Position hold override control

Patent metadata

Field	Value
Publication number	US-10351225-B2
Application number	US-201615571537-A
Country	US
Kind code	B2
Filing date	Mar 4, 2016
Priority date	May 5, 2015
Publication date	Jul 16, 2019
Grant date	Jul 16, 2019

Abstract

A method for position hold override control of an aircraft includes determining, by a processor, that a position hold mode is enabled to hold the aircraft at a substantially fixed position with respect to a target. The processor receives a control input indicative of a commanded change in acceleration of the aircraft as an override of the position hold mode. The processor determines an acceleration command based on the commanded change in acceleration. The acceleration command is adjusted as an adjusted acceleration command responsive to a non-linear scheduled translational rate command based on feedback of a commanded velocity of the aircraft. An update to the commanded velocity of the aircraft is generated based on the adjusted acceleration command.

First claim

What is claimed is:

1. A method for position hold override control of an aircraft, comprising:
determining, by a processor, that a position hold mode is enabled to hold the aircraft at a substantially fixed position with respect to a target;
receiving, by the processor, a control input indicative of a commanded change in acceleration of the aircraft as an override of the position hold mode;
determining, by the processor, an acceleration command based on the commanded change in acceleration;
adjusting the acceleration command as an adjusted acceleration command responsive to a non-linear scheduled translational rate command based on feedback of a commanded velocity of the aircraft; and
generating an update to the commanded velocity of the aircraft based on the adjusted acceleration command.

2. The method of claim 1 , wherein the acceleration command is a deceleration command to one or more of a longitudinal or a lateral control of the aircraft.

3. The method of claim 1 , wherein an altitude of the aircraft is held substantially constant while adjusting the acceleration of the aircraft using the override of the position control.

4. The method of claim 1 , wherein the non-linear scheduled translational rate command is based on a lookup table that relates a non-linear aircraft deceleration schedule with groundspeed of the aircraft.

5. The method of claim 1 , further comprising reengaging the position hold mode based on determining that the aircraft has decelerated below a velocity threshold.

6. The method of claim 1 , wherein the target is a moving target, and the feedback of the commanded velocity of the aircraft is adjusted based on a target velocity.

7. The method of claim 1 , wherein the control input is received from a stick input, and the processor determines the update to the commanded velocity based on integration of the adjusted acceleration command.

8. The method of claim 1 , wherein the non-linear scheduled translational rate command is shaped to provide an initially more rapid change in one direction followed by a reduced rate of change in an opposite direction in the commanded velocity of the aircraft in response to a step function change in the control input.

9. A system for position hold override control of an aircraft, the system comprising: a propulsion system of the aircraft;
a processor; and
memory having instructions stored thereon that, when executed by the processor, cause the system to:
determine that a position hold mode is enabled to hold the aircraft at a substantially fixed position with respect to a target;
receive a control input indicative of a commanded change in acceleration of the aircraft as an override of the position hold mode;
determine an acceleration command based on the commanded change in acceleration;
adjust the acceleration command as an adjusted acceleration command responsive to a non-linear scheduled translational rate command based on feedback of a commanded velocity of the aircraft; and
generate an update to the commanded velocity of the aircraft for the propulsion system based on the adjusted acceleration command.

10. The system of claim 9 , wherein the acceleration command is a deceleration command to one or more of a longitudinal or a lateral control of the aircraft.

11. The system of claim 9 , wherein an altitude of the aircraft is held substantially constant while adjusting the acceleration of the aircraft using the override of the position control.

12. The system of claim 9 , wherein the non-linear scheduled translational rate command is based on a lookup table that relates a non-linear aircraft deceleration schedule with groundspeed of the aircraft.

13. The system of claim 9 , wherein the processor is configured to reengage the position hold mode based on determining that the aircraft has decelerated below a velocity threshold.

14. The system of claim 9 , wherein the target is a moving target, and the feedback of the commanded velocity of the aircraft is adjusted based on a target velocity.

15. The system of claim 9 , wherein the non-linear scheduled translational rate command is shaped to provide an initially more rapid change in one direction followed by a reduced rate of change in an opposite direction in the commanded velocity of the aircraft in response to a step function change in the control input.

Assignees

• Sikorsky Aircraft Corp

Inventors

• Spoldi Steven E
• Faynberg Alex
• Kubik Stephen
• Ream Donald T
• Rucci John
• Mcculley Stephen C
• Corry Christiaan

Classifications

• B64C13/22

  readily revertible to personal control · CPC title

• B64C13/18 Primary

  using automatic pilot · CPC title

• B64C13/506

  overriding of personal controls; with automatic return to inoperative position · CPC title

• B64C13/503

  Fly-by-Wire · CPC title

• G05D1/0808

  specially adapted for aircraft · CPC title