Systems and methods for rapid convergence antiskid initialization

Patent metadata

Field	Value
Publication number	US-10933849-B2
Application number	US-201816224196-A
Country	US
Kind code	B2
Filing date	Dec 18, 2018
Priority date	Oct 29, 2018
Publication date	Mar 2, 2021
Grant date	Mar 2, 2021

Abstract

An antiskid controller for controlling braking operation of a wheel of a vehicle based on an output signal provided by a wheel speed sensor coupled to the wheel may comprise a delay toggle, a switch logic for switching between an initial rate and a running rate, and a linear control used for calculating an antiskid correction signal, wherein the linear control receives one of the initial rate and the running rate, depending on a state of the switch logic. The linear control receives the initial rate upon initialization of the antiskid controller. The linear control receives the running rate after a predetermined duration or after the linear control has converged on a desired solution.

First claim

What is claimed is:

1. A system for controlling a braking force applied to a wheel of a vehicle, comprising:
a brake controller having an input for receiving a brake force command indicative of a desired amount of brake force to be applied to the wheel, and an output for providing a brake force output command to a brake actuator and assembly which applies a brake force to the wheel based on the brake force output command;
a wheel speed sensor, operatively coupled to the wheel, for measuring a speed of the wheel and providing an output signal indicative of the measured wheel speed; and
a differential reference controller, comprising:
a delay toggle;
a switch logic for switching between an initial rate and a running rate; and
a linear control used for calculating an antiskid correction signal, wherein the linear control receives one of the initial rate and the running rate, depending on a state of the switch logic.

2. The system of claim 1 , wherein at least one of the initial rate and the running rate is a maximum rate of change which can occur in the measured wheel speed.

3. The system of claim 1 , wherein the delay toggle is configured to send a toggle signal to the switch logic to switch between the initial rate and the running rate.

4. The system of claim 3 , wherein the running rate is received by the linear control in response to the toggle signal being received by the switch logic.

5. The system of claim 3 , wherein the toggle signal is sent from the delay toggle to the switch logic a predetermined duration after a skid condition is detected.

6. The system of claim 3 , wherein the toggle signal is sent from the delay toggle to the switch logic in response to an error of the linear control decreasing below a threshold value.

7. The system of claim 1 , wherein the initial rate is less than −10 meters per second squared.

8. The system of claim 1 , wherein the running rate is greater than −9 meters per second squared.

9. A differential reference controller for controlling braking operation of a wheel of a vehicle based on an output signal provided by a wheel speed sensor coupled to the wheel, the differential reference controller comprising:
a delay toggle;
a switch logic for switching between an initial rate and a running rate; and
a linear control used for calculating an antiskid correction signal, wherein the linear control receives one of the initial rate and the running rate, depending on a state of the switch logic.

10. The differential reference controller of claim 9 , wherein at least one of the initial rate and the running rate is a maximum rate of change which can occur in a measured wheel speed.

11. The differential reference controller of claim 9 , wherein the delay toggle is configured to send a toggle signal to the switch logic to switch between the initial rate and the running rate.

12. The differential reference controller of claim 11 , wherein the running rate is received by the linear control in response to the toggle signal being received by the switch logic.

13. The differential reference controller of claim 11 , wherein the toggle signal is sent from the delay toggle to the switch logic a predetermined duration after a skid condition is detected.

14. The differential reference controller of claim 11 , wherein the toggle signal is sent from the delay toggle to the switch logic in response to an error of the linear control decreasing below a threshold value.

15. The differential reference controller of claim 9 , wherein the initial rate is less than −10 meters per second squared.

16. The differential reference controller of claim 9 , wherein the running rate is greater than −9 meters per second squared.

17. A method of controlling a brake control system, comprising:
receiving a measured wheel speed;
controlling a force/pressure applied to a brake based upon the measured wheel speed;
enabling an antiskid controller;
receiving an initial rate for use by a linear control;
calculating an antiskid correction signal using the initial rate;
receiving a running rate for use by the linear control; and
calculating the antiskid correction signal using the running rate, wherein a magnitude of the initial rate is greater than a magnitude of the running rate.

18. The method of claim 17 , further comprising sending a toggle signal from a delay toggle to a switch logic, wherein the running rate is received in response to the toggle signal being received by the switch logic.

19. The method of claim 18 , wherein the toggle signal is sent from the delay toggle to the switch logic a predetermined duration after the antiskid controller is enabled.

20. The method of claim 17 , wherein the initial rate is less than −10 meters per second squared and the running rate is greater than −9 meters per second squared.

Assignees

• Goodrich Corp

Inventors

• Arsenault Tyler
• Mastrocola Naison E

Classifications

• B60T8/17616 Primary

  Microprocessor-based systems · CPC title

• B64C25/46

  Brake regulators for preventing skidding or aircraft somersaulting · CPC title

• B60T2270/604

  Merging friction therewith; Adjusting their repartition · CPC title

• B60T8/74

  sensing a rate of change of velocity · CPC title

• B60T8/52

  Torque sensing, i.e. wherein the braking action is controlled by forces producing or tending to produce a twisting or rotating motion on a braked rotating member · CPC title