claim 9, wherein the initial rate is less than −

10 meters per second squared.

16. The differential reference controller of claim 9, wherein the running rate is greater than −

9 meters per second squared.

17. A method of controlling a brake control system, comprising:

receiving a measured wheel speed;

controlling a force/pressure applied to a brake based upon the measured wheel speed;

enabling an antiskid controller;

receiving an initial rate for use by a linear control;

calculating an antiskid correction signal using the initial rate;

receiving a running rate for use by the linear control; and

calculating the antiskid correction signal using the running rate, wherein a magnitude of the initial rate is greater than a magnitude of the running rate.

18. The method of claim 17, further comprising sending a toggle signal from a delay toggle to a switch logic, wherein the running rate is received in response to the toggle signal being received by the switch logic.

19. The method of claim 18, wherein the toggle signal is sent from the delay toggle to the switch logic a predetermined duration after the antiskid controller is enabled.

20. The method of claim 17, wherein the initial rate is less than −

10 meters per second squared and the running rate is greater than −

9 meters per second squared.