Automatic aircraft takeoff and landing apparatus and method for accomplishing the same
First Claim
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1. An automatic landing apparatus for an aircraft comprising:
- an altitude sensor for measuring an altitude of the aircraft from ground;
an airspeed sensor for measuring an airspeed of the aircraft;
an attitude angle sensor for detecting an attitude angle of the aircraft;
a direction sensor for detecting a direction of the aircraft;
a position sensor for detecting a position of the aircraft;
a landing command inputting section for inputting a landing command; and
a control device for controlling a propulsion device and a control surface of the aircraft, based on the altitude of the aircraft from the ground, the airspeed of the aircraft, the attitude angle of the aircraft, the direction of the aircraft, the position of the aircraft and the landing command,wherein the control device comprises;
an approaching flight control section for realizing an approaching flight along a predetermined approaching path by triggering the control device to control the propulsion device and the control surface, in response to the landing command;
a flare control section which judges whether or not the altitude of the aircraft from the ground is at or less than a predetermined landing judgment altitude, which predetermined landing judgment altitude is a stored parameter of the control device, and when the altitude of the aircraft from the ground is judged to be at or less than the predetermined, stored landing judgment altitude, said control device is triggered into changing the propulsion device as to provide a minimum output and into changing the control surface as to perform a flare by setting a pitch angle of the aircraft to a predetermined pitch angle, wherein the predetermined pitch angle is calculated by integrating a pitch angle command rate based on the altitude and altitude change rate of the aircraft; and
a landing run control section which judges whether or not the airspeed of the aircraft is at or less than a predetermined landing judgment speed, which predetermined landing judgment speed is a stored parameter of the control device, and, when the airspeed of the aircraft is judged to satisfy the criteria of being at or less than the predetermined, stored landing judgment speed, the control device is triggered into a landing run mode wherein the propulsion device is controlled to maintain the minimum output and the control surface is controlled to maintain constant the attitude angle and a traveling direction of the aircraft to realize a landing run.
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Abstract
An automatic landing apparatus for an aircraft includes: an altitude sensor; an airspeed sensor; an attitude angle sensor; a direction sensor; a position sensor; a landing command inputting section; and a control device, including: an approaching flight control section for realizing an approaching flight along a predetermined path by controlling a propulsion device and a control surface, in response to a landing command; a flare control section for controlling the propulsion device to provide a minimum output and controlling the control surface to perform a flare when the altitude of the aircraft becomes less than a predetermined landing altitude; and a landing run control section for realizing a landing run by controlling the propulsion device to maintain the minimum output and controlling the control surface to maintain the attitude angle and the traveling direction of the aircraft when the airspeed of the aircraft becomes less than a predetermined landing speed.
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Citations
21 Claims
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1. An automatic landing apparatus for an aircraft comprising:
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an altitude sensor for measuring an altitude of the aircraft from ground; an airspeed sensor for measuring an airspeed of the aircraft; an attitude angle sensor for detecting an attitude angle of the aircraft; a direction sensor for detecting a direction of the aircraft; a position sensor for detecting a position of the aircraft; a landing command inputting section for inputting a landing command; and a control device for controlling a propulsion device and a control surface of the aircraft, based on the altitude of the aircraft from the ground, the airspeed of the aircraft, the attitude angle of the aircraft, the direction of the aircraft, the position of the aircraft and the landing command, wherein the control device comprises; an approaching flight control section for realizing an approaching flight along a predetermined approaching path by triggering the control device to control the propulsion device and the control surface, in response to the landing command; a flare control section which judges whether or not the altitude of the aircraft from the ground is at or less than a predetermined landing judgment altitude, which predetermined landing judgment altitude is a stored parameter of the control device, and when the altitude of the aircraft from the ground is judged to be at or less than the predetermined, stored landing judgment altitude, said control device is triggered into changing the propulsion device as to provide a minimum output and into changing the control surface as to perform a flare by setting a pitch angle of the aircraft to a predetermined pitch angle, wherein the predetermined pitch angle is calculated by integrating a pitch angle command rate based on the altitude and altitude change rate of the aircraft; and a landing run control section which judges whether or not the airspeed of the aircraft is at or less than a predetermined landing judgment speed, which predetermined landing judgment speed is a stored parameter of the control device, and, when the airspeed of the aircraft is judged to satisfy the criteria of being at or less than the predetermined, stored landing judgment speed, the control device is triggered into a landing run mode wherein the propulsion device is controlled to maintain the minimum output and the control surface is controlled to maintain constant the attitude angle and a traveling direction of the aircraft to realize a landing run. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification
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Current AssigneeSubaru Corp.
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Original AssigneeFuji Jukogyo KK (Subaru Corp.)
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InventorsYamane, Akihiro, Kono, Mitsuru, Kumamoto, Takahiro
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Primary Examiner(s)Dinh, Tien
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Assistant Examiner(s)Sanderson, Joseph W
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Application NumberUS12/352,922Publication NumberTime in Patent Office1,211 DaysField of Search244180-188, 701/15, 701/16US Class Current701/16CPC Class CodesB64C 13/18 using automatic pilotG05D 1/0653 during a phase of take-off ...
