Method and computer program product for controlling the actuators of an aerodynamic vehicle

• US 6,591,169 B2
• Filed: 09/27/2001
• Issued: 07/08/2003
• Est. Priority Date: 09/27/2001
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Speer, Thomas E., Jones, Richard D.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US09/967,446
• Publication Number:
  US 20030088341A1
• Time in Patent Office: 649 Days
• Field of Search: 701/1, 701/3, 701/4, 701/8, 701/11, 701/14, 244/175, 244/180, 244/181, 340/945, 340/963, 340/967
• US Class Current: 701/4
• CPC Class Codes: B64C 13/24 Transmitting means
• CPC Class Codes: G05B 13/024 in which a parameter or coefficient is automatically adjusted to optimise the performance

Abstract

A method and computer program product are provided for controlling the actuators of an aerodynamic vehicle to affect a desired change in the time rate of change of the system state vector. The method initially determines the differences between anticipated changes in the states of the aerodynamic vehicle based upon the current condition of each actuator, and desired state changes. The differences between the anticipated and desired state changes may be weighted based upon a predetermined criteria, such as the importance of the respective states and/or the weight to be attributed to outliers. The differences between the anticipated and desired state changes are converted to the corresponding rates of change of the actuators. These changes in the actuators may be limited to within predefined bounds. Control signals are then issued to the actuators to affect the desired change in the time rate of change of the system state vector.

Claims

1. A method of controlling a plurality of actuators of an aerodynamic vehicle having a plurality of states represented by a system state vector, the method comprising:

determining a first dot product of a vector representing the current commanded state of each of the plurality of actuators and a matrix representing changes in state rates of the aerodynamic vehicle in response to changes in the plurality of actuators, wherein the matrix is comprised of a plurality of terms, each term representing the change in a respective state rate of the aerodynamic vehicle in response to the change of a respective actuator;

obtaining a vector difference between the first dot product and a vector representing a desired change in the state rates of the aerodynamic vehicle;

weighting the vector difference based upon a predetermined criteria;

determining a second dot product of the weighted vector difference and a transpose of the matrix representing changes in the state rates of the aerodynamic vehicle in response to changes in the plurality of actuators; and

controlling the plurality of actuators at least partially based upon the second dot product in order to implement at least a portion of the desired change in a time rate of change of the system state vector of the aerodynamic vehicle.

2. A method according to claim 1 wherein weighting the vector difference comprises weighting the vector difference based upon the relative importance of the respective states of the aerodynamic vehicle.

3. A method according to claim 1 wherein weighting the vector difference comprises weighting the vector difference based upon a predefined penalty having an effect that varies based upon the magnitude of a respective difference.

4. A method according to claim 1 further comprising limiting the permissible changes of at least one of the actuators, wherein controlling the plurality of actuators comprises controlling the plurality of actuators based upon the second dot product subject to limitations in the permissible changes of at least one of the actuators in order to implement at least a portion of the desired change in the plurality of state rates of the aerodynamic vehicle without exceeding the permissible changes of at least one of the actuators.

5. A method according to claim 4 wherein limiting the permissible changes of at least one of the actuators comprises limiting the permissible rate of change of at least one of the actuators.

6. A method according to claim 4 wherein limiting the permissible changes of at least one of the actuators comprises limiting at least one of the actuators to within a predefined range.

7. A method according to claim 1 further comprising weighting the second dot product based upon the relative importance of the respective actuators such that the plurality of actuators are controlled based, at least partially, weighted second dot product.

8. A method according to claim 1 further comprising repeatedly determining the current commanded state of each of the plurality of actuators and thereafter repeating the steps of determining the first dot product, obtaining the vector difference, weighting the vector difference and determining the second dot product so as to control the plurality of actuators based upon the current commanded state thereof.

9. A method of controlling a plurality of actuators of an aerodynamic vehicle having a plurality of states, the method comprising:

determining differences between anticipated changes in the plurality of states of the aerodynamic vehicle based upon the current commanded state of each of the plurality of actuators and desired changes in the plurality of states of the aerodynamic vehicle;

weighting the differences based upon at least one of the relative importance of the respective states of the aerodynamic vehicle and a predefined penalty having an effect that varies based upon the magnitude of a respective difference; and

controlling the plurality of actuators at least partially based upon the weighted differences in order to implement at least a portion of the desired changes in the plurality of states of the aerodynamic vehicle.

10. A method according to claim 9 further comprising limiting the permissible changes of at least one of the actuators, wherein controlling the plurality of actuators comprises controlling the plurality of actuators based upon the weighted differences subject to limitations in the permissible changes of at least one of the actuators in order to implement at least a portion of the desired change in the plurality of states of the aerodynamic vehicle without exceeding the permissible changes of at least one of the actuators.

11. A method according to claim 10 wherein limiting the permissible changes of at least one of the actuators comprises limiting the permissible rate of change of at least one of the actuators.

12. A method according to claim 10 wherein limiting the permissible changes of at least one of the actuators comprises limiting at least one of the actuators to within a predefined range.

13. A method according to claim 9 further comprising repeatedly determining the current commanded state of each of the plurality of actuators and thereafter repeating the steps of determining the differences and weighting the differences so as to control the plurality of actuators based upon the current commanded state thereof.

14. A method according to claim 9 wherein determining the differences between the anticipated and desired changes in the plurality of states of the aerodynamic vehicle comprises:

determining a first dot product of a vector representing the current commanded state of each of the plurality of actuators and a matrix representing changes in the plurality of state rates of the aerodynamic vehicle in response to changes in the plurality of actuators, wherein the matrix is comprised of a plurality of terms, each term representing the anticipated change in a respective state rate of the aerodynamic vehicle in response to the change of a respective actuator; and

obtaining a vector difference between the first dot product and a vector representing the desired change in the plurality of states of the aerodynamic vehicle, and

wherein weighting the differences comprises weighting the vector difference.

15. A method according to claim 14 further comprising determining a second dot product of the weighted vector difference and a transpose of the matrix representing changes in the plurality of state rates of the aerodynamic vehicle in response to changes in the plurality of actuators, and wherein controlling the plurality of actuators is at least partially based upon the second dot product.

16. A method according to claim 15 further comprising weighting the second dot product based upon the relative importance of the respective actuators such that the plurality of actuators are controlled based, at least partially, weighted second dot product.

17. A method of controlling a plurality of actuators of an aerodynamic vehicle having a plurality of states, the method comprising:

determining differences between anticipated changes in the plurality of states of the aerodynamic vehicle based upon the current commanded state of each of the plurality of actuators and desired changes in the plurality of states of the aerodynamic vehicle;

limiting the permissible changes of at least one of the actuators; and

controlling the plurality of actuators at least partially based upon differences between the anticipated and desired changes in the plurality of states of the aerodynamic vehicle subject to limitations in the permissible changes of at least one of the actuators in order to implement at least a portion of the desired change in the plurality of states of the aerodynamic vehicle without exceeding the permissible changes of at least one of the actuators.

18. A method according to claim 17 wherein limiting the permissible changes of at least one of the actuators comprises limiting the permissible rate of change of at least one of the actuators.

19. A method according to claim 17 wherein limiting the permissible changes of at least one of the actuators comprises limiting at least one of the actuators to within a predefined range.

20. A method according to claim 17 further comprising weighting the differences between the anticipated and desired changes based upon a predetermined criteria, and wherein controlling the plurality of actuators is at least partially based upon the weighted differences.

21. A method according to claim 20 wherein weighting the differences comprises weighting the differences based upon the relative importance of the respective states of the aerodynamic vehicle.

22. A method according to claim 20 wherein weighting the differences comprises weighting the differences based upon a predefined penalty having an effect that varies based upon the magnitude of a respective difference.

23. A method according to claim 17 further comprising repeatedly determining the current commanded state of each of the plurality of actuators and thereafter repeating the step of limiting the permissible changes of at least one of the actuators so as to control the plurality of actuators based upon the current commanded state thereof.

24. A method according to claim 17 wherein determining the differences between the anticipated and desired changes in the plurality of states of the aerodynamic vehicle comprises:

determining a first dot product of a vector representing the current commanded state of each of the plurality of actuators and a matrix representing changes in the plurality of state rates of the aerodynamic vehicle in response to changes in the plurality of actuators, wherein the matrix is comprised of a plurality of terms, each term representing the anticipated change in a respective state rate of the aerodynamic vehicle in response to the change of a respective actuator; and

obtaining a vector difference between the first dot product and a vector representing the desired change in the plurality of states of the aerodynamic vehicle.

25. A method according to claim 24 further comprising determining a second dot product of a representation of the vector difference and a transpose of the matrix representing changes in the plurality of state rates of the aerodynamic vehicle in response to changes in the plurality of actuators, and wherein controlling the plurality of actuators is at least partially based upon the second dot product.

26. A method according to claim 25 further comprising weighting the second dot product based upon the relative importance of the respective actuators such that the plurality of actuators are controlled based, at least partially, weighted second dot product.

28. A computer program product according to claim 25 further comprising a fourth executable portion adapted to limit the permissible changes of at least one of the actuators, wherein said fourth executable portion is adapted to control the plurality of actuators based upon the weighted differences subject to limitations in the permissible changes of at least one of the actuators in order to implement at least a portion of the desired change in the plurality of states of the aerodynamic vehicle without exceeding the permissible changes of at least one of the actuators.

29. A computer program product according to claim 28 wherein said fourth executable portion is adapted to limit the permissible rate of change of at least one of the actuators.

30. A computer program product according to claim 28 wherein said fourth executable portion is adapted to limit at least one of the actuators to within a predefined range.

27. A computer program product for controlling a plurality of actuators of an aerodynamic vehicle having a plurality of states, the computer program product comprising a computer-readable storage medium having computer-readable program code embodied in said medium, the computer-readable program code comprising:

a first executable portion adapted to determine differences between anticipated changes in the plurality of states of the aerodynamic vehicle based upon the current commanded state of each of the plurality of actuators and desired changes in the plurality of states of the aerodynamic vehicle;

a second executable portion adapted to weight the differences based upon at least one of the relative importance of the respective states of the aerodynamic vehicle and a predefined penalty having an effect that varies based upon the magnitude of a respective difference; and

a third executable portion adapted to issue control signals to the plurality of actuators at least partially based upon the weighted differences in order to implement at least a portion of the desired changes in the plurality of states of the aerodynamic vehicle.

31. A computer program product according to claim 27 wherein said first executable portion is adapted to determine a first dot product of a vector representing the current commanded state of each of the plurality of actuators and a matrix representing changes in the plurality of state rates of the aerodynamic vehicle in response to changes in the plurality of actuators, the matrix being comprised of a plurality of terms, each term representing the anticipated change in a respective state rate of the aerodynamic vehicle in response to the change of a respective actuator, wherein said first executable portion is further adapted to obtain a vector difference between the first dot product and a vector representing the desired change in the plurality of states of the aerodynamic vehicle, and wherein said second executable portion is adapted to weight the vector difference.

32. A computer program product according to claim 31 further comprising a fourth executable portion adapted to determine a second dot product of the weighted vector difference and a transpose of the matrix representing changes in the plurality of state rates of the aerodynamic vehicle in response to changes in the plurality of actuators, and wherein said third executable portion is adapted to issue control signals to the plurality of actuators that are at least partially based upon the second dot product.

33. A computer program product according to claim 32 further comprising a fifth executable portion adapted to weight the second dot product based upon the relative importance of the respective actuators such that the plurality of actuators are controlled based, at least partially, weighted second dot product.

34. A computer program product for controlling a plurality of actuators of an aerodynamic vehicle having a plurality of states, the computer program product comprising a computer-readable storage medium having computer-readable program code embodied in said medium, the computer-readable program code comprising:

a first executable portion adapted to determine differences between anticipated changes in the plurality of states of the aerodynamic vehicle based upon the current commanded state of each of the plurality of actuators and desired changes in the plurality of states of the aerodynamic vehicle;

a second executable portion adapted to limit the permissible changes of at least one of the actuators; and

a third executable portion adapted to issue control signals to the plurality of actuators at least partially based upon differences between the anticipated and desired changes in the plurality of states of the aerodynamic vehicle subject to limitations in the permissible changes of at least one of the actuators in order to implement at least a portion of the desired change in the plurality of states of the aerodynamic vehicle without exceeding the permissible changes of at least one of the actuators.

35. A computer program product according to claim 34 wherein said second executable portion is adapted to limit the permissible rate of change of at least one of the actuators.

36. A computer program product according to claim 34 wherein said second executable portion is adapted to limit at least one of the actuators to within a predefined range.

37. A computer program product according to claim 34 further comprising a fourth executable portion adapted to weight the differences between the anticipated and desired changes based upon a predetermined criteria, and wherein said third executable portion is adapted to issue control signals to the plurality of actuators that are at least partially based upon the weighted differences.

38. A computer program product according to claim 37 wherein said fourth executable portion is adapted to weight the differences based upon the relative importance of the respective states of the aerodynamic vehicle.

39. A computer program product according to claim 37 wherein said fourth executable portion is adapted to weight the differences based upon a predefined penalty having an effect that varies based upon the magnitude of a respective difference.

40. A computer program product according to claim 34 wherein said first executable portion is adapted to determine a first dot product of a vector representing the current commanded state of each of the plurality of actuators and a matrix representing changes in the plurality of state rates of the aerodynamic vehicle in response to changes in the plurality of actuators, the matrix being comprised of a plurality of terms, each term representing the anticipated change in a respective state rate of the aerodynamic vehicle in response to the change of a respective actuator, and wherein said first executable portion is further adapted to obtain a vector difference between the first dot product and a vector representing the desired change in the plurality of states of the aerodynamic vehicle.

41. A computer program product according to claim 40 further comprising a fourth executable portion adapted to determine a second dot product of a representation of the vector difference and a transpose of the matrix representing changes in the plurality of state rates of the aerodynamic vehicle in response to changes in the plurality of actuators, and wherein said third executable portion is adapted to issue control signals to the plurality of actuators that are at least partially based upon the second dot product.

42. A computer program product according to claim 41 further comprising a fifth executable portion adapted to weight the second dot product based upon the relative importance of the respective actuators such that the plurality of actuators are controlled based, at least partially, weighted second dot product.