Aircraft energy management control system

Patent metadata

Field	Value
Publication number	US-12454374-B2
Application number	US-202217876636-A
Country	US
Kind code	B2
Filing date	Jul 29, 2022
Priority date	Aug 24, 2021
Publication date	Oct 28, 2025
Grant date	Oct 28, 2025

Abstract

A method includes generating, in a normal mode, an aircraft power setpoint and an aircraft pitch setpoint based on a desired airspeed setpoint and a desired altitude setpoint. The method includes transitioning from the normal mode to an underpower mode when the aircraft is unable to maintain the desired airspeed setpoint. The method includes setting, in the underpower mode, the aircraft power setpoint to a full power setting, generating, in the underpower mode, the aircraft pitch setpoint based on the desired altitude setpoint, and transitioning from the underpower mode to an underspeed mode when the aircraft airspeed is less than an airspeed threshold value while the aircraft power setpoint is set to the full power setting. The method includes maintaining, in the underspeed mode, the aircraft power setpoint at the full power setting and generating, in the underspeed mode, the aircraft pitch setpoint based on the desired airspeed setpoint.

First claim

What is claimed is:

1. A non-transitory computer-readable medium comprising computer-executable instructions configured to cause one or more processing units of an aircraft to:
generate, in a normal mode, an aircraft power setpoint and an aircraft pitch setpoint based on a desired airspeed setpoint and a desired altitude setpoint, wherein the aircraft power setpoint controls aircraft engine power output, and wherein the aircraft pitch setpoint controls aircraft pitch;
transition from the normal mode to an underpower mode when the aircraft is unable to maintain the desired airspeed setpoint;
set, in the underpower mode, the aircraft power setpoint to a full power setting;
update, in the underpower mode, the aircraft pitch setpoint based on the desired altitude setpoint;
transition from the underpower mode to an underspeed mode when the aircraft airspeed is less than an airspeed threshold value while the aircraft power setpoint is set to the full power setting;
maintain, in the underspeed mode, the aircraft power setpoint at the full power setting;
update, in the underspeed mode, the aircraft pitch setpoint based on the desired airspeed setpoint; and
control the aircraft based on at least one of: the updated aircraft pitch setpoint, the desired airspeed setpoint, the aircraft power setpoint, or the desired altitude setpoint.

2. The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to generate the desired airspeed setpoint and the desired altitude setpoint based on a flight plan data structure that includes waypoints that each indicate a target location for the aircraft.

3. The computer-readable medium of claim 1 , wherein the aircraft is an unmanned aircraft.

4. The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to transition from the normal mode to the underpower mode in response to the aircraft airspeed dropping to less than the desired airspeed setpoint while the aircraft power setpoint is set to the full power setting.

5. The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to transition from the underpower mode back to the normal mode in response to reaching the desired airspeed setpoint.

6. The computer-readable medium of claim 1 , wherein the airspeed threshold value is based on a stall speed value.

7. The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to transition from the underspeed mode back to the underpower mode in response to the aircraft exceeding a minimum airspeed threshold different from the airspeed threshold.

8. The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to transition from the underspeed mode back to the underpower mode in response to the aircraft achieving a positive vertical ascent rate.

9. The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to transition from the underspeed mode back to the underpower mode in response to the aircraft reaching the desired altitude setpoint.

10. The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to:
maintain the full power setting in the underpower mode without reference to the airspeed setpoint; and
generate, in the underpower mode, the aircraft pitch setpoint based on the desired altitude setpoint without reference to the airspeed setpoint.

11. The computer-readable medium of claim 1 , further comprising instructions that cause the one or more processing units to:
maintain the full power setting in the underspeed mode without reference to the airspeed setpoint; and
control, in the underspeed mode, the aircraft pitch setpoint based on the desired airspeed setpoint without reference to the altitude setpoint.

12. A method comprising:
generating, in a normal mode, an aircraft power setpoint and an aircraft pitch setpoint for an aircraft based on a desired airspeed setpoint and a desired altitude setpoint, wherein the aircraft power setpoint controls aircraft engine power output, and wherein the aircraft pitch setpoint controls aircraft pitch;
transitioning from the normal mode to an underpower mode when the aircraft is unable to maintain the desired airspeed setpoint;
setting, in the underpower mode, the aircraft power setpoint to a full power setting;
updating, in the underpower mode, the aircraft pitch setpoint based on the desired altitude setpoint;
transitioning from the underpower mode to an underspeed mode when the aircraft airspeed is less than an airspeed threshold value while the aircraft power setpoint is set to the full power setting;
maintaining, in the underspeed mode, the aircraft power setpoint at the full power setting; and
updating, in the underspeed mode, the aircraft pitch setpoint based on the desired airspeed setpoint; and
controlling the aircraft based on at least one of: the updated aircraft pitch setpoint, the desired airspeed setpoint, the aircraft power setpoint, or the desired altitude setpoint.

13. The method of claim 12 , further comprising generating the desired airspeed setpoint and the desired altitude setpoint based on a flight plan data structure that includes waypoints that each indicate a target location for the aircraft.

14. The method of claim 12 , wherein the aircraft is an unmanned aircraft.

15. The method of claim 12 , further comprising transitioning from the normal mode to the underpower mode in response to the aircraft airspeed dropping to less than the desired airspeed setpoint while the aircraft power setpoint is set to the full power setting.

16. The method of claim 12 , further comprising transitioning from the underpower mode back to the normal mode in response to reaching the desired airspeed setpoint.

17. The method of claim 12 , wherein the airspeed threshold value is based on a stall speed value.

18. The method of claim 12 , further comprising transitioning from the underspeed mode back to the underpower mode in response to the aircraft exceeding a minimum airspeed threshold different from the airspeed threshold.

19. The method of claim 12 , further comprising transitioning from the underspeed mode back to the underpower mode in response to the aircraft achieving a positive vertical ascent rate.

20. The method of claim 12 , further comprising transitioning from the underspeed mode back to the underpower mode in response to the aircraft reaching the desired altitude setpoint.

21. The method of claim 12 , further comprising:
maintaining the full power setting in the underpower mode without reference to the airspeed setpoint; and
updating, in the underpower mode, the aircraft pitch setpoint based on the desired altitude setpoint without reference to the airspeed setpoint.

22. The method of claim 12 , further comprising:
maintaining the full power setting in the underspeed mode without reference to the airspeed setpoint; and
controlling, in the underspeed mode, the aircraft pitch setpoint based on the desired airspeed setpoint without reference to the altitude setpoint.

Assignees

• Joby Aero Inc

Inventors

• Lim Edward
• Rosenkranz Joshua
• Famularo Douglas

Classifications

• G05D1/46

  Control of position or course in three dimensions [3D] · CPC title

• G05D2109/20

  Aircraft, e.g. drones · CPC title

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64U2101/20

  for use as communications relays, e.g. high-altitude platforms · CPC title

• G05D1/101

  specially adapted for aircraft · CPC title