Auxiliary Telescopic Sleeve Actuator

Abstract

The present invention relates to auxiliary telescoping actuators. Systems and methods for deploying and stowing a refueling telescoping are described. In some examples, deploying the refueling telescoping includes: lowering a refueling telescoping structure using a winch while a refueling telescoping aerodynamic control surfaces are deactivated; determining that a first transition condition is satisfied; switching a winch actuator state mode; and enabling the telescoping aerodynamic control surfaces. In other examples, stowing the refueling telescoping includes: flying the refueling telescoping toward a fuselage; determining that a second transition condition is satisfied; switching a winch actuator state mode; and raising a refueling telescoping structure of the refueling telescoping using a winch.

Description

Technical Field

[0001] The present invention relates to an auxiliary telescoping tube actuator. Background Art

[0002] Some aerial refueling tankers utilize an aerial refueling telescope to perform refueling. When in the stowed position, the refueling telescope is latched to the fuselage of the aircraft. Typically, when the refueling telescope is commanded to deploy, the telescope aerodynamic control surfaces of the refueling telescope generate aerodynamic lift to lift the refueling telescope away from the latch. Then, once the refueling telescope is raised, the latch is opened and the refueling telescope is lowered. The telescope aerodynamic control surfaces then provide aerodynamic control to fly the refueling telescope away from the fuselage. Conversely, when the refueling telescope is commanded to retract, the telescope aerodynamic control surfaces cause the refueling telescope to fly toward the fuselage, the latch is closed, and the refueling telescope is accordingly coupled to the fuselage. Summary of the invention

[0003] Methods and systems for deploying and stowing a refueling telescoping tube are described. In a particular example, the technique includes: lowering a refueling telescoping tube structure of a refueling telescoping tube using a winch while a winch of the refueling telescoping tube is in a second actuator state mode while a telescoping tube pneumatic control surface of the refueling telescoping tube is deactivated; determining that a first transition condition is satisfied; switching the winch from the second actuator state mode to the first actuator state mode; and activating the telescoping tube pneumatic control surface.

[0004] In another example, the technique includes flying the refueling telescoping tube toward a fuselage of an aircraft while a winch of the refueling telescoping tube is in a zero actuator state mode; determining that a second transition condition is satisfied; switching the winch from the zero actuator state mode to a first actuator state mode; and raising a refueling telescoping tube structure of the refueling telescoping tube using the winch.

[0005] Illustrative, non-exclusive examples of inventive features according to the present disclosure are described herein. These and other examples are further described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The present disclosure may be best understood by reference to the following description taken in conjunction with the accompanying drawings which illustrate various examples.

[0007] Figure 1A A vehicle with a refueling telescoping tube is shown according to some examples.

[0008] Figure 1B A side view of a rear portion of a vehicle is shown with a refueling telescoping tube, according to some examples.

[0009] Figure 2A Representations of various states of a refueling bellows are shown according to some examples.

[0010] Figure 2B is a flow chart of a technique for determining a status of a refueling bellows, according to some examples.

[0011] Figure 3 is a flow chart of techniques for utilizing a refueling telescoping sleeve, according to some examples.

[0012] Figure 4 is a flow chart of another technique for utilizing a refueling telescoping sleeve, according to some examples.

[0013] Figure 5 A representation of transitioning between a flight zone and a non-flight zone is shown according to some examples.

[0014] Fig. 6A A flow chart illustrating an example of an aircraft production and service method according to some examples.

[0015] Figure 6B A block diagram showing an example of a vehicle according to some examples. DETAILED DESCRIPTION

[0016] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the concepts presented. The concepts presented may be practiced without some or all of these specific details. In other cases, well-known processing operations are not described in detail to avoid unnecessarily obscuring the concepts described. Although some concepts will be described using specific examples, it will be understood that these examples are not intended to be limiting.

[0017] introduce

[0018] Control techniques for a refueling telescoping are described herein. In some examples, a refueling telescoping structure includes a telescoping pneumatic control surface that is deactivated while a winch is in a second actuator state mode. The refueling telescoping control technique includes: lowering the refueling telescoping structure using a winch while the winch is in the second actuator state mode; determining that a first transition condition is satisfied; switching the winch from the second actuator state mode to the first actuator state mode; and activating the telescoping pneumatic control surface after the winch is in the first actuator state mode.

[0019] In some examples, an aerial refueling aircraft includes an aerial refueling telescope. The aerial refueling telescope is disposed along the fuselage of the aircraft in some examples and is stowed by being latched to the fuselage of the aircraft. In such a configuration, when the refueling telescope is commanded to deploy, a telescope aerodynamic control surface (e.g., a telescope elevator) of the refueling telescope generates aerodynamic lift to lift the refueling telescope off the latch. Then, once the refueling telescope is raised, the latch is opened and the refueling telescope is lowered. The telescope aerodynamic control surface then provides control to fly the refueling telescope off the fuselage. When the refueling telescope is commanded to stow, the telescope aerodynamic control surface causes the refueling telescope to fly toward the fuselage, and the refueling telescope is latched to the fuselage accordingly.

[0020] In some examples, a single command stow and deploy throughout the entire aerial refueling envelope improves availability and is desirable in some applications. However, at low airspeeds, the telescoping aerodynamic control surfaces do not generate enough aerodynamic lift to lift the telescoping tube up over the latch. In the examples described herein, a winch is instead used to lift the telescoping tube off the latch in this region of the flight envelope.

[0021] In some such examples, the techniques described herein are used as a retrofit or update to an existing system. Some existing systems include a winch that was not originally intended for deployment of a refueling telescoping cannula. In some such systems, in order to prevent damage to the various components of the system, it is critical that both the winch actuator (controlling the movement of the winch) and the pneumatic actuator (controlling the movement of the telescoping cannula pneumatic control surfaces) are not active at the same time. The techniques described herein allow for coordination and collaborative efforts between two different actuators (e.g., a winch actuator and an elevator actuator) to allow for single-button stowage and deployment throughout the aerial refueling envelope.

[0022] Figure 1A An example of a vehicle equipped with a refueling telescoping tube is shown in FIG. Figure 1A A vehicle with a refueling telescoping tube is shown according to some examples. Figure 1A The vehicle 100 is shown as a fixed-wing aircraft, but other examples include other structures (eg, helicopters, variable-wing aircraft, short takeoff and landing aircraft, spacecraft, drones, and other such vehicles).

[0023] The vehicle 100 includes a fuselage 120, wings 140, and aircraft propellers 130. Each aircraft propeller 130 is coupled to a respective wing 140. The wing 140 is coupled to the fuselage 120. The vehicle 100 also includes a refueling telescoping tube 110 coupled to a portion of the fuselage 120 (eg, the rear fuselage 120). Figure 1B Further details of refueling telescoping sleeve 110 are shown and described in FIG.

[0024] The refueling telescoping sleeve 110 is controlled by a controller 150. In various examples, the controller 150 includes a memory, a processor, and other logic device components. The controller 150 receives data, performs calculations, and provides outputs (e.g., control instructions) to various other parts of the vehicle 100. The controller 150 is communicatively coupled to the refueling telescoping sleeve 110 via a communication network 154. In some examples, the communication network 154 is any type of wired and / or wireless network that transmits data and / or power between the controller 150. The controller 150 is also coupled to sensors 152 via the communication network 154. The sensors 152 include airspeed, air pressure (e.g., dynamic pressure), altitude, and other such sensors to measure readings associated with the operation of the vehicle 100. In some examples, the sensors 152 also include an additional winch cable break monitor, which is configured to determine whether the cable ( Figure 1B In various examples, the controller 150 is configured to determine parameters and / or cause various systems to perform the operations described herein.

[0025] Example of a refueling telescopic sleeve

[0026] Figure 1B A side view of a rear portion of a vehicle is shown with a refueling telescoping tube, according to some examples. Figure 1B Refueling telescoping tube 110 is shown coupled to fuselage 120. In various examples, refueling telescoping tube 110 is coupled to fuselage 120 and, when in the stowed position, is latched to fuselage 120. In certain examples, refueling telescoping tube 110 is a "flying telescoping tube" configuration of an aerial refueling system.

[0027] Refueling telescoping tube 110 includes a refueling telescoping tube structure 116, a winch 114 coupled to the refueling telescoping tube structure 116, and a telescoping tube aerodynamic control surface 112 coupled to the refueling telescoping tube structure 116. Refueling telescoping tube structure 116 includes a telescoping tube tip 118. Telescoping tube tip 118 is configured to be inserted into a refueling container of an associated aircraft to deliver fuel to the associated aircraft.

[0028] In some examples, the winch 114 is configured to move the refueling telescope structure 116 while the aircraft 100 is on the ground (e.g., landed). The winch 114 includes a cable configured to control the movement of the refueling telescope structure 116. In some examples described herein, the winch 114 is configured to operate in the event that the telescope aerodynamic control surface 112 does not generate sufficient aerodynamic lift to be able to lift and / or control the refueling telescope structure 116. Therefore, the techniques described herein allow the winch 114 to be used to deploy and retract the refueling telescope 110 under operating conditions where the telescope aerodynamic control surface 112 cannot generate sufficient lift or provide sufficient control to deploy or retract the refueling telescope 110. In some examples, the winch 114 includes a cable break monitor to determine whether the cable of the winch 114 is intact.

[0029] The operation of the winch 114 is partially or completely controlled by the winch actuator. The winch actuator operates in one of a plurality of different modes. These modes include, for example, a tension mode, a hoisting mode, and a blocking mode. In the tension mode, the winch actuator is configured to maintain a baseline amount of tension on the cable of the winch 114. In the hoisting mode, the cable of the winch 114 is operated to hoist (e.g., pull upward) the refueling telescoping sleeve structure 116 toward the fuselage 120. In the hoisting mode, the tension applied to the cable of the winch 114 is significantly higher than the tension applied in the tension mode in some cases. In the blocking mode, the refueling telescoping sleeve 110 is in a storage position (e.g., disposed below the fuselage 120). In the blocking mode, the cable of the winch 114 is locked. In various examples, the winch actuator is transformed between different modes by the operation of a clutch.

[0030] Telescoping aerodynamic control surface 112 is coupled to a portion of refueling telescoping structure 116. Telescoping aerodynamic control surface 112 includes one or more wing structures and / or other aerodynamic features configured to generate lift when aircraft 100 is flying at high speeds. In some examples, various portions of telescoping aerodynamic control surface 112 are configured to be manipulated (e.g., pivoted) to provide control over the flight characteristics of refueling telescoping structure 116.

[0031] The operation of telescoping pneumatic control surface 112 is partially or completely controlled by one or more pneumatic actuators. In some examples, telescoping pneumatic control surface 112 includes both an elevator and one or more rudders. In such a configuration, the pneumatic actuators include an elevator actuator that controls the elevator and one or more rudder actuators that control the one or more rudders.

[0032] In various examples, refueling telescoping tube 110 (e.g., refueling telescoping tube structure 116) is configured to rotate within a range of angles. Such angles are referred to herein as telescoping tube pitch angles 166. As described herein, telescoping tube pitch angles 166 are determined from neutral angle 160. In some examples, neutral angle 160 is parallel or otherwise oriented with a centerline of fuselage 120. Figure 1B As described in , the refueling telescoping structure 116 is configured to rotate between an upper angular limit 162 and a lower angular limit 164. In various examples, rotation of the refueling telescoping structure 116 above the neutral angle 160 (e.g., toward the upper angular limit 162, such as when in the storage position) is considered a negative angular rotation, while rotation of the refueling telescoping structure 116 below the neutral angle 160 (e.g., toward the lower angular limit 164, such as when deployed) is considered a positive angular rotation. Figure 1B As shown, when refueling telescoping structure 116 is rotated below neutral angle 160 , telescoping pitch angle 166 is positive.

[0033] Refueling telescopic sleeve operating status

[0034] Figure 2A 1 shows representations of various states of the refueling bellows according to some examples. In various examples, the refueling bellows 110 is configured to operate in a plurality of different operating state modes. The various operating state modes include operating states of various actuators of the refueling bellows 110. For example, Figure 2A , these operating state modes include the zero actuator state mode 206 through the fourth actuator state mode 214. As described herein, the controller 150 is configured to determine the operating state mode.

[0035] Zero actuator state mode 206 through second actuator state mode 210 are part of active mode group 202. Third actuator state mode 212 and fourth actuator state mode 214 are part of passive mode group 204. As described herein, refueling telescope 110 transitions between various actuator state modes based on other conditions. In some examples, these operating conditions allow for a determination of whether conditions allow refueling telescope 110 to operate in a flight zone or a non-flight zone. Figure 5 The flight zone and non-flight zone are further described in.

[0036] Figure 5 A representation of transitioning between a flight zone and a non-flight zone is shown according to some examples. Figure 5A flight zone 502, a non-flight zone 504, and transition conditions 506 and 508 are shown. Flight zone 502 represents conditions suitable for refueling telescope 110 to fly through telescope aerodynamic control surface 112. Non-flight zone 504 represents conditions unsuitable for refueling telescope 110 to fly through telescope aerodynamic control surface 112. Thus, for example, non-flight zone 504 is associated with conditions where telescope aerodynamic control surface 112 lacks sufficient elevator effectiveness to enable refueling telescope 110 to fly (e.g., toward fuselage 120).

[0037] If transition conditions 506 and 508, respectively, are met, then transition between flight zone 502 and non-flight zone 504, or vice versa, is permitted. Various examples include different such conditions. Controller 150 determines whether the condition indicates that aircraft 100 is within flight zone 502, non-flight zone 504, or will transition between these two zones.

[0038] Transition conditions 506 allow refueling telescope 110 to transition from flight zone 502 to non-flight zone 504. In some examples, transition conditions 506 include conditions associated with measured dynamic pressure and / or airspeed, telescope pitch angle 166, and / or a command issued by a user. Transition conditions 508 allow refueling telescope 110 to transition from non-flight zone 504 to flight zone 502. In some examples, transition conditions 506 include conditions associated with measured dynamic pressure and / or airspeed, telescope pitch angle 166, cable velocity of winch 114 (e.g., the speed at which the cable of winch 114 moves), and / or a command issued by a user.

[0039] Thus, for example, transition condition 506 requires a dynamic pressure less than a threshold dynamic pressure and a telescope pitch angle 166 less than a threshold pitch angle, while transition condition 508 requires a dynamic pressure greater than a threshold dynamic pressure, a telescope pitch angle 166 greater than a threshold pitch angle, and a cable velocity less than a threshold cable velocity (e.g., indicating a cable tension less than a threshold tension). These threshold dynamic pressures and threshold pitch angles are application specific (e.g., different based on the platform such as the refueling telescope and / or the aircraft being used), and in some cases, differ between transition condition 506 and transition condition 508.

[0040] The dynamic pressure is determined by one or more pressure sensors of the aircraft 100. The refueling telescoping tube 110 includes one or more sensors to determine the telescoping tube pitch angle 166 and / or the cable velocity. Other examples of the aircraft 100 include other sensors to determine other parameters associated with the flight zone and the non-flight zone.

[0041] In some examples, for transition conditions 506 and 508, the threshold dynamic pressure is in some examples in the slower or slowest portion of the flight envelope, and the threshold pitch angle is in some examples above the aerial refueling envelope. For transition condition 506, the user command includes a command to retract refueling telescoping tube 110. In various examples, transition conditions 506 and 508 include different absolute value ranges or different ranges. In some examples, the user command includes a command to deploy refueling telescoping tube 110.

[0042] Return to reference Figure 2A , zero actuator state mode 206 is the state in which refueling telescope 110 is flying. Thus, in zero actuator state mode 206, telescope aerodynamic control surfaces 112 are active and provide lift for controlling refueling telescope 110. The pitch axis of refueling telescope 110 is controlled by the elevator actuator, while the roll axis of refueling telescope 110 is controlled by one or more rudder actuators. In zero actuator state mode 206, the winch actuator is in tension mode.

[0043] The refueling telescoping tube 110 is permitted to enter the zero actuator state mode 206 (e.g., from the first actuator state mode 208) if it is determined that the following conditions are met: 1) the refueling telescoping tube 110 is within the flight area 502, 2) the winch actuator is in the tension mode, 3) the cable break monitor indicates that the winch cable is intact, and / or 4) a command is issued to fly the refueling telescoping tube 110.

[0044] The first actuator state mode 208 is the state in which the refueling telescoping sleeve 110 transitions between the zero actuator state mode 206 and the second actuator state mode 210. In various examples, the first actuator state mode 208 is a handshake state that handovers pitch control between the winch and the pneumatic actuator (e.g., when transitioning between the zero actuator state mode 206 and the second actuator state mode 210). Therefore, in some examples, while in the first actuator state mode 208, the clutch of the winch 114 is operated to allow transition from the second actuator state mode 210 to the zero actuator state mode 206, and vice versa. The operation of the clutch allows the winch 114 to transition between modes (e.g., between a tension mode, a hoist mode, and / or a blocking mode). In some examples, these modes operate at different levels of cable tension and / or cable velocity, and require operation of the clutch in order to provide the appropriate transmission and / or torque required for operation in these modes.

[0045] In the first actuator state mode 208, the telescoping aerodynamic control surface 112 is inactive and the winch 114 is in tension mode. The pitch and roll axes of the refueling telescoping 110 are controlled by damping the wake behavior rather than by one or more of the elevator actuator, one or more rudder actuators, or the winch actuator.

[0046] The refueling telescope 110 is permitted to enter the first actuator state mode 208 from the zero actuator state mode 206 if the following conditions are met: 1) the refueling telescope 110 is within the non-flight zone 504, 2) no command has been issued to enable the telescope aerodynamic control surface 112 (e.g., the refueling telescope 110 is flying), and / or 3) the cable break monitor indicates that the winch cable is intact. In addition, the refueling telescope 110 is permitted to enter the first actuator state mode 208 from the second actuator state mode 210 if the following conditions are met: 1) the refueling telescope 110 is within the flight zone 502, 2) no command has been issued to retract the refueling telescope 110 or close the latch to retract the refueling telescope 110, and / or the cable break monitor indicates that the winch cable is intact. The refueling telescope 110 is permitted to enter the first actuator state mode 208 from the passive mode group 204 if a command is issued to transition from the passive mode group 204 to the active mode group 202.

[0047] In the second actuator state mode 210, the telescoping aerodynamic control surfaces 112 are inactive and the winch 114 is in the hoist mode. The pitch axis of the refueling telescoping 110 is controlled by the winch actuator, while the roll axis of the refueling telescoping 110 is controlled by the damping wake behavior of the refueling telescoping 110 (e.g., non-active control).

[0048] The refueling telescope 110 is permitted to enter the second actuator state mode 210 from the first actuator state mode 208 if the following conditions are met: 1) the refueling telescope 110 is within the flight area 502, 2) the elevator actuator indicates that it is not valid, and / or 3) a command is issued to the winch 114 to be in the hoist mode or the refueling telescope 110 to transition from the passive mode group 204 to the active mode group 202.

[0049] The third actuator state mode 212 and the fourth actuator state mode 214 are actuator states of the passive mode group 204. The passive mode group 204 is an actuator state for when the refueling telescoping tube 110 is not in use. As described herein, the refueling telescoping tube 110 transitions between the active mode group 202 and the passive mode group 204 depending on whether the refueling telescoping tube 110 is in use. Therefore, when a command is issued to enable the refueling telescoping tube 110 for use, the refueling telescoping tube 110 transitions from the passive mode group 204 to the active mode group 202.

[0050] In the third actuator state mode 212, the telescoping aerodynamic control surfaces 112 are inactive and the winch 114 is in tension mode. The pitch and roll axes of the refueling telescoping 110 are controlled by damping wake behavior and, therefore, are not actively controlled. When in the passive mode group 204, the refueling telescoping 110 enters the third actuator state mode 212 if the following conditions are met: 1) a command is issued to place the refueling telescoping 110 in a drag reduction state, and / or 2) a command is issued to transition the refueling telescoping 110 from the active mode group 202 to the passive mode group 204.

[0051] In the fourth actuator state mode 214, the telescoping aerodynamic control surfaces 112 are inactive and the winch 114 is in the blocking mode. While in the passive mode group 204, the refueling telescoping 110 enters the fourth actuator state mode 214 if the following conditions are met: 1) the refueling telescoping 110 has been in the stowed state for a threshold period of time (e.g., 20 seconds or less) since the refueling telescoping 110 was in the third actuator state mode 212, 2) a command is issued for the refueling telescoping 110 to be in the blocking mode, and / or 3) a command is issued for the refueling telescoping 110 to transition from the active mode group 202 to the passive mode group 204.

[0052] Various techniques for determining an appropriate actuator state mode are described herein. Figure 2B is a flow chart of a technique for determining a status of a refueling bellows, according to some examples. Figure 2B The technique is used to detect the proper actuator state of the refueling bellows 110 while the refueling bellows 110 is in operation.

[0053] In various examples, Figure 2B The technique described in 200 begins by determining the current actuator state in block 230. In block 230, the initial conditions for refueling 110 are determined. Thus, for example, block 230 detects any reset of the actuator state (e.g., from a reset of controller 150), and in response, performs an initialization process to select the appropriate mode and / or actuator state. Additionally, transitions between active mode group 202 and passive mode group 204, or vice versa, are also detected in block 230, and the transitions result in the selection of the appropriate actuator state, such as Figure 2B Described in .

[0054] After determining the initial condition in block 230, a determination is made in block 232 as to whether refueling bellows 110 indicates that it is in a stowed or drag reduction condition. If refueling bellows 110 is in a stowed or drag reduction condition, the technique proceeds to block 234 and selects passive mode group 204. Otherwise, the technique proceeds to block 238 and selects active mode group 202.

[0055] In block 234, it is determined whether the refueling bellows 110 has been reset. If a reset has been performed, then in some examples, the refueling bellows 110 will be selected in the fourth actuator state mode 214. Otherwise, the state of the winch actuator determined in block 236 is used to select the appropriate actuator state. Thus, for example, if the winch 114 is inactive (e.g., in a blocking mode), the refueling bellows 110 is initialized in the fourth actuator state mode 214. Otherwise, in some examples, the refueling bellows 110 is initialized in the third actuator state mode 212.

[0056] If the active mode group 202 is selected in box 232, the flight conditions are determined in box 238. In some examples, these flight conditions include flight zone conditions, winch actuator conditions, elevator actuator conditions, cable break monitor readings, and / or other sensor readings and factors used to determine actuator states. Based on the various readings, the appropriate actuator state is selected. Therefore, if the condition 242 is met (e.g., the winch 114 is in tension mode and / or the cable break monitor indicates that the cable is intact), the zero actuator state mode 206 is selected.

[0057] Otherwise, it is determined that condition 244 is satisfied (e.g., the winch 114 is not in tension mode or the cable break monitor indicates that the cable of the winch 114 is broken) and the technique proceeds to box 240. In box 240, it is determined whether the winch actuator is valid. If the winch actuator is valid, the second actuator state mode 210 is selected. Otherwise, the first actuator state mode 208 is selected.

[0058] Techniques for operating the refueling telescopic sleeve

[0059] Figure 3 is a flow chart of techniques for utilizing a refueling telescoping sleeve, according to some examples. Figure 3 A technique for deploying the refueling telescoping tube from an initial stowed configuration is shown. Figure 3 In block 302 of the present invention, the refueling telescope is initially in the stowed position. In some examples, while in the stowed position, the winch is in a blocking mode and the telescope is latched to the fuselage of the aircraft. Thus, the winch actuator is in a fourth actuator state mode. While in the blocking mode in block 302, a command to deploy the refueling telescope is received.

[0060] After receiving the command, the telescope is lifted off the latch using a winch in block 304. The winch actuator is in the second actuator state mode. The winch then lowers the refueling telescope in block 306 while continuing in the second actuator state mode. In blocks 304 and 306, the telescope aerodynamic control surfaces are not active and the refueling telescope is not in flight.

[0061] While the refueling telescope is being lowered using the winch, it is determined in block 308 whether conditions for transitioning the state mode of the winch are met. In certain examples, these conditions include measuring a dynamic pressure greater than a threshold dynamic pressure (indicating an airspeed greater than a threshold airspeed), determining that the refueling telescope is sufficiently lowered such that the pitch angle of the telescope is greater than a threshold pitch angle, and the cable velocity is less than a threshold cable velocity. Thus, these transition conditions are used to determine whether the refueling telescope is transitioning from a non-flight zone to a flight zone suitable for flight of the refueling telescope.

[0062] If it is determined that the condition is not met, the technique returns to box 306 and the winch continues to lower the refueling telescope. If it is determined that the condition is met, the technique continues to box 310. In box 310, the state mode of the winch actuator is changed. In some examples, the winch actuator is changed to the first actuator state mode and the winch actuator is set to the tension mode. Then, the clutch is operated to change the operation of the winch to allow the refueling telescope to fly (e.g., in some examples, the winch actuator is required to be in the tension mode before the refueling telescope is flown).

[0063] Once the winch is set to the tension mode, the telescope aerodynamic control surface is enabled in box 312. For example, enabling the telescope aerodynamic control surface includes engaging with one or more of the wing and other aerodynamic surfaces of the refueling telescope. When the aerodynamic surfaces are effective, the surfaces generate lift to facilitate flight of the refueling telescope. When the telescope aerodynamic control surface is enabled, the winch actuator is changed from a first actuator state mode to a zero actuator state mode when appropriate conditions are detected. Then, in box 314, the refueling telescope is flown and control of the refueling telescope is performed by the telescope aerodynamic control surface, rather than by the winch.

[0064] Figure 4 is a flow chart of other techniques for utilizing a refueling telescoping sleeve according to some examples. Figure 4 A technique for stowing a refueling telescope from an initially deployed configuration is shown. In block 402, the refueling telescope is deployed. In some examples, the refueling telescope is deployed to provide refueling to other aircraft. When the refueling telescope is deployed, the telescope aerodynamic control surfaces are active to generate lift to control and fly the refueling telescope. In this state of the refueling telescope, a winch is not used to control the refueling telescope.

[0065] In block 404, the refueling telescope is flown toward the fuselage of the aircraft, for example, by aerodynamic lift generated by the telescope aerodynamic control surfaces. In some examples, the refueling telescope is flown toward the fuselage to stow the refueling telescope when the refueling telescope is not in use. While the refueling telescope is in flight, the winch actuator is in a zero actuator state mode.

[0066] While the refueling telescope is flying toward the fuselage, a determination is made in block 406 whether conditions are met to transition the refueling telescope to winch control (e.g., transition to winching the refueling telescope back rather than flying the refueling telescope back toward the fuselage). In some examples, these conditions include measuring a dynamic pressure less than a threshold dynamic pressure (indicating an airspeed less than a threshold airspeed) and / or determining that the refueling telescope has flown toward the fuselage enough that the pitch angle of the telescope is less than a threshold pitch angle. These transition conditions are used to determine whether the refueling telescope is transitioning from a flying zone to a non-flying zone where a winch is required to retract the refueling telescope.

[0067] If it is determined that the condition is not met, the technology returns to block 404 and the refueling telescope continues to fly toward the fuselage through the telescope aerodynamic control surface. If it is determined that the condition is met, the technology continues to blocks 408 and 410.

[0068] In block 408, the telescoping aerodynamic control surface is deactivated. In some examples, deactivation of the telescoping aerodynamic control surface includes deactivating or otherwise changing the configuration of the telescoping aerodynamic control surface so that little or no lift is generated.

[0069] In box 410, the actuator state mode of the winch actuator is changed. In various examples, the actuator state mode is first changed to the first actuator state mode and the winch actuator is set to the tension mode. In certain additional examples, the first actuator state mode is a handshake mode as described herein, and after changing to the first actuator state mode and allowing the clutch of the winch actuator to operate, the actuator state mode is changed to the second actuator state mode and the winch actuator is set to the hoisting mode. In other examples, in box 412, the winch actuator is changed to the second actuator state mode, thereby changing to the hoisting mode.

[0070] In block 412, the refueling telescope is raised using the winch while the winch actuator is in the second actuator state mode and the hoisting mode. The refueling telescope is then raised to the fuselage and stowed close to the fuselage. Once the refueling telescope is indicated to be stowed, the winch is set to the third actuator state mode, and thus in the tension mode. After a threshold period of time, in block 414, the refueling telescope is determined to be stowed and the winch is set to the fourth actuator state mode, and thus in the blocking mode.

[0071] Figure 3 and Figure 4The technology allows the deployment and stowage of the refueling telescope using the winch of the refueling telescope under certain conditions (e.g., at certain airspeeds). As described herein, the winch assists in certain stages of the deployment and stowage of the refueling telescope. When the refueling telescope is fully deployed and operational, the telescope pneumatic control surfaces are used to control the refueling telescope.

[0072] Vehicle Examples

[0073] Although the above disclosed systems, devices, and methods are described with reference to the aircraft and aerospace industries, it will be appreciated that the examples disclosed herein are also applicable to other contexts, such as automotive, railroad, and other mechanical and vehicle contexts. Fig. 6A Aircraft manufacturing and service method 600 is shown and Figure 6B The description, shown in the context of the vehicle 100 , is applicable to these other contexts.

[0074] Fig. 6A A flow chart illustrating an example of a vehicle production and service method according to some examples. In some examples, prior to production, the method 600 includes specification and design 604 of a vehicle 100 (e.g., an aircraft as shown in FIG. 1 ) and material procurement 606. During production, component and subassembly manufacturing 608 and system integration 610 of the vehicle 100 are performed. Thereafter, the vehicle 100 undergoes certification and delivery 612 for entry into service 614. While in use by a customer, routine maintenance and service 616 (e.g., modification, reconfiguration, retrofitting, etc.) is scheduled for the vehicle 100.

[0075] In some examples, the various processes of method 600 are performed or implemented by a system integrator, a third party, and / or an operator (e.g., a customer). For purposes of this specification, a system integrator includes any number of aircraft manufacturers and main system subcontractors; a third party includes any number of sellers, subcontractors, and suppliers; and in some examples, an operator includes an airline, a leasing company, a military entity, a service organization, and the like.

[0076] Figure 6B A block diagram illustrating an example of a vehicle according to some examples. Figure 6B As shown, a vehicle 100 (e.g., an aircraft) produced by method 600 includes an airframe 618 and an interior 622 having a plurality of systems 620. Examples of systems 620 include one or more of a propulsion system 624, an electrical system 626, a hydraulic system 628, and an environmental system 630. In various examples, other systems are also included within vehicle 100. Although an aerospace example is shown, the principles of the embodiments disclosed herein are applicable to other industries, such as the automotive industry.

[0077] Additional Examples

[0078] In addition, this disclosure includes examples according to the following clauses:

[0079] Clause 1. An aircraft 100, the aircraft 100 comprising:

[0080] The refueling telescopic sleeve 110 comprises:

[0081] Refueling telescopic sleeve structure 116;

[0082] winch 114; and

[0083] Telescoping tube pneumatic control surface 112; and

[0084] The controller 150 is configured to cause the refueling telescopic sleeve 110 to perform operations, including:

[0085] While the winch 114 is in the second actuator state mode 210 , lowering 306 the refueling telescoping structure 116 using the winch 114 while the telescoping pneumatic control surface 112 is deactivated;

[0086] Determining 308 that a first transition condition is satisfied;

[0087] Switching 310 the winch 114 from the second actuator state mode 210 to the first actuator state mode 208; and

[0088] The telescoping tube pneumatic control surface 112 is enabled 312 .

[0089] Clause 2. The aircraft 100 of clause 1, wherein the operations further comprise:

[0090] Refueling telescoping tube 110 is flown 314 after telescoping tube aerodynamic control surface 112 is activated 312 .

[0091] Clause 3. The aircraft 100 of clause 2, wherein flying 314 the refueling telescoping tube 110 includes switching the winch 114 to the zero actuator state mode 206 .

[0092] Clause 4. The aircraft 100 of clauses 2-3, wherein refueling telescoping tube 110 is flown 314 based on received user instructions.

[0093] Clause 5. The aircraft 100 of clause 3, wherein switching 310 to first actuator state mode 208 includes operating a clutch of winch 114 to allow transitioning from second actuator state mode 210 to zero actuator state mode 206 .

[0094] Clause 6. The aircraft 100 of clauses 1-5, wherein the first transition condition comprises:

[0095] a telescoping tube pitch angle 166 greater than a first threshold angle; and

[0096] A winch cable velocity that is less than a first threshold velocity.

[0097] Clause 7. The aircraft 100 of clause 6, wherein telescoping tube pitch angle 166 is determined from neutral angle 160 .

[0098] Clause 8. The aircraft 100 of clauses 6-7, wherein the first transition condition further comprises:

[0099] A vehicle dynamic pressure greater than a first threshold dynamic pressure.

[0100] Clause 9. The aircraft 100 according to clause 8, further comprising:

[0101] A dynamic pressure sensor 152 is configured to measure aircraft dynamic pressure.

[0102] Clause 10. The aircraft 100 of clauses 1-9, wherein the operations further comprise:

[0103] Refueling telescoping structure 116 is raised 304 from the stowed position using winch 114 .

[0104] Clause 11. The aircraft 100 of clause 10, wherein in fourth actuator state mode 214 refueling telescoping structure 116 is lifted 304 using winch 114.

[0105] Clause 12. The aircraft 100 of clauses 1-11, wherein the operations are performed while the aircraft 100 is in flight.

[0106] Clause 13. The aircraft 100 of clauses 1-12, wherein the operations further comprise:

[0107] While winch 114 is in zero actuator state mode 206 , flying 404 refueling telescoping tube 110 toward fuselage 120 of aircraft 100 ;

[0108] Determining 406 that a second transition condition is satisfied;

[0109] Switching 410 the winch 114 from the zero actuator state mode 206 to the first actuator state mode 208; and

[0110] The refueling telescoping structure 116 is raised 412 using the winch 114 .

[0111] Clause 14. The aircraft 100 of clause 13, wherein raising 412 the refueling telescoping structure 116 includes switching the winch 114 from the first actuator state mode 208 to the second actuator state mode 210 .

[0112] Clause 15. The aircraft 100 of clause 14, wherein switching 410 to first actuator state mode 208 includes operating a clutch of winch 114 to allow transitioning from zero actuator state mode 206 to second actuator state mode 210 .

[0113] Clause 16. The aircraft 100 of clauses 13-15, wherein the second transition condition comprises a telescoping tube pitch angle 166 that is less than a second threshold angle.

[0114] Clause 17. The aircraft 100 according to clause 16, wherein the first transition condition further comprises:

[0115] A vehicle dynamic pressure that is less than a second threshold dynamic pressure.

[0116] Clause 18. The aircraft 100 of clauses 13-17, wherein the operations further comprise:

[0117] The telescoping tube pneumatic control surface 112 is deactivated 408 .

[0118] Clause 19. The aircraft 100 of clauses 13-18, wherein the operations further comprise:

[0119] The refueling telescoping sleeve 110 is retracted 414.

[0120] Clause 20. The aircraft 100 of clause 19, wherein in fourth actuator state mode 214 refueling telescoping tube 110 is stowed 414 using winch 114 .

[0121] Clause 21. A method comprising the steps of:

[0122] While the winch 114 of the refueling telescoping tube 110 is in the second actuator state mode 210, lowering 306 the refueling telescoping tube structure 116 of the refueling telescoping tube 110 using the winch 114 while the telescoping tube aerodynamic control surface 112 of the refueling telescoping tube 110 is deactivated;

[0123] Determining 308 that a first transition condition is satisfied;

[0124] Switching 310 the winch 114 from the second actuator state mode 210 to the first actuator state mode 208; and

[0125] The telescoping tube pneumatic control surface 112 is enabled 312 .

[0126] Clause 22. The method according to clause 21, further comprising the following steps:

[0127] Refueling telescoping tube 110 is flown 314 after telescoping tube aerodynamic control surface 112 is activated 312 .

[0128] Clause 23. The method of clause 22, wherein flying 314 refueling telescoping tube 110 includes switching winch 114 to zero actuator state mode 206.

[0129] Clause 24. The method of clauses 22-23, wherein refueling telescoping tube 110 is flown 314 based on received user instructions.

[0130] Clause 25. The method of clauses 23-24, wherein the step of switching 310 to the first actuator state mode 208 includes operating a clutch of the winch 114 to allow transitioning from the second actuator state mode 210 to the zero actuator state mode 206 .

[0131] Clause 26. The method according to clauses 21-25, wherein the first transition condition comprises:

[0132] a telescoping tube pitch angle 166 greater than a first threshold angle; and

[0133] A winch cable velocity that is less than a first threshold velocity.

[0134] Clause 27. The method of clause 26, wherein telescoping tube pitch angle 166 is determined from neutral angle 160.

[0135] Clause 28. The method according to clauses 26-27, wherein the first transition condition further comprises:

[0136] A vehicle dynamic pressure greater than a first threshold dynamic pressure.

[0137] Clause 29. The method of clause 28, wherein the aircraft dynamic pressure is measured by a dynamic pressure sensor 152.

[0138] Clause 30. The method according to clauses 21-29, further comprising the following steps:

[0139] The refueling telescoping structure 116 is raised 304 from the stowed position using the winch 114 , wherein the refueling telescoping structure 116 is raised 304 using the winch 114 in the fourth actuator state mode 214 .

[0140] Clause 31. A method comprising the steps of:

[0141] While the winch 114 of the refueling telescope 110 is in the zero actuator state mode 206 , flying 404 the refueling telescope 110 toward the fuselage 120 of the aircraft 100 ;

[0142] Determining 406 that a second transition condition is satisfied;

[0143] Switching 410 the winch 114 from the zero actuator state mode 206 to the first actuator state mode 208; and

[0144] The refueling bellows structure 116 of the refueling bellows 110 is raised 412 using the winch 114 .

[0145] Clause 32. The method of clause 31, wherein the step of raising 412 refueling telescoping structure 116 includes switching winch 114 from first actuator state mode 208 to second actuator state mode 210.

[0146] Clause 33. The method of clause 32, wherein switching 410 to first actuator state mode 208 comprises operating a clutch of winch 114 to allow transition from zero actuator state mode 206 to second actuator state mode 210 .

[0147] Clause 34. The method of clauses 31-33, wherein the second transition condition comprises a telescoping tube pitch angle 166 that is less than a second threshold angle.

[0148] Clause 35. The method of clause 34, wherein the second transition condition further comprises an aircraft dynamic pressure that is less than a second threshold dynamic pressure.

[0149] Clause 36. The method according to clauses 31-35, further comprising the following steps:

[0150] Telescoping aerodynamic control surface 112 of refueling telescoping telescoping 110 is deactivated 408 .

[0151] Clause 37. The method according to clauses 31-36, further comprising the following steps:

[0152] The refueling telescoping sleeve 110 is retracted 414.

[0153] Clause 38. The method of clause 37, wherein refueling telescoping tube 110 is retracted 414 using winch 114 in fourth actuator state mode 214.

[0154] in conclusion

[0155] Although the above concepts have been described in detail for clarity of understanding, it will be apparent that certain changes and modifications may be made within the scope of the appended claims. It should be noted that there are many alternative ways to implement the process, system and device. Therefore, this example should be considered illustrative rather than restrictive.

[0156] This invention was made with government support under Contract No. FA8625-11-C-6600 awarded by the U.S. Department of Defense. The Government has certain rights in this invention.

Claims

1. An aircraft, comprising: A refueling telescopic sleeve, the refueling telescopic sleeve comprising: Refueling telescopic sleeve structure; a winch configured to be controlled by a winch actuator; and Telescoping pneumatic control surfaces; and A controller configured to cause the refueling telescopic sleeve to perform an operation, the operation comprising: lowering the refueling telescoping structure using the winch while the winch is in a second actuator state mode, wherein in the second actuator state mode the telescoping pneumatic control surfaces are deactivated and the winch is in a hoist mode such that the winch actuator is configured to control the pitch axis of the refueling telescoping and the roll axis of the refueling telescoping is controlled by a damped wake behavior of the refueling telescoping; Determining that a first transition condition is satisfied, wherein the first transition condition includes: a telescoping tube pitch angle greater than a first threshold angle; and a winch cable velocity less than a first threshold velocity; switching the winch from the second actuator state mode to a first actuator state mode, wherein in the first actuator state mode the telescoping pneumatic control surfaces are deactivated and the winch is in tension mode such that the pitch and roll axes of the refueling telescoping are controlled by a damped wake behavior of the refueling telescoping; and Activate the telescoping pneumatic control surface.

2. The aircraft according to claim 1, wherein: The operations also include: The refueling telescope is flown after activating the telescope aerodynamic control surfaces.

3. The aircraft according to claim 2, wherein: Flying the refueling telescoping tube includes switching the winch to a zero actuator state mode.

4. The aircraft according to claim 3, wherein: Switching to the first actuator state mode includes operating a clutch of the winch, the clutch configured to allow transitioning from the second actuator state mode to the zero actuator state mode.

5. The aircraft according to claim 1, wherein: The first transition condition also includes: A vehicle dynamic pressure greater than a first threshold dynamic pressure.

6. The aircraft according to claim 1, wherein: The operations also include: The refueling telescopic sleeve structure is lifted from the stowed position using the winch.

7. The aircraft according to claim 1, wherein: The operations are performed while the aircraft is in flight.

8. The aircraft according to claim 1, wherein: The operations also include: while the winch is in a zero actuator state mode, flying the refueling telescoping tube toward a fuselage of the aircraft; Determining that a second transition condition is satisfied; switching the winch from the zero actuator state mode to a first actuator state mode; and The winch is used to lift the refueling telescopic sleeve structure.

9. The aircraft according to claim 8, wherein: Raising the refueling telescoping structure includes switching the winch from the first actuator state mode to a second actuator state mode.

10. The aircraft according to claim 8, wherein: The second transition condition includes the telescoping tube pitch angle being less than a second threshold angle.

11. The aircraft according to claim 10, wherein: The second transition condition also includes: A vehicle dynamic pressure that is less than a second threshold dynamic pressure.

12. The aircraft according to claim 8, wherein: The operations also include: The telescoping pneumatic control surface is deactivated.

13. A method for operating a refueling telescopic sleeve of an aircraft, the method comprising the following steps: lowering a refueling telescope structure of the refueling telescope using the winch while the winch of the refueling telescope is in a second actuator state mode, wherein in the second actuator state mode, the telescope pneumatic control surfaces of the refueling telescope are deactivated and the winch is in a hoist mode such that the winch actuator is configured to control the pitch axis of the refueling telescope and the roll axis of the refueling telescope is controlled by the damped wake behavior of the refueling telescope; Determining that a first transition condition is satisfied, wherein the first transition condition includes: a telescoping tube pitch angle greater than a first threshold angle; and a winch cable velocity less than a first threshold velocity; switching the winch from the second actuator state mode to a first actuator state mode, wherein in the first actuator state mode the telescoping pneumatic control surfaces are deactivated and the winch is in tension mode such that the pitch and roll axes of the refueling telescoping are controlled by a damped wake behavior of the refueling telescoping; and Activate the telescoping pneumatic control surface.

14. The method according to claim 13, further comprising the steps of: The refueling telescope is flown after activating the telescope aerodynamic control surfaces.

15. The method according to claim 14, wherein: Switching to the first actuator state mode includes operating a clutch of the winch, the clutch configured to allow transitioning from the second actuator state mode to a zero actuator state mode.

16. The method according to claim 13, further comprising the steps of: The refueling telescoping structure is raised from a stowed position using the winch, wherein the refueling telescoping structure is raised using the winch in a fourth actuator state mode.

17. A method for operating a refueling telescoping sleeve of an aircraft, the method comprising the following steps: flying the refueling telescope toward a fuselage of the aircraft while a winch of the refueling telescope is in a zero actuator state mode; Determining that a second transition condition is satisfied, wherein the second transition condition includes a telescopic sleeve pitch angle being less than a second threshold angle; switching the winch from the zero actuator state mode to a first actuator state mode, wherein in the first actuator state mode, the telescoping aerodynamic control surfaces of the refueling telescoping are deactivated and the winch is in a tension mode such that the pitch and roll axes of the refueling telescoping are controlled by a damped wake behavior of the refueling telescoping; and The winch is used to lift the refueling telescopic sleeve structure of the refueling telescopic sleeve.

18. The method according to claim 17, wherein: The step of raising the refueling telescoping structure includes switching the winch from the first actuator state mode to a second actuator state mode.

19. The method according to claim 17, further comprising the steps of: The telescoping tube pneumatic control surface of the refueling telescoping tube is deactivated.

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