Method of controlling operation of an unmanned aerial vehicle

• US 9,187,182 B2
• Filed: 06/29/2012
• Issued: 11/17/2015
• Est. Priority Date: 06/29/2011
• Status: Active Grant

• Current Assignee: Orbital Australia Pty Limited (Orbital Corporation Limited)
• Original Assignee: Orbital Australia Pty Limited (Orbital Corporation Limited)
• Inventors: Cathcart, Geoffrey Paul, Barber, Terran Ambrose, Worth, David Richard
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US14/126,613
• Publication Number:
  US 20140249694A1
• Time in Patent Office: 1,236 Days
• Field of Search: 701/11, 701/13, 701/36, 701/24, 701/2, 244/75.1
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 31/02 Initiating means
• CPC Class Codes: B64D 31/06 actuated automatically
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 50/11 using internal combustion piston engines

Abstract

This disclosure describes a method of controlling operation of an unmanned aerial vehicle (UAV) having a flight control system comprising: a flight controller for implementing a flight control strategy; and an engine control unit interfaced with the flight controller for controlling engine operation. An engine speed target is set for the flight control system in response to one or more signals communicated by the flight controller to the engine control unit which controls engine operation to achieve the engine speed target by closed loop control over fueling without requiring throttle position control.

Claims

1. A method of controlling operation of an unmanned aerial vehicle (UAV) having a flight control system comprising:

a flight controller for implementing a flight control strategy; and

an engine control unit interfaced with said flight controller for controlling engine operation,

wherein an engine speed target is set for said flight control system in response to one or more signals communicated by said flight controller to said engine control unit which controls engine operation to achieve said engine speed target by closed loop control over fuelling without requiring throttle position control.

2. A method as claimed in claim 1 wherein said engine speed target is set for the flight control system by said flight controller, a remote controller, by calculation by computer or by demand by a human operator and then communicated to said flight controller.

3. A method as claimed in claim 1 wherein said engine speed target is set to control altitude of the UAV, said engine speed target being calculated with reference to, or in proportion to, a target altitude for the UAV and to reduce error between target altitude and measured altitude.

4. A method as claimed in claim 3 wherein said engine speed target is calculated with reference to a UAV operational parameter input to the engine control unit and including at least one of a target air speed and a target altitude.

5. A method as claimed in claim 1 implementing closed loop control over engine speed with actual engine speed being measured and compared with the engine speed target;

and, if there is an error between the actual engine speed and the engine speed target, the engine control unit operates the engine to reduce or correct the engine speed error.

6. A method as claimed in claim 5 wherein said engine control unit controls at least one engine parameter selected from the group consisting of fuelling rate, fuelling timing, injection timing and ignition timing to correct engine speed error.

7. A method as claimed in claim 6 wherein said engine control unit additionally controls a throttle position to correct engine speed error.

8. A method as claimed in claim 7 wherein said engine control unit controls the throttle position by controlling a throttle servo motor.

9. A method as claimed in claim 8 wherein, in the event of a fault, an engine control unit command signal to the throttle servo motor is used to infer the throttle position and used as an alternative or proxy input to sensed throttle position.

10. A method as claimed in claim 9 wherein, in the event of the fault, control is returned from flight control system to direct control over operation of the throttle servo motor by the flight controller or a remote controller.

11. A method as claimed in claim 8 wherein said flight control system includes an air throttle bypass valve and, if the throttle servo motor fails, said engine control unit opens the air throttle bypass valve to provide sufficient airflow to enable the UAV to “

limp home”

with closed loop fuelling control only.

12. A method as claimed in any one of claims 5 to 8 wherein engine speed is controlled under both steady state and transient conditions and throughout the engine operating load range.

13. A method as claimed in any one of claims 1 to 8 wherein said engine speed is set as a prop speed or rotor speed target.

14. A method as claimed in any one of claims 1 to 8 wherein said engine is a spark ignited fuel injected engine of two or four stroke type.

15. A method as claimed in claim 14 wherein said engine is injected with fuel by a dual fluid direct injection system.

16. A method as claimed in claim 15 wherein said engine is operated with lean air fuel ratios (λ

>

1) for reducing fuel consumption, preferably under part load conditions.

17. A method as claimed in claim 15 wherein said engine control unit controls a fuel metering injector to meter a quantity of fuel set with reference to the engine speed target.

18. A method as claimed in claim 17 wherein said engine combusts a heavy fuel, preferably a kerosene fuel.

19. A method as claimed in claim 15 wherein said dual fluid injection system implements stable stratified combustion using closed loop fuelling control.

20. A method as claimed in claim 1 wherein said engine control unit is provided with an input that defines no load (idle) or a minimum engine speed input distinctly from said engine speed target.

21. A method as claimed in claim 20 wherein said no load input is used in start up (cranking) conditions and said minimum speed is an idle speed.

22. A method as claimed in claim 20 or 21 wherein said no load input is an independent input such as an idle switch.

23. A method as claimed in claim 20 or 21 wherein said no load input is inferred from the speed demand input indicating a low or no load demand.

24. A method as claimed in any one of claims 1 to 8 wherein said engine control unit enables controlled engine start sequences based on engine speed feedback and engine speed target.

25. A method as claimed in claim 24 wherein said controlled engine start sequence controls engine speed to idle speed irrespective of the engine speed target.

26. A method as claimed in any one of claims 1 to 8 wherein said engine control unit controls engine speed above engine stall speed.

27. A method as claimed in any one of claims 1 to 8 wherein said flight control system implements a stepped airflow control strategy with closed loop fuelling control being used to provide a finer control over air fuel ratio.

28. A method as claimed in claim 27 wherein a solenoid provides a predetermined number of coarse independent air flow ranges with closed loop fuelling control being used to provide finer air fuel ratio control.

29. A method as claimed in any one of claims 1 to 8 wherein the engine control unit controls engine speed taking into account a range of engine operating conditions including engine temperature and outside air temperature.

30. A system for operating an unmanned aerial vehicle having a flight control system comprising:

a flight controller for implementing a flight control strategy; and

an engine control unit interfaced with said flight controller for controlling engine operation,

wherein said flight control system includes means for setting an engine speed target in response to one, or more signals communicated by said flight controller to said engine control unit which includes engine speed control means for controlling said engine to achieve said engine speed target by closed loop control over fuelling without requiring throttle position control.

31. A system as claimed in claim 30 wherein said flight controller relays said engine speed target to said engine control unit through an analogue or controller area network (CAN) or CAN-bus link.