Ground strike protection function for aircraft autopilot

• US 5,901,927 A
• Filed: 07/18/1996
• Issued: 05/11/1999
• Est. Priority Date: 07/18/1996
• Status: Expired due to Fees

• Current Assignee: Honeywell Incorporated (Honeywell International Inc.)
• Original Assignee: Honeywell Incorporated (Honeywell International Inc.)
• Inventors: Ho, John Koon-Hung
• Primary Examiner(s): BAREFOOT, GALEN L
• Application Number:
  US08/683,492
• Time in Patent Office: 1,027 Days
• Field of Search: 244/17.13, 244/197, 244/183, 244/194, 244/195, 244/186-188, 340/963, 340/971, 701/301, 701/302, 701/9, 701/12, 701/11, 701/4, 701/5, 701/6, 701/8
• US Class Current: 244/183
• CPC Class Codes: G05D 1/0676 specially adapted for landing

Abstract

A method and apparatus for use with an aircraft autopilot to prevent an aircraft part from striking the ground during near ground maneuvers by employing a protection circuit between the outer loop and the inner loop of the control chain between the autopilot and the control surface, the prevention circuit producing an output signal when there is a possibility of ground strike which output signal operates to reduce the control surface command signal from the inner loop to the control surface and thus be rapidly responsive to aircraft attitude changes that could produce ground strike.

Claims

1. Ground strike prevention apparatus for use with an aircraft having a control surface, an autopilot operable to produce command signals through an outer loop and an inner loop operable to receive command signals and produce control signals for positioning the control surface, the apparatus comprising:

ground strike protection apparatus connected to receive unmodified command signals generated in response to an output of the outer loop, the ground strike protection apparatus being operable to modify the unmodified command signals to produce ground strike protection signals when the unmodified command signals could cause a ground strike; and

means connecting the ground strike protection apparatus to the inner loop to thereby provide the ground strike protection signals to the inner loop so that control signals normally generated by the inner loop are modified by the ground strike protection signals in a manner to prevent ground strike.

2. Apparatus according to claim 1 wherein the ground strike protection apparatus modifies the unmodified command signals to have a limit, L, according to the equation:

space="preserve" listing-type="equation">L= K.sub.1 (θ

.sub.ref -θ

-K.sub.2 θ

)!

Where K1 is a constant to convert angular changes to angular rate, K2 is a constant to convert angular rate to angular changes, θ

_ref is the aircraft ground strike limit, θ

is the aircraft actual angle and θ

is the aircraft actual angular rate.

3. Apparatus according to claim 2 wherein the inner loop is a rate inner loop.

4. Apparatus according to claim 2 wherein the inner loop is an attitude inner loop.

5. Apparatus according to claim 2 wherein the L is further constrained not to exceed a first upper value HL.

6. Apparatus according to claim 2 wherein the L is further constrained to be between an upper value HL and a lower value LL.

11. Apparatus according to claim 1 wherein the ground strike protection apparatus modifies the unmodified command signals to have an upper limit, UL, according to the equation

12. Apparatus according to claim 1 wherein the ground strike protection apparatus modifies the unmodified command signals to have a roll rate limit, RRL, according to the equation:

space="preserve" listing-type="equation">RRL= C.sub.1 (φ

.sub.wing ref -φ

-C.sub.2 φ

)!

where C₁ is a constant to convert angular changes to angular rate, C₂ is a constant to convert angular rate to angular changes;

φ

_wing ref is the wing tip strike limit;

φ

is the aircraft actual roll attitude; and

φ

is the aircraft actual roll rate.

13. Apparatus according to claim 1 wherein the ground strike protection apparatus modifies the unmodified command signals to have a nose down pitch rate limit, BL, according to the equation:

space="preserve" listing-type="equation">BL= K.sub.1 (θ

.sub.nose ref -θ

-K.sub.2 θ

)!

where θ

_nose ref is the nose wheel strike limit, θ

is the aircraft actual pitch attitude, K₁ is a constant to convert angular changes to angular rate, K₂ is a constant to convert angular rate to angular changes and θ

is the aircraft actual pitch rate.

7. Tail strike prevention apparatus for use with an aircraft having an elevator control surface, an autopilot operable to produce pitch command signals through an outer loop and an inner loop operable to receive command signals and produce control signals for positioning the elevator control surface, the apparatus comprising:

tail strike protection apparatus connected to receive unmodified pitch command signals generated in response to an output of the outer loop, the tail strike protection apparatus being operable to modify the unmodified pitch command signals into modified pitch command signals when the unmodified pitch command signals could cause a tail strike; and

means connecting the tail strike protection apparatus between the outer loop and the inner loop to provide the modified pitch command signals to the inner loop to change the control signals normally generated therefrom to prevent ground strike.

8. Apparatus according to claim 7 wherein the tail strike protection apparatus modifies the unmodified command signals to have an upper limit, UL, according to the equation:

space="preserve" listing-type="equation">UL= K.sub.1 (θ

.sub.ref -θ

-K.sub.2 θ

)!

Where K₁ is a constant to convert pitch angle changes to angular rate, K₂ is a constant to convert angular rate to angle changes, θ

_ref, is the aircraft pitch strike limit, θ

is the aircraft actual pitch angle and θ

is the aircraft actual pitch angular rate.

9. Apparatus according to claim 8 wherein the equation is

10. The method of preventing ground strike in an aircraft having a control surface, an autopilot operable to produce command signals through an outer loop and an inner loop operable to receive command signals and produce control signals for positioning the control surface, comprising the steps of:

A. determining from the aircraft altitude and the aircraft geometry, a ground strike limit, θ

_ref, above which the aircraft will strike the ground;

B. modifying command signals generated in response to an output of the outer loop according to the equation;

space="preserve" listing-type="equation">UL= K.sub.1 (θ

.sub.ref -θ

-K.sub.2 θ

)!

where UL is the upper limit permitted for a signal to the inner loop, K₁ is a constant to convert angle changes to angular rate, K₂ is a constant to convert angular rate to angle changes, θ

_ref is the aircraft ground strike limit, θ

is the aircraft actual angle, and θ

is the aircraft actual angular rate, said modifying step producing modified command signals; and

C. processing the modified command signals with the inner loop to thereby produce control signals for positioning the control surface.