公开(公告)号：US07720578B2

公开(公告)日：2010-05-18

申请号：US11722673

申请日：2006-01-31

申请人： Stephane Delannoy

发明人： Stephane Delannoy

IPC分类号： G05D1/08

CPC分类号： G05D1/0825

摘要： The invention relates to a method and device for piloting a pitching aircraft. The inventive device (1) comprises: means (4) for receiving an ordered load factor (NZc); means (11) for estimating a load factor (NZcg) that is applied to the aircraft; a means (12) for calculating a control order for a means (5) for deflecting a control surface (7) of the aircraft, taking account of at least the following expression K1·NZc+K2·NZcg, K1 and K2 representing gain values; means (13) for determining the Mach number; means (14) for determining the angle of incidence; means (15) for comparing the angle of incidence with a reference value; and means (16) for determining a modified gain value (ΔK2) with the aid of the Mach number and the angle of incidence if said angle of incidence is greater than the reference value, said modified gain value (ΔK2) replacing gain value K2 in the calculation performed by the calculation means (12).

摘要翻译： 本发明涉及一种用于驾驶俯仰飞机的方法和装置。 本发明的装置（1）包括：用于接收有序载荷因子（NZc）的装置（4）; 用于估计应用于飞行器的载荷系数（NZcg）的装置（11）; 考虑至少以下表达式K1·NZc + K2·NZcg，K1和K2表示增益值，计算用于偏转飞行器的控制面（7）的装置（5）的控制顺序的装置（12） ; 用于确定马赫数的装置（13） 用于确定入射角的装置（14）; 用于将入射角与参考值进行比较的装置（15）; 以及用于如果所述入射角大于所述参考值，则借助所述马赫数和所述入射角来确定修改的增益值（＆Dgr; K2）的装置（16），所述修改的增益值（＆Dgr; K2）代替 由计算装置（12）执行的计算中的增益值K2。

公开(公告)号：US20080269963A1

公开(公告)日：2008-10-30

申请号：US11628115

申请日：2005-06-02

申请人： David William Vos ,  Vladislav Gavrilets

发明人： David William Vos ,  Vladislav Gavrilets

IPC分类号： G05D1/08

CPC分类号： G05D1/0825 ,  G01C21/165

摘要： A system for estimating at least one of position, attitude, and heading of a vehicle is disclosed. The system includes at least three gyroscopes configured to output a signal indicative of inertial angular rates around three mutually orthogonal axes of the vehicle and at least three accelerometers configured to output a signal indicative of accelerations along three mutually orthogonal axes of the vehicle. The system further includes a triaxial magnetometer configured to output a signal indicative of a projection of ambient magnetic field on three mutually orthogonal axes of the vehicle. The system also includes a sensor configured to output a signal indicative of vehicle altitude and a differential pressure sensor configured to output a signal indicative of airspeed of the vehicle. The system further includes a device configured to receive the signals and estimate at least of one of position, attitude, and heading of the vehicle.

摘要翻译： 公开了一种用于估计车辆的位置，姿态和方位中的至少一个的系统。 该系统包括至少三个陀螺仪，其被配置为输出指示围绕车辆的三个相互正交轴线的惯性角速率的信号，以及配置为输出指示沿着车辆的三个相互正交轴线的加速度的信号的至少三个加速度计。 该系统还包括三轴磁力计，其被配置为输出指示车辆的三个相互正交的轴上的环境磁场的投影的信号。 该系统还包括被配置为输出指示车辆高度的信号的传感器和配置成输出指示车辆的空速的信号的差压传感器。 该系统还包括被配置为接收信号并估计车辆的位置，姿态和航向中的至少一个的装置。

公开(公告)号：US07039473B2

公开(公告)日：2006-05-02

申请号：US10806501

申请日：2004-03-22

申请人： J. Eric Corban

发明人： J. Eric Corban

IPC分类号： G05B11/00

CPC分类号： G05B13/027 ,  G05D1/0825

摘要： A computer system for controlling a nonlinear physical process. The computer system comprises a linear controller and a neural network. The linear controller receives a command signal for control of the nonlinear physical process and a measured output signal from the output of the nonlinear physical process. The linear controller generates a control signal based on the command signal, a measured output signal, and a fixed linear model for the process. The neural network receives the control signal from the linear controller and the measured output signal from the output of the nonlinear physical process. The neural network uses the measured output signal to modify the connection weights of the neural network. The neural network also generates a modified control signal supplied to the linear controller to iterate a fixed point solution for the modified control signal used to control the nonlinear physical process.

摘要翻译： 一种用于控制非线性物理过程的计算机系统。 计算机系统包括线性控制器和神经网络。 线性控制器接收用于控制非线性物理过程的命令信号和来自非线性物理过程的输出的测量输出信号。 线性控制器基于命令信号，测量输出信号和用于该过程的固定线性模型产生控制信号。 神经网络接收来自线性控制器的控制信号和来自非线性物理过程的输出的测量输出信号。 神经网络使用测量的输出信号来修改神经网络的连接权重。 神经网络还生成提供给线性控制器的修改的控制信号，以迭代用于控制非线性物理过程的修改的控制信号的固定点解。

公开(公告)号：US06859689B2

公开(公告)日：2005-02-22

申请号：US10351436

申请日：2003-01-27

申请人： David W. Vos

发明人： David W. Vos

IPC分类号： B64C13/18 ,  G05B9/02 ,  G05B9/03 ,  G05B11/32 ,  G05B13/04 ,  G05D1/08 ,  G06F17/50 ,  G06K9/40 ,  B64C13/00 ,  G06F17/00

CPC分类号： G05B9/02 ,  G05B9/03 ,  G05B11/32 ,  G05B13/042 ,  G05D1/0825

摘要： A method and apparatus are provided for controlling a dynamic device having multi-inputs and operating in an environment having multiple operating parameters. A method of designing flight control laws using multi-input, multi-output feedback LTI'zation is also provided. The method includes steps of: (i) determining coordinates for flight vehicle equations of motion; (ii) transforming the coordinates for the flight vehicle equations of motion into a multi-input linear time invariant system; (iii) establishing control laws yielding the transformed equations of motion LTI; (iv) adjusting the control laws to obtain a desired closed loop behavior for the controlled system; and (v) converting the transformed coordinates control laws to physical coordinates.

摘要翻译： 提供了一种用于控制具有多输入并在具有多个操作参数的环境中操作的动态装置的方法和装置。 还提供了一种使用多输入，多输出反馈LTI设置设计飞行控制规律的方法。 该方法包括以下步骤：（i）确定飞行器运动方程的坐标; （ii）将飞行器运动方程式的坐标转换为多输入线性时不变系统; （iii）建立产生变换的运动方程LTI的控制律; （iv）调整控制规律以获得受控系统所需的闭环行为; 和（v）将变换的坐标控制定律转换为物理坐标。

公开(公告)号：US20040128096A1

公开(公告)日：2004-07-01

申请号：US10329074

申请日：2002-12-24

发明人： Jia Luo

IPC分类号： G06F019/00

CPC分类号： G05D1/0825

摘要： A system, method, and computer program product for analyzing flight test and FDR data that overcomes technical difficulties associated with traditional flight data analysis methods. The method includes inputting angular, linear data and recorded air data, where angular data may include Euler angles or angular rates and linear data may include altitude, ground speed, airspeed, drift angle, runway excursion or load factors. The method generates first inertial data using optimal control to minimize the objective function associated with the angular data and second inertial data using optimal control to minimize the objective function associated with the linear data. The method determines wind speed and direction based on the first and second generated inertial data and the air data.

摘要翻译： 一种用于分析飞行测试和FDR数据的系统，方法和计算机程序产品，克服了与传统飞行数据分析方法相关的技术难题。 该方法包括输入角度，线性数据和记录的空气数据，其中角度数据可以包括欧拉角度或角速度，并且线性数据可以包括高度，地面速度，空速，漂移角度，跑道偏移或负载因子。 该方法使用最优控制产生第一惯性数据，以最小化与角数据和第二惯性数据相关联的目标函数，使用最优控制来最小化与线性数据相关联的目标函数。 该方法基于第一和第二生成的惯性数据和空气数据来确定风速和方向。

公开(公告)号：US06580389B2

公开(公告)日：2003-06-17

申请号：US09928099

申请日：2001-08-10

申请人： Jason L. Speyer ,  Laurence H. Mutuel

发明人： Jason L. Speyer ,  Laurence H. Mutuel

IPC分类号： G01S514

CPC分类号： G05D1/0825 ,  G01C21/165 ,  G01S5/0247 ,  G01S19/53

摘要： An apparatus and method for vehicle orientation determination is disclosed. A typical method comprises the steps of receiving position and velocity information data from a global positioning system receiver unit, receiving vehicle dynamics information data from one or more vehicle dynamics sensors and determining a vehicle attitude from the position and velocity information and the vehicle dynamics information data using a Kalman filter.

公开(公告)号：US20020021243A1

公开(公告)日：2002-02-21

申请号：US09928099

申请日：2001-08-10

发明人： Jason L. Speyer ,  Laurence H. Mutuel

IPC分类号： G01S005/14

CPC分类号： G05D1/0825 ,  G01C21/165 ,  G01S5/0247 ,  G01S19/53

摘要： An apparatus and method for vehicle orientation determination is disclosed. A typical method comprises the steps of receiving position and velocity information data from a global positioning system receiver unit, receiving vehicle dynamics information data from one or more vehicle dynamics sensors and determining a vehicle attitude from the position and velocity information and the vehicle dynamics information data using a Kalman filter.

摘要翻译： 公开了用于车辆方向确定的装置和方法。 典型的方法包括以下步骤：从全球定位系统接收器单元接收位置和速度信息数据，从一个或多个车辆动力传感器接收车辆动态信息数据，并根据位置和速度信息以及车辆动态信息数据确定车辆姿态 使用卡尔曼滤波器。

公开(公告)号：US06341247B1

公开(公告)日：2002-01-22

申请号：US09465897

申请日：1999-12-17

申请人： Mark A. Hreha ,  Gerard Schkolnik

发明人： Mark A. Hreha ,  Gerard Schkolnik

IPC分类号： B64C900

CPC分类号： G05D1/0005 ,  B64C13/503 ,  G05D1/0825

摘要： A measurement-based method to control and optimize the performance of an airborne vehicle. The stability and control of the vehicle is modified to induce a response in the airborne vehicle as reflected by a plurality of response signals. Excitations signals having multi-term sinusoidal waveforms are generated and applied to control signals controlling one or more control effectors. A time domain response of each of the state variables, response signals, and control signals arising from the application of the excitation inputs to the control signals is then measured. These time domain responses are then transformed into frequency domain models. The effectiveness and vehicle stability and control derivatives may then be identified from the frequency domain models of the state variables, response signals, and control signals. These effectiveness derivatives represent the contribution that each of the one or more selected effectors has on a particular performance index of the airborne vehicle and are then used to derive a control effector setting for each of the one or more selected effectors. The selected performance index may then be modified by adjusting the one or more selected effectors to its derived control effector setting. The stability and control derivatives identified may be used to improve the control laws associated with the airborne vehicle.

摘要翻译： 一种基于测量的方法来控制和优化机载车辆的性能。 改变车辆的稳定性和控制，以在多个响应信号反映的空气传播车辆中引起响应。 产生具有多项正弦波形的激励信号并将其应用于控制一个或多个控制效应器的信号。 然后测量由将激励输入应用于控制信号而产生的每个状态变量，响应信号和控制信号的时域响应。 然后将这些时域响应转换为频域模型。 然后可以从状态变量，响应信号和控制信号的频域模型中识别有效性和车辆稳定性和控制导数。 这些有效性导数表示一个或多个所选择的效应器中的每一个对机载车辆的特定性能指标的贡献，然后用于为一个或多个所选择的效应器中的每一个导出控制效应器设置。 然后可以通过将一个或多个所选择的效应器调整到其导出的控制效应器设置来修改所选择的性能指标。 确定的稳定性和控制衍生物可用于改善与机载车辆相关的控制规律。

公开(公告)号：US06317658B1

公开(公告)日：2001-11-13

申请号：US09266514

申请日：1999-03-11

申请人： John L. Vian

发明人： John L. Vian

IPC分类号： G05D100

CPC分类号： G05B13/027 ,  G05B2219/33027 ,  G05B2219/33037 ,  G05B2219/33043 ,  G05D1/0825

摘要： A method, system and computer-readable medium for controlling a control subsystem of a vehicle. The control subsystem includes at least one propulsion, aerodynamic, or other control effector. The system also includes sensors for sensing vehicle position and motions and operating conditions, a control input device for generating control signals, and a generator for generating desired vehicle forces/moments from the sensed vehicle position and motions and operating conditions, and the generated control input signals based on predefined vehicle compensation and control laws. Also included is a neural network controller for generating control subsystem commands for the at least one propulsion, aerodynamic, or other control effector based on the generated desired forces/moments, wherein said neural network controller was trained based on pregenerated vehicle control distribution data. The neural network controller is also trained to compensate for one or more failed control effectors.

摘要翻译： 一种用于控制车辆的控制子系统的方法，系统和计算机可读介质。 控制子系统包括至少一个推进，空气动力学或其他控制效应器。 该系统还包括用于感测车辆位置和运动和操作条件的传感器，用于产生控制信号的控制输入装置和用于从感测到的车辆位置和运动和操作条件产生期望车辆力/力矩的发电机，以及产生的控制输入 基于预定义的车辆补偿和控制规律的信号。 还包括一种神经网络控制器，用于基于所产生的所需力/力量来产生用于至少一个推进，空气动力学或其他控制效应器的控制子系统命令，其中所述神经网络控制器基于预生成的车辆控制分布数据进行训练。 还训练神经网络控制器来补偿一个或多个故障控制效应器。

公开(公告)号：US5629848A

公开(公告)日：1997-05-13

申请号：US994200

申请日：1992-12-04

申请人： D. W. Repperger ,  W. B. Albery

发明人： D. W. Repperger ,  W. B. Albery

IPC分类号： B64D45/00 ,  G05D1/00 ,  G05D1/08 ,  G06F7/70

CPC分类号： G05D1/0825

摘要： A spatial disorientation detector system capable of warning a pilot of potentially disorienting flight conditions in response to Kalman filter modeling of human response characteristics. The Kalman filter models are representative of human semicircular canal and otolith responses and are capable of more accurate prediction of actual pilot disorientation conditions than are systems which respond with simple magnitude measurement of disorientation stress. Examples of disorienting environments are also disclosed.

摘要翻译： 一种空间定向检测系统，能够响应于人类响应特征的卡尔曼滤波建模，警告潜在的迷失方向飞行条件的飞行员。 卡尔曼滤波器模型是人类半规管和耳石响应的代表，并且能够比对以定向应力的简单幅度测量作出响应的系统更准确地预测实际导频定向条件。 还公开了迷失方向环境的示例。