Method, system, and computer program product for controlling maneuverable wheels on a vehicle

• US 6,722,610 B1
• Filed: 11/25/2002
• Issued: 04/20/2004
• Est. Priority Date: 11/25/2002
• Status: Expired due to Fees

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Hoisington, Zachary C., Rawdon, Blaine K.
• Primary Examiner(s): Barefoot, Galen L.
• Application Number:
  US10/303,552
• Time in Patent Office: 512 Days
• Field of Search: 244/102.R, 244/103.R, 244/103.W, 244/183, 244/184, 244/194, 244/195, 701/16, 701/17
• US Class Current: 244/103.00W
• CPC Class Codes: B62D 7/1509 with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
• CPC Class Codes: B64C 2025/345 Multi-wheel bogies having one or more steering axes
• CPC Class Codes: B64C 25/50 Steerable undercarriages; Shimmy-damping

Abstract

A method, system, and computer program product for controlling a plurality of maneuverable wheels on a vehicle is provided. The method, system, and computer program product control a plurality of maneuverable wheels by providing a steering radius selection and a crab angle selection, generally through a steering control interface and a crab control interface. Also, the method, system, and computer program product control a plurality of maneuverable wheels on an aircraft in order to compensate for crosswind when landing the aircraft. This is generally accomplished via input from wind sensors and a navigation system. Additionally, the method, system, and computer program product controls a plurality of maneuverable wheels on an aircraft for compensating for a crosswind during takeoff of an aircraft.

Claims

1. A system for controlling a plurality of maneuverable wheels on an aircraft, comprising:

a navigation system capable of providing continuous position data of the aircraft, wherein the navigation system provides a true heading;

a processor responsive to said navigation system and wherein the processor is adapted to determine a ground track of the aircraft based on the continuous position data, and adapted to determine a crab angle relative to a true heading of the aircraft based on the continuous position data such that the crab angle aligns a longitudinal axis of the aircraft with respect to a relative wind direction, and wherein the crab angle is defined by a difference between the true heading and the ground track of the aircraft, said processor further adapted to determine a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the determined crab angle; and

a plurality of steering mechanisms responsive to the controller for mechanically turning each of the plurality of wheels to its respective steering angle.

2. The system according to claim 1, further comprising a remotely located wind sensor for determining a speed of wind and a direction of wind, and wherein the navigation system provides an airspeed and the processor is responsive to the wind sensor and adapted to determine the crab angle based on the wind speed, the wind direction, and the aircraft airspeed.

3. The system according to claim 2, wherein the processor is further adapted to determine a crab angle based on an expected airspeed at takeoff.

4. The system according to claim 2, wherein the processor is further adapted to determine a crab angle based on an expected airspeed at landing.

5. The system according to claim 1, further comprising a sensor onboard the aircraft for determining an airspeed and a relative wind direction, and wherein the processor is responsive to the wind sensor and determines the crab angle based on the airspeed and the relative wind direction.

6. The system according to claim 5, wherein the processor is further adapted to determine the crab angle based on an expected aircraft airspeed at takeoff.

7. The system according to claim 5, wherein the processor is further adapted to determine the crab angle based on an expected aircraft airspeed at landing.

8. The system according to claim 1, wherein said processor calculates the steering angles based on a ground speed such that the aircraft pivots about a single point with respect to the aircraft, the ground speed being determined by the processor based on the continuous position data.

9. A method of controlling a plurality of maneuverable wheels on an aircraft, comprising:

determining a true heading of the aircraft;

determining a ground track of the aircraft;

calculating a crab angle of the aircraft, wherein the crab angle corresponds to a difference between the ground track and the true heading;

calculating a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the calculated crab angle; and

steering each of the plurality of wheels to its respective steering angle.

10. The method according to claim 9, wherein the steering of each of the plurality of wheels is executed prior to a landing.

11. A method of controlling a plurality of maneuverable wheels on an aircraft comprising:

determining an aircraft airspeed;

determining a wind speed and a wind direction;

calculating a crab angle relative to a longitudinal axis of the vehicle based on the aircraft airspeed, the wind speed and the wind direction such that the crab angle aligns the longitudinal axis of the aircraft with respect to a relative wind direction;

calculating a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the calculated crab angle; and

steering each of the plurality of wheels to its respective steering angle.

12. The method according to claim 11, wherein the aircraft airspeed is the expected aircraft airspeed at landing.

13. The method according to claim 11, wherein said steering each of the plurality of wheels is executed at a predetermined time prior to a takeoff.

14. The method according to claim 13, wherein the aircraft airspeed is the expected aircraft airspeed at takeoff.

15. The method according to claim 13, wherein each steering angle is calculated such that the aircraft steers to the crab angle by pivoting about a pivot point relative to the aircraft.

16. A computer program product for controlling a plurality of maneuverable wheels on an aircraft during a landing, 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 a crab angle of the aircraft, wherein the first executable portion determines the crab angle based on a difference between a true heading of the aircraft and a ground track of the aircraft; and

a second executable portion adapted to determine a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the determined crab angle.

17. A computer program product for controlling a plurality of maneuverable wheels on an aircraft during a takeoff, 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 a crab angle of the aircraft relative to a true heading of the aircraft, wherein the first executable portion determines the crab angle based on an expected aircraft airspeed, a wind speed, and a wind direction, such that the resulting crab angle aligns a longitudinal axis of the aircraft with respect to a relative wind direction; and

a second executable portion adapted to determine a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the determined crab angle.

18. A computer program product according to claim 17, wherein the expected aircraft airspeed is the expected aircraft airspeed at takeoff.

19. A computer program product according to claim 17, wherein the expected aircraft airspeed is the expected aircraft airspeed at landing.

20. A computer program product according to claim 17, wherein the first executable portion is adapted to determine the crab angle based on a remotely sensed wind speed, and a remotely sensed wind direction.

21. A computer program product according to claim 17, wherein the second executable portion determines the steering angle of each wheel to facilitate steering to the crab angle by pivoting the aircraft about a single point.

22. A system for controlling a plurality of maneuverable wheels on a vehicle, comprising:

a steering control interface for selecting a steering radius of the vehicle, wherein the radius is measured from a reference point relative to the vehicle;

a crab control interface for selecting a crab angle of the vehicle, wherein the crab angle is measured relative to a true heading of the vehicle;

a processor responsive to the steering control interface and the crab control interface and adapted to determine a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the steering radius and the crab angle; and

a plurality of steering mechanisms responsive to the processor for mechanically turning each respective wheel corresponding to its respective steering angle.

23. The system according to claim 22, wherein the processor determines the plurality of steering angles such that each wheel rotates concentrically about the same point relative to the vehicle.

24. The system according to claim 22, further comprising a braking control interface, wherein the processor is responsive to the braking control interface and determines the steering angles such that at least two wheels rotate concentrically about dissimilar points relative to the vehicle.

25. The system according to claim 22, wherein the steering control interface comprises a first rotating hand wheel and the crab control interface comprises a second rotating hand wheel.

26. A method of controlling a plurality of maneuverable wheels on a vehicle comprising:

providing a user defined steering radius of the vehicle, wherein the steering radius is measured from a reference point relative to the vehicle;

providing a user defined crab angle of the vehicle relative to a true heading of the vehicle, based on the steering point;

calculating a plurality of steering, angles, each steering angle corresponding to a maneuverable wheel, based on the steering radius and the determined crab angle of the vehicle; and

steering each respective wheel to its respective steering angle.

27. The method according to claim 26, wherein each steering angle is calculated such that each wheel rotates concentrically about the same point with respect to the reference point.

28. A method of controlling a plurality of maneuverable wheels on a vehicle, comprising:

providing a user defined steering point relative to the vehicle;

determining a steering radius of the vehicle based upon the steering point, wherein the steering radius is measured from a reference point relative to the vehicle;

determining a crab angle of the vehicle relative to a true heading of the vehicle and based on the steering point;

calculating a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the steering radius and the determined crab angle of the vehicle; and

steering each respective wheel to its respective steering angle.

29. The method according to claim 28, wherein each steering angle is calculated such that each wheel rotates concentrically about the same point with respect to the reference point.

30. A computer program product for controlling a plurality of maneuverable wheels on a vehicle, 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 a steering radius and a crab angle of the vehicle based on at least one user input defining a steering point relative to the vehicle about which to steer the vehicle;

wherein the steering radius is measured from a reference point relative to the vehicle to the steering point, and wherein the crab angle is relative to a true heading of the vehicle; and

a second executable portion adapted to determine a plurality of steering angles, each steering angle corresponding to a maneuverable wheel, based on the crab angle and the steering radius.

31. The computer program product according to claim 30, wherein a first and second user input define the steering point, the first user input comprises a crab angle selection and the second user input comprises a steering radius selection, respectively.

32. The computer program product according to claim 30, wherein the first executable portion determines the crab angle and the steering radius based on a first user defined input comprising a coordinate point selection relative to the reference point.

33. The computer program product according to claim 30, wherein said second executable portion determines each steering angle such that each wheel rotates concentrically about the same point with respect to the reference point.