Control system for a stopped rotor aircraft

Patent metadata

Field	Value
Publication number	US-11059575-B2
Application number	US-201916379603-A
Country	US
Kind code	B2
Filing date	Apr 9, 2019
Priority date	May 24, 2016
Publication date	Jul 13, 2021
Grant date	Jul 13, 2021

Abstract

While an aircraft is mid-flight, a braking start point associated with a stoppable rotor is calculated where the stoppable rotor includes a first and second blade and the stoppable rotor is configured to rotate about a substantially vertical axis. A process to stop the stoppable rotor is started, while the aircraft is mid-flight, when the stoppable rotor reaches the braking start point, where the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward.

First claim

What is claimed is:

1. A system, comprising:
a processor; and
a memory coupled with the processor, wherein the memory is configured to provide the processor with instructions which when executed cause the processor to:
calculate, in real time while an aircraft which includes a stoppable rotor is mid-flight, a braking start point associated with the stoppable rotor, wherein the stoppable rotor includes a first blade and a second blade and the stoppable rotor is configured to rotate about a substantially vertical axis and the braking start point is a point at which to begin applying negative torque using rotor motors; and
start a process to stop the stoppable rotor, while the aircraft which includes the stoppable rotor is mid-flight, when the stoppable rotor reaches the braking start point, wherein the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward.

2. The system of claim 1 , wherein the stopping process includes:
applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; and
adjusting an amount of torque applied to the stoppable rotor using feedback.

3. The system of claim 1 , wherein the stopping process includes:
applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; and
adjusting an amount of torque applied to the stoppable rotor using feedback, including by using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor.

4. The system of claim 1 , wherein the memory is further configured to provide the processor with instructions which when executed cause the processor to: while the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward, adjust a nominal torque of zero applied to the stoppable rotor using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor.

5. The system of claim 1 , wherein:
the stopping process includes:
applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; and
adjusting an amount of torque applied to the stoppable rotor using feedback, including by using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor; and

the memory is further configured to provide the processor with instructions which when executed cause the processor to: while the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward, adjust a nominal torque of zero applied to the stoppable rotor using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor.

6. The system of claim 1 , wherein the memory is further configured to provide the processor with instructions which when executed cause the processor to: begin to search for the braking start point once the stoppable rotor has reached a searching start point.

7. The system of claim 1 , wherein the memory is further configured to provide the processor with instructions which when executed cause the processor to: begin to search for the braking start point once the stoppable rotor has reached a searching start point, wherein a difference between the searching start point and the braking start point is a pre-defined amount.

8. The system of claim 1 , wherein the memory is further configured to provide the processor with instructions which when executed cause the processor to adjust a braking start point based at least in part on a crosswind.

9. The system of claim 1 , wherein the memory is further configured to provide the processor with instructions which when executed cause the processor to determine that the stoppable rotor is in an unstable position.

10. The system of claim 9 , wherein the memory is further configured to provide the processor with instructions which when executed cause the processor to rotate the stoppable rotor at least one more rotation in a regular direction of rotation.

11. The system of claim 9 , wherein the memory is further configured to provide the processor with instructions which when executed cause the processor to rotate the stoppable rotor at least one more rotation in a regular direction of rotation until the stoppable rotor is in a stable position.

12. The system of claim 9 , wherein the memory is further configured to provide the processor with instructions which when executed cause the processor, in response to the stoppable rotor being in a stable position, starting the process to stop to stoppable rotor.

13. A method, comprising:
calculating, in real time while an aircraft which includes a stoppable rotor is mid-flight, a braking start point associated with the stoppable rotor, wherein the stoppable rotor includes a first blade and a second blade and the stoppable rotor is configured to rotate about a substantially vertical axis and the braking start point is a point at which to begin applying negative torque using rotor motors; and
starting a process to stop the stoppable rotor, while the aircraft which includes the stoppable rotor is mid-flight, when the stoppable rotor reaches the braking start point, wherein the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward.

14. The method of claim 13 , wherein the stopping process includes:
applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; and
adjusting an amount of torque applied to the stoppable rotor using feedback.

15. The method of claim 13 , wherein the stopping process includes:
applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; and
adjusting an amount of torque applied to the stoppable rotor using feedback, including by using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor.

16. The method of claim 13 , further comprising: while the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward, adjusting a nominal torque of zero applied to the stoppable rotor using a proportional-integral-derivative (PID) controller which uses a rotational angle associated with the stoppable rotor and an angular rate associated with the stoppable rotor.

17. The method of claim 13 , wherein:
the stopping process includes:
applying an initial amount of torque to the stoppable rotor, wherein the magnitude of the initial amount of torque is strictly less than the magnitude of a maximum amount of torque; and
adjusting an amount of torque applied to the stoppable rotor using feedback, including by using a proportional-integral-derivative (PID) controller which uses a rotational angle associate

Assignees

• Kitty Hawk Corp

Inventors

• Horn Gregory Mainland
• Vander Lind Damon

Classifications

• B64C27/615

  including flaps mounted on blades · CPC title

• B64C29/0025

  the propellers being fixed relative to the fuselage · CPC title

• G05B11/42

  for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D. · CPC title

• B64C27/467

  Aerodynamic features · CPC title

• B64C27/14 Primary

  Direct drive between power plant and rotor hub · CPC title