Aircraft control method for side stick with front wheel cornering function based on side stick authority switch

Abstract

The application provides an aircraft control method for a side stick with a front wheel turning function based on a side stick authority switch, wherein the aircraft control method comprises: the side stick is in a side stick mode from an initial state, and a function of a front wheel turning mode is locked, and then the aircraft runs, when it is detected that the aircraft is on the ground and that a wheel speed of the aircraft is less than a first threshold, the method comprises: the front wheel turning mode of the side stick is activated, and the function of the side stick mode is locked, and then a pressing state of an authority switch of the side stick is detected; and when the aircraft runs, after it is detected that the aircraft is on the ground and that the wheel speed of the aircraft is greater than the first threshold, or when it is detected that the aircraft is not on the ground, the method comprises: the side stick mode of the side stick is activated, and the function of the front wheel turning mode is locked, and then the pressing state of the authority switch of the side stick is detected.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of based on side stick authority switch for the aircraft control method of side stick with front wheel turning function, specifically, it is related to the automatic switching between the front wheel turning mode of side stick and side stick mode in different operating scenarios of aircraft, and different instructions are sent by pressing the authority switch of side stick in different operating scenarios of aircraft, belongs to the design field of manipulator of civil aircraft flight control system. BACKGROUND

[0002] It is the development trend of contemporary civil aircraft to realize the control of aircraft pitch and roll attitude by side stick. The traditional civil aircraft uses front wheel turning hand wheel and side stick as the hand manipulation input of the pilot (or operator), respectively, and uses foot pedal as the foot input. The mechanical manipulation of the pilot is converted into electrical signal by displacement sensor and output to the corresponding aircraft onboard computer to realize the turning control of the aircraft on the ground and the attitude control in flight.

[0003] At present, the conventional front wheel landing gear turning hand wheel and side stick are used on civil aircraft, and the control logic is as follows:

[0004] Front wheel turning hand wheel: when the pilot turns the turning hand wheel, the position sensor in the hand wheel sends a turning control signal to the brake system control assembly to control the turning of the aircraft. In addition, the pilot can also step on the foot pedal to send a control signal for front wheel turning.

[0005] Side stick: when the pilot manipulates the side stick, the position sensor in the side stick sends a pitch / roll signal to the flight control computer to control the pitch / roll attitude of the aircraft.

[0006] However, the conventional front wheel turning hand wheel and side stick assembly arranged separately has the following disadvantages:

[0007] a) Usually divided into two devices, heavy in weight, and occupies much space. Due to the limited space on the side control console, it is difficult to find the optimal arrangement point for the side stick, front wheel turning hand wheel and side display, which may cause discomfort or interference to the pilot's manipulation;

[0008] b) During the sliding and take-off sliding process of the aircraft, the pilot needs to move his hand from the hand wheel to the side stick for flight control, which brings inconvenience to the pilot's manipulation;

[0009] c) The conventional wheel turning hand wheel and side stick respectively convert the mechanical manipulation of the pilot into electrical signal by displacement sensor inside the respective device, and output to the corresponding computer to realize the turning control of the aircraft on the ground and the attitude control in flight. This control method cannot meet the control requirements of the integrated side stick with front wheel turning function.

[0010] Considering that the design features of the conventional front wheel steering handwheel and the conventional split layout of the side stick are not fully satisfactory, a control system for controlling an aircraft is proposed by BAE Systems plc.

[0011] The control system features a new control scheme based on the conventional passive side stick. Specifically, when the aircraft is in flight, the side stick pitch axis controls the aircraft pitch, and the side stick roll axis controls the aircraft roll; when the aircraft is on the ground, the side stick pitch axis controls the aircraft brakes, and the side stick roll axis controls the aircraft front wheel steering.

[0012] However, this integrated control mode is inconsistent with the conventional driving operation habits, making the driver uncomfortable or causing misoperation, resulting in safety risks for the aircraft.

[0013] Currently, the inventor's prior application (application number 202111576724.7) proposes an aircraft control device integrating front wheel steering function and side stick function, comprising: a support seat, a side stick control part, a steering control part, a locking device, and an actuator, wherein in the locked state, the steering control part cannot be pivoted relative to the side stick control part, so that the aircraft control device is in side stick mode, and in the released state, the steering control part can be pivoted relative to the side stick control part around the vertical axis Z, and the aircraft control device is in front wheel steering mode. This can save installation space and facilitate the pilot's operation, improve the efficiency of the operation, and improve the reliability of the operation.

[0014] The inventor's another prior application (application number 202111576292.X) proposes an aircraft control system, comprising: an aircraft state sensor, a processing system, and an aircraft control device as described above, wherein the processing system sends a locking control instruction to the locking device based on the state of the aircraft and the switch signal to control the operation of the locking device. This control system can improve the reliability of the aircraft control device.

[0015] However, based on the feedback of the actual driving of the aircraft by the pilot, it is hoped that on the basis of the aircraft control device of the above-mentioned application, different application scenarios are further added to allow the aircraft to automatically switch between the side stick mode and the front wheel steering mode, and when the aircraft needs to be manually controlled, different control instructions can be conveniently issued to the aircraft according to different operating scenarios.

[0016] Therefore, there is still a need to further improve the function switching logic and function inhibition logic of the existing aircraft side stick and the application scenarios of the authority switch of the side stick. SUMMARY

[0017] In view of the above problems of the prior art, based on the aircraft control device and the aircraft control system disclosed in the application, the present application provides an aircraft control method, which includes switching between the front wheel turning function of the side stick and the side stick function (pitching and rolling), and outputting different side stick authority switch signals when the side stick authority switch is pressed based on the flight state of the aircraft, so as to meet the driving control requirements of the pilot in different operation scenarios.

[0018] To solve the above problems, the present application provides

[0019] An aircraft control method for a side stick with a front wheel turning function based on a side stick authority switch, wherein the aircraft control method includes: the side stick is in a side stick mode from an initial state, and the function of the front wheel turning mode is locked, then the aircraft starts to operate, when it is detected that the aircraft is on the ground and the wheel speed of the aircraft is less than a first threshold, the front wheel turning mode of the side stick is activated, and the function of the side stick mode is locked, then the pressing state of the authority switch of the side stick is detected; and when the aircraft operates, if it is detected that the aircraft is on the ground and the wheel speed of the aircraft is greater than the first threshold, or if it is detected that the aircraft is not on the ground, the side stick mode of the side stick is activated, and the function of the front wheel turning mode is locked, then the pressing state of the authority switch of the side stick is detected.

[0020] According to an aspect of the present application, during the period when the side stick activates the front wheel turning mode, when it is detected that the authority switch of the side stick is in a release relaxed state, the side stick front wheel turning signal and the footrest front wheel turning signal of the aircraft are maintained, and the first signal for the front wheel turning is the side stick front wheel turning signal and the footrest front wheel turning signal.

[0021] According to an aspect of the present application, during the period when the side stick activates the front wheel turning mode, when it is detected that the authority switch of the side stick is pressed and in a pressing activated state, the side stick front wheel turning signal is maintained and the footrest front wheel turning signal is cut off, and the first signal for the front wheel turning is the side stick front wheel turning signal.

[0022] According to an aspect of the present application, during the period when the side stick activates the front wheel turning mode, the first signal for the front wheel turning is divided into two paths, one of which is input into the flight control computer of the aircraft through the actuator control electronic device, and the other of which is directly input into the landing gear control computer of the aircraft.

[0023] According to an aspect of the present application, during the period when the side stick activates the side stick mode, when it is detected that the authority switch of the side stick is in a release relaxed state, the existing side stick priority state is maintained.

[0024] According to one aspect of the present application, during the side stick activated side stick mode, if the aircraft is not in the auto flight mode, upon detecting that the authority switch of the side stick is pressed and in the pressed activated state, the side stick priority of the side stick is activated, allowing the commands issued by the side stick to be superior to the side stick of the other cockpit.

[0025] According to one aspect of the present application, during the side stick activated side stick mode, if the aircraft is already in the auto flight mode, upon detecting that the authority switch of the side stick is pressed and in the pressed activated state, the auto flight mode is disconnected, allowing the pilot to intervene in the manual control.

[0026] According to one aspect of the present application, during the side stick activated side stick mode, the switch signal for activating the side stick priority of the side stick or the switch signal for disconnecting the auto flight mode is input into the flight control computer of the aircraft through different actuator control electronics.

[0027] The control method of the present application has the advantage that, based on the operating state of the aircraft, the side stick mode and the nose wheel turning mode of the side stick can be automatically switched; and under the corresponding specific conditions, the authority switch of the side stick can output different switch control instructions:

[0028] 1) When the aircraft is on the ground (satisfying conditions including but not limited to wheel load, wheel speed, height, etc.) and the wheel speed is less than a threshold value V0, the control instruction output after pressing the authority switch is to temporarily cut off the rudder nose wheel turning signal;

[0029] 2) When the aircraft is on the ground (satisfying conditions including but not limited to wheel load, wheel speed, height, etc.) and the wheel speed is greater than the threshold value V0 or the aircraft is in the air but not in the auto flight, the control instruction output after pressing the authority switch is the side stick priority control;

[0030] 3) When the aircraft is in the auto flight state, the control instruction output after pressing the authority switch is to disconnect the auto flight.

[0031] The control method of the present application based on the operating state of the aircraft meets the actual needs of the pilot, and the side stick authority switch is existing, without the need to add additional instruction switches. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to describe the manner in which the above-recited and other features and advantages of the present application can be obtained, a more particular description of the application briefly described above will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Understanding that these drawings depict only example embodiments of the application and are not therefore to be considered to be limiting of its scope, the application will be described and explained with additional specificity and detail by the use of the accompanying drawings in which:

[0033] Figure 1is a flow chart of an aircraft control method for a side stick according to a preferred embodiment of the present application;

[0034] Figure 2 is a schematic diagram of an electrical interface of an aircraft according to a preferred embodiment of the present application. DETAILED DESCRIPTION

[0035] The present application will be further described with reference to the accompanying drawings, in which specific embodiments are shown. More specific details are set forth in the following description in order to provide a thorough understanding of the application. However, the application will be understood to be not limited to the specific embodiments described, but will be applied to any alternative embodiments, constructions, and equivalents thereof.

[0036] The aircraft generally comprises flight status sensors, an aircraft on-board processing system, and an aircraft control device.

[0037] The flight status sensors are configured to sense information about the aircraft's ground speed, wheel rotational speed, distance from the ground, etc., and send corresponding signals to the aircraft on-board processing system.

[0038] The aircraft on-board processing system determines whether the aircraft is in a flight state or a ground state based on the signals from the flight status sensors, wherein the aircraft on-board processing system preferably comprises a flight control computer and a landing gear control computer. The flight control computer is configured to control the attitude of the aircraft, such as the pitch and roll attitude of the aircraft, when the aircraft is in flight. The landing gear control computer is configured to control the landing gear of the aircraft, such as the turning function of the front landing gear wheels, when the aircraft is taxiing on the ground.

[0039] The aircraft control device is, for example, a side stick of the present application, wherein the primary and secondary pilots of the present application each have their corresponding aircraft control side stick.

[0040] Figure 1 is a flow chart of an aircraft control method 100 for a side stick according to a preferred embodiment of the present application.

[0041] In this method, first, from an initial state 101, the side stick is in a "side stick mode", as shown in step 103, wherein the side stick is only allowed to perform its side stick mode function, i.e. the rotation of the pitch and roll axes of the side stick is allowed, so that the pilot can control the pitch and roll attitude of the aircraft via the side stick, while the "front wheel turning mode" function of the side stick is locked, i.e. the rotation of the turning axis of the side stick is locked.

[0042] Subsequently, the aircraft starts running, and enters step 105, in which the flight control computer monitors the flight status of the aircraft in real time when the aircraft is running.

[0043] The method 100 then proceeds to step 107, where the flight control computer determines, by means of the aforementioned signals from the aircraft state sensors, whether the aircraft is on the ground, i.e. whether the aircraft is in a ground taxiing state or in a ground running state.

[0044] If the result of the determination at step 107 is "yes", the method 100 proceeds to step 109, where it is further determined whether the aircraft wheel speed is less than a predetermined threshold value V0.

[0045] If the result of the determination at step 109 is "yes", the aircraft speed is low, i.e. the aircraft is in a low speed phase of the ground taxiing state, and the method 100 proceeds to step 111.

[0046] The method 100 enters a first application scenario at step 111, which comprises activating the side stick front wheel turning mode and locking the side stick mode, i.e. allowing rotation of the turning axis of the side stick and locking rotation of the pitch and roll axes of the side stick. At this time, the pilot is able to control the turning of the nose landing gear wheels using the side stick front wheel turning mode and is also able to control the synchronized turning of the main landing gear steerable wheels.

[0047] In a preferred embodiment, the method 100 further proceeds to step 113, where the flight control computer monitors the pressing state of the authority switch of each side stick in real time.

[0048] The method 100 determines at step 115 whether the authority switch of each side stick is in a pressed activated state, i.e. whether the pilot has pressed the authority button of the corresponding side stick.

[0049] If the result of the determination at step 115 is "yes", i.e. during the activation of the side stick front wheel turning mode, when it is detected that the authority switch of the side stick is pressed and is in a pressed activated state, it means that the pilot desires to maintain the side stick front wheel turning signal and to interrupt the rudder front wheel turning signal of the rudder pedal so as to prevent the misoperation of the aircraft turning direction when the rudder pedal is stepped on. The method 100 then proceeds to step 117, where the authority switch of the side stick sends a switch signal to cut off the rudder front wheel turning signal.

[0050] In a preferred embodiment, cutting off the rudder front wheel turning signal means that only the side stick front wheel turning signal of the aircraft is maintained, i.e. the signal for front wheel turning is the side stick front wheel turning signal. Subsequently, the signal for front wheel turning is sent to the front wheel turning position sensor group at step 121 and to the landing gear control computer at step 123.

[0051] If the result of the judgment at step 115 is "No", i.e. during the side stick activated front wheel turning mode, the authority switch of the side stick is detected in the released relaxed state, which means that the pilot expects to maintain the side stick front wheel turning signal and the rudder front wheel turning signal, or after pressing the authority switch, the pilot expects to restore the rudder front wheel turning signal. Then the method 100 proceeds to step 119 to maintain the rudder front wheel turning signal.

[0052] In the preferred embodiment, maintaining the rudder front wheel turning signal means simultaneously maintaining the side stick front wheel turning signal and the rudder front wheel turning signal of the aircraft, i.e. the signal for front wheel turning is the joint action of the side stick front wheel turning signal and the rudder front wheel turning signal. Subsequently, the signal for front wheel turning is sent to the front wheel turning position sensor group at step 121 and to the landing gear control computer at step 123.

[0053] In the preferred embodiment, during the period when each side stick activates its front wheel turning mode, the first signal for front wheel turning is split into two, one of which is input into the flight control computer of the aircraft through the actuator control electronics, and the other is directly input into the landing gear control computer of the aircraft, which can further correct, calculate and process the signal under the contrast signal, which can improve safety and better realize the control of the front wheel turning function.

[0054] Subsequently, the method 100 proceeds to step 143, the state of the aircraft changes accordingly in response to the control instructions of the landing gear control computer and the aircraft control computer.

[0055] Now back to steps 107 and 109. If the result of the judgment at step 107 is "No", or if the result of the judgment at step 109 is "No", the method 100 proceeds to step 125.

[0056] Wherein, the result of the judgment at step 107 is "No", which means that the aircraft has entered the flight phase; the result of the judgment at step 109 is "No", which means that the speed of the aircraft is higher than the threshold speed V0, i.e. the flight is in the high-speed phase of preparing for take-off.

[0057] The method 100 enters a second application scenario at step 125, which includes activating the side stick mode of the side stick and locking the function of the front wheel turning mode, at this time, the pilot can control the pitch attitude and roll attitude of the aircraft using the side stick mode of the side stick.

[0058] In the preferred embodiment, the method 100 further proceeds to step 127, the flight control computer monitors the pressing state of the authority switch of each side stick in real time.

[0059] The method 100 determines at step 129 whether the authority switch of the respective side stick is in a pressed active state, i.e. whether the pilot has pressed the authority button of its corresponding side stick.

[0060] If the result of the determination at step 129 is "yes", the method 100 further determines at step 131 whether the aircraft is in an auto flight mode.

[0061] If the result of the determination at step 131 is "yes", i.e. the aircraft is already in an auto flight mode during the side stick activated side stick mode, the detection of the pressed active state of the authority switch of the side stick means that the pilot desires to disengage the auto flight mode and to intervene in the manual control, the method 100 proceeds to step 133, wherein the authority switch of the side stick issues a switch signal to disengage the auto flight mode.

[0062] In a preferred embodiment, the switch signal to disengage the auto flight mode is transmitted at step 139 to the pitch / roll position sensor group and at step 141 to the flight control computer.

[0063] If the result of the determination at step 131 is "no", i.e. the aircraft is not in an auto flight mode during the side stick activated side stick mode, the detection of the pressed active state of the authority switch of the side stick means that the pilot desires that the commands issued by its side stick have priority over the commands issued by the side stick of the other pilot seat, the method 100 proceeds to step 135, wherein the authority switch of the side stick issues a switch signal to activate the side stick priority of this side stick.

[0064] In a preferred embodiment, the switch signal to activate the side stick priority is transmitted at step 139 to the pitch / roll position sensor group and at step 141 to the flight control computer.

[0065] Now returning to step 129, if the result of the determination at step 129 is "no", i.e. the authority switch of the side stick is detected in a released relaxed state during the side stick activated side stick mode, it means that the pilot desires to maintain the status of the existing side stick priority. The method 100 proceeds to step 137, wherein the switch signal to maintain the existing side stick priority is still maintained.

[0066] In a preferred embodiment, the switch signal to maintain the existing side stick priority is transmitted at step 139 to the pitch / roll position sensor group and at step 141 to the flight control computer.

[0067] Subsequently, the method 100 proceeds to step 143, wherein the status of the aircraft is changed in correspondence with the control commands of the landing gear control computer and the flight control computer.

[0068] Figure 2A schematic diagram of the electrical interface of the aircraft of the preferred embodiment of the application is shown schematically. In the preferred embodiment, the aircraft has a corresponding side stick at the main and co-pilot positions.

[0069] In the preferred embodiment, during the activation of the front wheel turn mode by the respective side stick, in the preferred embodiment, the first signal for the front wheel turn is split, with one signal being input through the actuator control electronics (ACE) into the flight control computer (i.e. flight control module, FCM) of the aircraft and the other signal being input directly into the landing gear control computer of the aircraft. Preferably, as shown in Figure 2 The control system of the application has four actuator control electronics and three flight control modules.

[0070] In the preferred embodiment, during the activation of the side stick mode by the side stick, the switch signal for activating the side stick priority of the side stick or the switch signal for disengaging the auto flight mode is input through different actuator control electronics into the flight control computer of the aircraft.

[0071] While various embodiments have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that the disclosed subject matter can be implemented in other specific forms without departing from the spirit and essential characteristics of the subject matter.

[0072] The present disclosure also includes various modifications and alterations of various embodiments. In addition, various combinations, permutations, and further combinations, permutations, and further combinations of the above-described embodiments are also within the scope of the disclosure, and the spirit and scope of the disclosure.

[0073] Therefore, the above-described embodiments are to be considered in all respects as illustrative and not restrictive, and the scope of the application should be given the broadest interpretation of the appended claims to practice the application in connection with any other closely related subject matter.

Claims

1. An aircraft control method for a side stick with front wheel turn function based on a side stick authority switch, characterized in that, The aircraft control method comprises: The side stick starts in a side stick mode from an initial state and locks the function of the front wheel steering mode, and then the aircraft starts running, When the aircraft is running, upon detecting that the aircraft is on the ground and the speed of the wheels of the aircraft is less than a first threshold, the front wheel steering mode of the side stick is activated and the function of the side stick mode is locked, and then the pressing state of the authority switch of the side stick is detected; and When the aircraft is running, upon detecting that the aircraft is on the ground and the speed of the wheels of the aircraft is greater than the first threshold, or upon detecting that the aircraft is not on the ground, the side stick mode of the side stick is activated and the function of the front wheel steering mode is locked, and then the pressing state of the authority switch of the side stick is detected, Wherein, during the period when the side stick activates the front wheel steering mode, upon detecting that the authority switch of the side stick is in a release relaxed state, the side stick front wheel steering signal and the footrest front wheel steering signal of the aircraft are maintained, and the first signal for front wheel steering is the side stick front wheel steering signal and the footrest front wheel steering signal.

2. The aircraft control method according to claim 1, wherein, during the period when the side stick activates the front wheel steering mode, upon detecting that the authority switch of the side stick is pressed and in a pressing activated state, the side stick front wheel steering signal is maintained and the footrest front wheel steering signal is cut off, and the first signal for front wheel steering is the side stick front wheel steering signal.

3. The aircraft control method according to claim 2, wherein, during the period when the side stick activates the front wheel steering mode, the first signal for front wheel steering is split into two paths, one of which is input into the flight control computer of the aircraft through the actuator control electronics, and the other of which is directly input into the landing gear control computer of the aircraft.

4. The aircraft control method according to claim 1, wherein, during the period when the side stick activates the side stick mode, upon detecting that the authority switch of the side stick is in a release relaxed state, the existing side stick priority state is maintained.

5. The aircraft control method according to claim 4, wherein, during the period when the side stick activates the side stick mode, if the aircraft is not in an automatic flight mode, upon detecting that the authority switch of the side stick is pressed and in a pressing activated state, the side stick priority of the side stick is activated, allowing the command issued by the side stick to be superior to that of the side stick of another cockpit.

6. The aircraft control method according to claim 5, wherein, during the period when the side stick activates the side stick mode, if the aircraft is already in an automatic flight mode, upon detecting that the authority switch of the side stick is pressed and in a pressing activated state, the automatic flight mode is disconnected, allowing the pilot to intervene in manual control.

7. The aircraft control method according to claim 6, wherein, During the activation of the side stick mode by the side stick, a switch signal activating a side stick priority of the side stick or a switch signal deactivating the auto flight mode is inputted into a flight control computer of the aircraft by different actuator control electronics.

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