Variable rate damping based control system for backdriven control input devices

Patent metadata

Field	Value
Publication number	US-10908560-B2
Application number	US-201916298468-A
Country	US
Kind code	B2
Filing date	Mar 11, 2019
Priority date	Mar 11, 2019
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

A control system for a machine having variable rate damping based control (VRDC) is disclosed, and includes one or more processors and a memory coupled to the processors storing data comprising a database and program code that, when executed by the processors, causes the control system to receive an inceptor position from one or more active inceptors and calculate an operator command based on at least the inceptor position. The control system is caused to determine an amplitude of the operator command. The control system is caused to determine a variable gain based on the amplitude of the operator command and determines an actuation command based on the variable gain. The control system sends the inline actuators the actuation command. The inline actuators actuate into a total actuator position to variably damp movement of the machine as a function of the magnitude of the operator command.

First claim

What is claimed is:

1. A control system for a machine having variable rate damping based control, the machine including one or more active inceptors and one or more inline actuators, the control system comprising:
one or more processors; and
a memory coupled to the one or more processors, storing data comprising a database and program code that, when executed by the one or more processors, causes the control system to:
receive an inceptor position from one or more active inceptors;
combine, by a trim prediction model, one or more off-axis inputs, a rate error of the machine, and a total actuator position of the one or more inline actuators together to determine a change in position of a zero-force detent;
apply a rate limit to the change in position of the zero-force detent to determine a zero-force detent command;
calculate an operator command based on the inceptor position and the zero-force detent command;
determine an amplitude of the operator command, wherein the amplitude is a magnitude of the operator command;
determine a variable gain based on the amplitude of the operator command;
determine an actuation command based on the variable gain, wherein the total actuator position is a sum of the actuation command and the inceptor position; and
send the actuation command to the one or more inline actuators, wherein the one or more inline actuators actuate into the total actuator position to variably damp movement of the machine, and the machine is variably damped as a function of the magnitude of the operator command.

2. The control system of claim 1 , wherein the one or more processors execute instructions to:
apply the amplitude of the operator command to a variable gain schedule, wherein the variable gain schedule includes a piecewise controller gain.

3. The control system of claim 2 , wherein the piecewise controller gain includes:
a first subfunction that is equal to a maximum value of the variable gain;
a second subfunction that is a variable value ranging between the maximum value and a minimum value of the variable gain; and
a third subfunction that is equal to the minimum value of the variable gain.

4. The control system of claim 3 , wherein the second subfunction of the piecewise controller gain defines an inversely proportional relationship between the amplitude of the operator command and the variable gain.

5. The control system of claim 1 , wherein the one or more processors execute instructions to:
monitor the machine for a measured rate, wherein the measured rate represents an actual state of the machine;
compare the measured rate with a desired rate, wherein the desired rate is a value representing a requested pattern of movement of the machine; and
determine the rate error based on a difference between the measured rate and the desired rate.

6. The control system of claim 5 , wherein the one or more processors execute instructions to:
receive a commanded rate and a trim rate, wherein the commanded rate is set to zero; and
combine the commanded rate with the trim rate to determine the desired rate.

7. The control system of claim 1 , wherein the one or more processors execute instructions to:
determine the operator command based on a difference between the zero-force detent command and the inceptor position.

8. The control system of claim 1 , wherein the rate limit represents a parameter limit value, and wherein the parameter limit value is configured to limit the rate of the zero-force detent command.

9. The control system of claim 1 , wherein the one or more processors execute instructions to:
receive the one or more off-axis inputs;
derive an acceleration command component by applying the variable gain to a rate error;
mix the one or more off-axis inputs and the acceleration command component together; and
generate an unlimited actuator command based on mixing the one or more off-axis inputs and the acceleration command component together.

10. The control system of claim 9 , wherein the one or more processors execute instructions to:
apply a control authority limit to the unlimited actuator command; and
determine a stability augmentation system command based on applying the control authority limit to the unlimited actuator command.

11. The control system of claim 10 , wherein the one or more processors execute instructions to:
send the stability augmentation system command in combination with the inceptor position to the one or more inline actuators, wherein the one or more inline actuators move into the total actuator position in response to receiving the stability augmentation system command and the inceptor position.

12. The control system of claim 1 , wherein a value of the variable gain decreases as the amplitude of the operator control input increases based on an inversely proportional relationship between the operator command and the variable gain.

13. A method for variably damping a machine by a control system having variable rate damping based control, the method comprising:
receiving, by a control module, an inceptor position from one or more active inceptors of the machine;
combining, by a trim prediction model, one or more off-axis inputs, a rate error of the machine, and a total actuator position of the one or more inline actuators together to determine a change in position of a zero-force detent;
applying a rate limit to the change in position of the zero-force detent to determine a zero-force detent command;
calculating, by the control module, an operator command based on the inceptor position and the zero-force detent command;
determining an amplitude of the operator command, wherein the amplitude is a magnitude of the operator command;
determining a variable gain based on the amplitude of the operator command;
determining an actuation command based on the variable gain, wherein a total actuator position is a sum of the actuation command and the inceptor position;
sending the actuation command to one or more inline actuators; and
actuating the one or more inline actuators into the total actuator position to variably damp movement of the machine, wherein the machine is variably damped as a function of the magnitude of the operator command.

14. The method of claim 13 , further comprising:
applying the amplitude of the operator command to a variable gain schedule, wherein the variable gain schedule includes a piecewise controller gain.

15. The method of claim 14 , wherein the piecewise controller gain includes:
a first subfunction that is equal to a maximum value of the variable gain;
a second subfunction that is a variable value ranging between the maximum value and a minimum value of the variable gain; and
a third subfunction that is equal to the minimum value of the variable gain.

16. The method of claim 13 , further comprising:
monitoring the machine for a measured rate, wherein the measured rate represents an actual state of the machine;
comparing the measured rate with a desired rate, wherein the desired rate is a value representing a requested pattern of movement of the machine; and
determining the rate error based on a difference between the measured rate and the desired rate.

17. The method of claim 16 , further comprising:
receiving a commanded rate and a trim rate, wherein the commanded rate is set to zero; and
combining the commanded rate with the trim rate to determine the desired rate.

18. The method of claim 13 , further comprising:
determining the operator command based on a difference between the zero-force detent command and the in

Assignees

• Boeing Co

Inventors

• Irwin Joseph G
• Chu Bryan C
• Enns Russell
• Klein Gary D
• Lenander Jon F

Classifications

• G05B13/021 Primary

  in which a variable is automatically adjusted to optimise the performance · CPC title

• G05B2219/41004

  Selection gain according to selection of speed or positioning mode · CPC title

• G05B1/01

  electric · CPC title

• G05B6/02

  electric · CPC title