Aircraft with pitch management system and method for correcting the pitch of an aircraft

Abstract

Aircraft with pitch management system and method for correcting the pitch of an aircraft [Aircraft 1 comprising at least one pair of wings 2, at least one horizontal thruster 3, an elevator 10 blown by at least one of the horizontal thrusters 3 and a control system arranged to receive piloting instructions and thrust data, and to generate downstream commands to the horizontal thruster 3 and to the elevator 10, the control system comprising a control member arranged to convert the piloting instructions into upstream control instructions, a pitch sensor arranged to determine data representative of the pitch of the aircraft 1, a speed data input of the aircraft 1, and a computer arranged to receive the upstream control instructions, the data representative of the pitch and the speed data, the computer being arranged to generate downstream pitch commands to the elevator 10,the computer being arranged to determine pitch correction components for the downstream controls of the elevator.,

Description

Title of the invention: Aircraft with pitch management system and method for correcting the pitch of an aircraft

[0001] The invention relates to the field of aircraft, in particular vertical take-off aircraft, more particularly the field of electrically powered aircraft.

[0002] The field of aeronautics is currently undergoing many upheavals, partly related to the evolution of environmental requirements, and partly related to the development of electrically powered aircraft. In particular, the field of VTOL (Vertical Take-Off and Landing) is particularly dynamic because it offers very interesting prospects as a new means of mobility.

[0003] The field of VTOLs is itself quite old (VTOLs were developed as early as 1921), but their electrification has led to an explosion of new solutions being proposed, including VTOLs with a hybrid energy source. An example of a VTOL is described in FR 3134562. The advantages of this electric propulsion system include increased efficiency, reduced emissions and greater flexibility in power management.

[0004] VTOLs include horizontal propulsion for the flight phase and vertical propulsion for the takeoff and landing phases. Horizontal and vertical propulsion are provided by thrusters, particularly electric ones.

[0005] VTOLs are sensitive to aerodynamic torques that cause the VTOL to pitch. Unintended pitch movements are the source of various problems, including unwanted trajectory changes. There are therefore different methods of pitch correction.

[0006] On conventional aircraft, pitch is corrected by changing the orientation of at least one elevator generally mounted at the rear of the aircraft.

[0007] On some VTOLs, there are pitch correction systems using thrusters inclined at different inclinations or tilting to generate a pitch correction torque. The different inclinations generate a loss of power. The tilting thrusters are heavy.

[0008] The Applicant sought to correct the unwanted pitching of VTOLs by retaining mechanical propulsion and orientation components dedicated to these effects.

[0009] The invention improves the situation. To this end, it proposes an aircraft comprising at least one pair of wings, at least one horizontal thruster, a depth control surface blown by at least one of the horizontal thrusters and a control system arranged to receive piloting instructions and data thrust, and generate downstream commands to the horizontal thruster and the elevator. The control system comprises a controller arranged to convert the piloting instructions into upstream control commands, a pitch sensor arranged to determine data representative of the pitch of the aircraft, an aircraft speed data input, and a computer arranged to receive the upstream control commands, the data representative of the pitch and the speed data, the computer being arranged to generate downstream pitch commands to the elevator, the computer being arranged to determine pitch correction components for the downstream commands of the elevator.

[0010] In one embodiment, the aircraft further comprises vertical thrusters disposed in the wings, said vertical thrusters being configured to generate vertical thrust, the control system being arranged to further generate downstream commands to the vertical thrusters, and the computer being arranged to generate downstream vertical propulsion commands to the vertical thrusters and to further determine pitch correction components and roll correction components for at least one downstream vertical propulsion command. The available power of the vertical thrusters may be used.

[0011] In one embodiment, the computer is arranged to determine a pitch correction torque, and to allocate a portion of the pitch correction torque to the pitch correction components of the vertical thrusters and a portion of the pitch correction torque to the pitch correction components of the elevator, the allocation depending on a threshold varying according to the flight conditions, the saturation of the vertical thrusters, a maximum orientation of the elevator and a current power of the horizontal thrusters. The pitch correction is robust, the elevator being able to be actuated in the event of saturation of the vertical thrusters.

[0012] In one embodiment, the aircraft comprises at least three horizontal thrusters and ailerons blown by at least horizontal thrusters, the control system being arranged to generate downstream commands to the ailerons, the control system further comprising a roll sensor arranged to determine data representative of the roll of the aircraft, the computer being arranged to generate the downstream roll commands to the ailerons and to determine roll correction components for the downstream roll commands. The roll can be corrected dynamically.

[0013] In one embodiment, the computer is arranged to determine a roll correction torque and to allocate a portion of the roll correction torque to the roll correction components of the vertical thrusters and a portion of the Roll correction torque to the aileron roll correction components, the allocation depending on a threshold varying according to flight conditions, vertical thruster saturation, maximum aileron orientation and current horizontal thruster power. Roll correction is robust, with the ailerons being able to be actuated in the event of vertical thruster saturation.

[0014] In one embodiment, the aircraft comprises a yaw control surface blown by at least one of the horizontal thrusters, the control system being arranged to generate downstream commands to the yaw control surface, the control system further comprising a yaw sensor arranged to determine data representative of the yaw of the aircraft, the computer being arranged to generate both the downstream yaw commands to the yaw control surface and to determine yaw correction components for the downstream yaw commands. The yaw correction has great flexibility.

[0015] In one embodiment, the computer comprises a corrector arranged to determine the pitch correction torque, the roll correction torque and the yaw correction torque as a function of the state data and the angular data matrix. The dynamic correction is improved.

[0016] In one embodiment, the computer is arranged to determine a yaw correction torque, and to allocate a portion of the yaw correction torque to the yaw correction components of the vertical thrusters and a portion of the yaw correction torque to the yaw correction components of the yaw control surface, the allocation depending on a threshold varying according to the flight conditions, the saturation of the vertical thrusters, a maximum orientation of the yaw control surface and a current power of the horizontal thrusters. The yaw correction is robust, the control surface being able to be actuated in the event of saturation of the vertical thrusters.

[0017] In one embodiment, the computer is arranged to determine an angular data matrix from the upstream control instructions.

[0018] In one embodiment, the computer is arranged to determine the downstream commands of the vertical thrusters differentiated for each of the vertical thrusters. The vertical thrusters furthest from the roll or pitch axis can be used as a priority for the correction of the roll or pitch.

[0019] In one embodiment, the control system includes coupled control of the horizontal thruster, vertical thrusters of the yaw control surface, ailerons and elevator based on the pitch representative data, the roll representative data, the yaw representative data, the speed data and the vertical speed data so as to correct for pitch, roll and yaw induced moments. The corrections are coordinated.

[0020] In one embodiment, the computer is arranged to generate downstream horizontal propulsion commands to the horizontal thruster.

[0021] In one embodiment, a method for correcting the pitch of an aircraft comprises receiving piloting instructions, converting the piloting instructions into upstream control instructions, receiving data representative of the pitch, converting the pitch correction torque into downstream control instructions for the elevator, determining downstream control instructions for the elevator, and providing the downstream control instructions for the elevator to the elevator. Unintentional pitching is corrected dynamically.

[0022] In one embodiment, a computer program comprises instructions to implement the device or to execute the method 2 when said computer program is executed on a computer.

[0023] In one embodiment, a data storage medium is provided on which the computer program is recorded.

[0024] Other characteristics and advantages of the invention will appear more clearly on reading the following description, taken from examples given for illustrative and non-limiting purposes, taken from the drawings in which:

[0025] [Fig-1] is a perspective view of a VTOL according to one embodiment of the invention.

[0026] [Fig.2] is a block diagram of the control system according to one embodiment of the invention.

[0027] [Fig.3] is a block diagram of the computer according to another embodiment of the invention.

[0028] [Fig.4] is a block diagram of the computer according to another embodiment of the invention.

[0029] [Fig.5] is a process diagram according to one embodiment of the invention.

[0030] The following drawings and description contain, for the most part, elements of certain character. They may therefore not only serve to better understand the present invention, but also contribute to its definition, where appropriate.

[0031] As illustrated in [Fig.l], an aircraft 1 according to one aspect of the invention comprises at least one pair of wings 2, here two pairs of wings 2. The aircraft 1 comprises a fuselage, a pair of front wings 2 and a pair of rear wings 2. Alternatively, a flying wing is provided. Alternatively, the aircraft 1 is a conventional aircraft comprising a pair of wings 2.

[0032] The aircraft 1 comprises horizontal propulsion.

[0033] The horizontal propulsion is carried out by at least one horizontal thruster 3, in particular an engine equipped with a propeller. Here, the aircraft 1 comprises six horizontal thrusters 3, one mounted in the forward position on the nose of the aircraft 1, another mounted in the high position of the aircraft 1, two mounted on the front wings 2 and two mounted on the rear wings 2. Alternatively, the front wings 2 are without horizontal thrusters. Alternatively, the rear wings 2 are without horizontal thrusters.

[0034] The aircraft 1 may comprise vertical propulsion. The vertical propulsion is achieved by a plurality of vertical thrusters 5. The vertical thrusters 5 each comprise a rotor driven by a motor. The vertical thrusters 5 have a fixed rotor axis.

[0035] The vertical thrusters 5 are designed to generate vertical thrust, primarily to enable the aircraft 1 to take off and land. Here, the vertical thrusters 5 are located in at least a portion of the wings 2 of the aircraft 1. The vertical thrusters 5 may also be located on or under other portions of the aircraft 1, including the fuselage.

[0036] Here, the horizontal thrusters 3 and the vertical thrusters 5 are electric. Alternatively, the horizontal thrusters 3 are thermal.

[0037] An orthogonal reference frame makes it possible to define the movements of the aircraft 1. The orthogonal reference frame comprises a vertical Z axis, an X axis along a direction of movement of the aircraft 1 during its flight phase and a Y axis, orthogonal to the X and Z axes. The orthogonal reference frame comprises the XY, XZ and YZ planes.

[0038] The aircraft 1 pivots in three rotational movements. A rotation of the aircraft 1 along the X axis is called roll. A rotation of the aircraft 1 along the Y axis is called pitch. A rotation of the aircraft 1 along the Z axis is called yaw. Pitch allows the longitudinal attitude of the aircraft 1 to be modified. Yaw and roll allow the aircraft 1 to turn relative to its initial flight direction, namely the X axis. Yaw, roll and pitch may be desired by a pilot. Yaw, roll and pitch may also be experienced by the aircraft 1.

[0039] The aircraft 1 comprises at least one elevator 10 whose orientation allows the aircraft 1 to pitch. The elevator 10 is pivotally mounted relative to a fin to form a mobile stabilizer or relative to a stabilizer rigidly fixed to the top of the fin. The elevator 10 is blown. At least one of the horizontal thrusters 3 is capable of generating an airflow around the elevator 10. The elevator 10 may comprise several parts on either side of the longitudinal axis. In other words, the elevator 10 may comprise an upstream portion articulated on a frame of the aircraft 1 and a downstream portion articulated on the upstream portion.

[0040] Thus, the airflow around the elevator 10 comprises the airflow linked to the movement of the aircraft 1 and the airflow generated by the horizontal thruster 3. The orientation of the elevator 10 allows to perform a pitching movement of the aircraft 1. When the orientation of the elevator 10 changes, a depression is created on one side of the elevator 10 and an overpressure is created on the other side of the elevator 10. An aerodynamic pitching torque along the Y axis is then generated. The aircraft 1 performs a rotation around the Y axis.

[0041] The aircraft 1 comprises ailerons 8 on the wings 2 whose differential orientation generates a roll of the aircraft 1. The ailerons 8 are arranged on a trailing edge of the front pair of wings 2 and of the rear pair of wings 2. The ailerons 8 are pivotable relative to the wings 2. During a straight flight phase of the aircraft 1, the ailerons 8 are aligned with an airflow circulating, from front to rear, around the aircraft 1. The airflow is generated in part by the movement of the aircraft 1 relative to its external environment.

[0042] The fins 8 can be blown. Here, at least one, preferably several, of the horizontal thrusters 3 is capable of generating an airflow around the fins 8. Here, the horizontal thrusters 3 mounted on the front wings 2 are capable of generating an airflow around the fins 8 of the front wings 2. The horizontal thrusters 3 mounted on the rear wings 2 are capable of generating an airflow around the fins 8 of the rear wings 2.

[0043] Thus, the airflow around the ailerons 8 comprises the airflow linked to the movement of the aircraft 1 and the airflow generated by the horizontal thruster 3. The orientation of the ailerons 8 makes it possible to perform a rolling movement of the aircraft 1. When the orientation of the ailerons 8 changes, a depression is created on one side of each aileron 8 and an overpressure is created on the other side of each aileron 8. The ailerons 8 pivot in opposition from one wing to the other so as to generate an aerodynamic rolling torque along the X axis. The aircraft 1 performs a rotation around the X axis.

[0044] The aircraft 1 comprises a yaw control surface 7. The yaw control surface 7 is here located at the rear of the aircraft 1. The yaw control surface 7 is pivotable relative to the fin supporting said yaw control surface 7. During a straight flight phase of the aircraft 1, the yaw control surface 7 is aligned with an airflow circulating, from front to rear, around the aircraft 1. The airflow is generated in part by the movement of the aircraft 1 relative to its external environment. Here, at least one of the horizontal thrusters 3 is capable of generating an airflow around the yaw control surface 7. The horizontal thruster 3 in the high position comprises a propeller mounted upstream of the yaw control surface 7 in the direction of airflow. Said propeller sweeps a surface located in front of a part of the yaw control surface 7. Said propeller generates air streams interacting with the yaw control surface 7. The horizontal thruster 3 can be mounted at the top of the rudder.

[0045] Thus, the airflow around the yaw control surface 7 comprises the airflow linked to the movement of the aircraft 1 and the airflow generated by the horizontal thruster 3. The orientation of the yaw control surface 7 makes it possible to perform a yaw movement of the aircraft 1. When the orientation of the yaw control surface 7 changes, a depression is created on one side of the yaw control surface 7 and an overpressure is created on the other side of the yaw control surface 7. An aerodynamic yaw torque along the Z axis is then generated. The aircraft 1 performs a rotation around the Z axis.

[0046] The aircraft 1 may comprise actuators for controlling the orientation of the yaw control surface 7, the ailerons 8 and the elevator 10.

[0047] The pilot of the aircraft 1 provides piloting instructions 100 to the aircraft 1 via a cockpit 9. The cockpit 9 comprises at least one steering wheel or stick 11, pedals 13, at least one horizontal propulsion power lever 15 and at least one vertical propulsion power lever 17. Alternatively, the piloting instructions 100 are determined and provided by a piloting unit, for drones for example, receiving instructions by radio or following a trajectory determined or calculated in real time.

[0048] The pilot provides pitch instructions 101 and roll instructions 102 via the stick 11. The pilot provides yaw instructions 103 via the pedals 13. Alternatively, the pilot provides the yaw instructions 103 via the stick 11 or a second stick. The pilot provides horizontal propulsion instructions 104 via the horizontal propulsion power lever 15 or one of the two sticks. The pilot provides vertical propulsion instructions 105 via the vertical propulsion power lever 17. The piloting instructions 100 include the pitch instructions 101, the roll instructions 102, the yaw instructions 103, the horizontal propulsion instructions 104 and the vertical propulsion instructions 105.

[0049] The aircraft 1 comprises a control system 21 illustrated in [Fig.2]. The control system 21 makes it possible, in particular, to correct the pitch of the aircraft 1 that is not desired by the pilot. The control system 21 can make it possible to correct the pitch of the aircraft 1 that is not desired by the pilot. The roll or yaw can also be corrected.

[0050] During the takeoff, landing and flight phases, the aircraft 1 may be subjected to lateral moments generating an unwanted pitching, rolling or yaw movement, particularly in the event of wind.

[0051] In Figures 2 and 3, the functional links concerning pitch correction are shown in solid lines. The other, optional links are shown in dotted lines.

[0052] The control system 21 comprises a control member 19. The control member 19 is configured to receive at least the horizontal propulsion instructions 104 from the vertical propulsion power lever 17. Here, the control member 19 receives the pitch instructions 101, the roll instructions 102, the yaw instructions 103 and the vertical propulsion instructions 105. The control member 19 is configured to generate upstream control instructions 200 from the piloting instructions 100. The upstream control instructions 200 can be directly provided to the actuators or provided via management systems, such as energy management or fault management systems.

[0053] The control member 19 is configured to generate pitch instructions 201, roll instructions 202, yaw instructions 203, horizontal propulsion instructions 204 and vertical propulsion instructions 205.

[0054] The control system 21 comprises an aircraft pitch sensor 1. Such a pitch sensor is arranged to determine and provide data representative of the pitch 301 of the aircraft 1. The data representative of the pitch 301 may be angular position data of the aircraft 1 in the XZ plane and / or angular speed data of the aircraft 1 around the Y axis. The data representative of the pitch 301 correspond to a real angular position of the aircraft 1 relative to a fictitious position of the aircraft 1 defined by the pitch instructions 101.

[0055] The control system 21 may comprise a roll sensor of the aircraft 1. Such a roll sensor is arranged to determine and provide data representative of the roll 302 of the aircraft 1. The data representative of the roll 302 may be angular position data of the aircraft 1 in the ZY plane and / or angular speed data of the aircraft 1 around the X axis. The data representative of the roll 302 correspond to a real angular position of the aircraft 1 relative to a fictitious position of the aircraft 1 defined by the roll instructions 102.

[0056] The control system 21 may comprise an input from a yaw sensor of the aircraft 1. The yaw sensor is arranged to determine and provide data representative of the yaw 303 of the aircraft 1. The data representative of the yaw 303 may be angular position data of the aircraft 1 in the XY plane and / or angular speed data of the aircraft 1 around the Z axis. The data representative of the yaw 303 correspond to a real angular position of the aircraft 1 relative to a fictitious position of the aircraft 1 defined by the yaw instructions 103.

[0057] The aircraft 1 comprises a computer 25. The computer 25 is configured to receive the upstream control instructions 200, namely the pitch instructions 201, the roll instructions 202, the yaw instructions 203, the horizontal propulsion instructions 204 and the vertical propulsion instructions 205. The computer 25 is further configured to receive speed data 304 from the aircraft 1, data representative of the pitch 301, in particular provided by a pitch sensor, and where appropriate data representative of the roll 302 provided by the roll sensor and data representative of the yaw 303 provided by the yaw sensor.

[0058] The computer 25 may comprise an input of the speed data 304 of the aircraft 1. The computer 25 may comprise an input of the vertical speed data 306 of the aircraft 1. The speed data 304 and the vertical speed data 306 may be measured by a speed sensor. The speed sensor may be a Pitot tube and a static pressure port for example.

[0059] The speed data 304 are data representative of the horizontal speed of the aircraft 1. The vertical speed data 306 are data representative of the vertical speed of the aircraft 1.

[0060] The representative pitch data 301, and where appropriate the representative roll data 302 and the representative yaw data 303, can be supplied to the computer 25 by an inertial or gyroscopic unit.

[0061] The pitch can be corrected by the elevator 10 and / or by the vertical thrusters 5. The pitch correction can be carried out by one of the vertical thrusters 5, the horizontal thruster 3 and the elevator 10, or two of the vertical thrusters 5, the horizontal thruster 3 and the elevator 10 or alternatively the vertical thrusters 5, the horizontal thruster 3 and the elevator 10.

[0062] The roll can be corrected by the ailerons 8 and / or by the vertical thrusters 5. The roll correction can be carried out by one of the vertical thrusters 5, the horizontal thruster 3 and the ailerons 8, or two of the vertical thrusters 5, the horizontal thruster 3 and the ailerons 8 or even the vertical thrusters 5, the horizontal thruster 3 and the ailerons 8.

[0063] The yaw can be corrected by the yaw control surface 7 and / or by the vertical thrusters 5. The yaw correction can be carried out by one of the vertical thrusters 5, the horizontal thruster 3 and the yaw control surface 7, or two of the vertical thrusters 5, the horizontal thruster 3 and the yaw control surface 7 or alternatively the vertical thrusters 5, the horizontal thruster 3 and the yaw control surface 7.

[0064] The computer 25 is arranged to process the upstream control instructions 200, the data representative of the pitch 301, the aircraft speed data 304, and where appropriate, the data representative of the roll 302 and the data representative of the yaw 303, so as to determine downstream commands 400. The computer 25 is arranged to provide the downstream commands 400 to the horizontal thruster 3, to the yaw control 7, to the ailerons 8, to the elevator 10 and, where applicable, to the vertical thrusters 5. The downstream controls 400 include downstream horizontal propulsion controls 404, downstream yaw control controls 407, downstream aileron controls 408, downstream elevator controls 410 and, where applicable, downstream vertical thruster controls 405.

[0065] The downstream commands 400 each comprise a main component and one or more correction components. The main component corresponds to the component determined by the computer 25 to respond to the upstream control instructions 200. The correction components are calculated by the computer 25 to correct a roll and / or a pitch, and where appropriate, a yaw, not desired by the pilot.

[0066] The components of each downstream control 400 correspond to a portion of the downstream control 400 dedicated to a specific function. The main components correspond to the downstream control portions responding to the piloting instructions 100. The correction components correspond to the downstream control portions making it possible to correct untimely pitching and, possibly, untimely rolling and untimely yaw.

[0067] The downstream elevator controls 410 may comprise a main component 410P and pitch correction components 410T.

[0068] The downstream controls of the ailerons 408 may comprise a main component 408P and roll correction components 408R.

[0069] The downstream yaw control commands 407 may comprise a main component 407P and yaw correction components 407L.

[0070] The downstream controls of the vertical thrusters 405 may comprise a main component 405P determined from the vertical propulsion instructions 205. The downstream controls of the vertical thrusters 405 may comprise yaw correction components 405L, roll correction components 405R and pitch correction components 405T.

[0071] The downstream controls of the vertical thrusters 405 may comprise different downstream controls for each vertical thruster 5. The downstream controls of each vertical thruster 5 being distinct from each other, the vertical propulsion is then differential. The differential vertical propulsion is determined so as to generate yaw, roll and pitch correction torques.

[0072] The calculator 25 is detailed in figures 3 and 4 according to two embodiments.

[0073] In a first embodiment illustrated in [Fig.3], the control system 21 is configured to correct pitch with elevator 10, and possibly roll with ailerons 8 and yaw with yaw 7.

[0074] In a second embodiment illustrated in [Fig.4], the control system 21 is configured to correct the pitch, and possibly the roll and yaw, also with the vertical thrusters 5.

[0075] The computer 25 is arranged to receive the data representative of the pitch 301 and / or the data representative of the roll 302, the speed data 304 of the aircraft 1 and, where appropriate, the data representative of the yaw 303. The computer 25 is arranged to convert the data representative of the pitch 301 and / or the data representative of the roll 302, the speed data 304 of the aircraft 1 and, where appropriate, the data representative of the yaw 303 and determine state data 305 of the aircraft 1 at a given instant, in particular position, linear speeds along the three axes, angular speeds along the three axes, linear accelerations along the three axes, angular accelerations along the three axes.

[0076] The computer 25 is arranged to receive and process the pitch instructions 201, the roll instructions 202, the yaw instructions 203, the horizontal propulsion instructions 204 and the vertical propulsion instructions 205.

[0077] From the pitch instructions 201, the roll instructions 202, the yaw instructions 203, the computer 25 is arranged to determine an angular data matrix 300. The angular data matrix 300 may comprise angles for defining or defining a desired angular position of the aircraft 1. The angular data matrix 300 may comprise angular speeds. The angular data matrix 300 comprises a yaw component, a pitch component and a roll component.

[0078] The computer 25 comprises a first comparator 901 arranged to receive and compare the angular data matrix 300 and the state data 305 of the aircraft 1. The first comparator 901 is arranged to provide the compared data to a corrector 910. The corrector 910 may be a PID corrector. The corrector 910 is arranged to determine a pitch correction torque 501 and, optionally, a roll correction torque 502 and a yaw correction torque 503.

[0079] The computer 25 may comprise a second comparator 902 arranged to receive and compare the vertical propulsion instructions 205 and the data representative of vertical speed 306.

[0080] The computer 25 can be arranged to determine a vertical speed matrix 600 of the vertical thrusters 5 from the data compared by the second comparator 902. The computer 25 is arranged to convert the forces of the vertical speed matrix 600 into vertical propulsion components 405P by a converter 800, then into at least first powers 701 dedicated to each vertical thruster 5 by a converter 801.

[0081] The computer 25 can be arranged to decompose the pitch correction torque 501 so as to determine the pitch correction components 410T of the elevator(s) 10 and possibly the pitch correction components 405T of the vertical thrusters 5. A distribution law can be provided. The computer 25 is arranged to convert the pitch correction components 405T of the vertical thrusters 5 into second powers 702 dedicated to each vertical thruster 5 by a converter 802. The pitch correction components 405T of the vertical thrusters 5 can be separated into front / rear sub-components according to the front / rear position of each vertical thruster 5. The computer 25 is arranged to convert the pitch correction components 410T of the elevator(s) 10 into an orientation value of the elevator(s) 10.

[0082] The computer 25 can be arranged to decompose the roll correction torque 502 so as to determine the roll correction components 408R of the ailerons 8 and possibly the roll correction components 405R of the vertical thrusters 5. A distribution law can be provided. The computer 25 is arranged to convert the roll correction components 405R of the vertical thrusters 5 into third powers 703 dedicated to each vertical thruster 5 by a converter 803. The computer 25 can be arranged to convert the roll correction components 408R of the ailerons 8 into an orientation value of the ailerons 8.

[0083] The computer 25 can be arranged to decompose the yaw correction torque 503 so as to determine the yaw correction components 407L of the yaw control surface 7 and, possibly, the yaw correction components 405L of the vertical thrusters 5. A distribution law can be provided. The computer 25 is arranged to convert the yaw correction components 405L of the vertical thrusters 5 into fourth powers 704 dedicated to each vertical thruster 5 by a converter 804. The computer 25 can be arranged to convert the yaw correction components 407L of the yaw control surface 7 into an orientation value of the yaw control surface 7.

[0084] The first powers 701 translate the piloting instructions 100 for vertical propulsion. The second powers 702 translate the piloting instructions 100 for pitch and the correction of untimely pitch. The third powers 703 translate the piloting instructions 100 for roll and the correction of untimely roll. The fourth powers 704 translate the piloting instructions 100 for yaw and the correction of untimely yaw.

[0085] The computer 25 is arranged to convert, by means of a converter 805, the first powers 701, the second powers 702, the third powers 703 and the fourth powers 704 into downstream commands of the vertical thrusters 405.

[0086] The computer 25 can be arranged to sum by means of a summator 906 the main component 410P of the downstream elevator commands 410 and the pitch correction components 410T of the elevator 10 to obtain the downstream elevator commands 410.

[0087] The computer 25 can be arranged to sum, by means of a summator 908, the main component 408P of the downstream commands of the ailerons 408 and the roll correction components 408R of the ailerons 8 to obtain the downstream commands of the ailerons 408.

[0088] The computer 25 can be arranged to sum, by means of a summator 907, the main component 407P of the downstream yaw control commands 407 and the yaw correction components 407L of the yaw control 7 to obtain the downstream yaw control commands 407.

[0089] The computer 25 can be arranged to convert the horizontal propulsion instructions 204 into downstream horizontal propulsion commands 404 by the converter 809.

[0090] The method for correcting the pitch of an aircraft 1 comprises the following operations: - receive 1001 of the piloting instructions 100, - convert 1002 pilot instructions 100 into control instructions upstream 200, - receive 1003 data representative of pitch 301, - convert 1004 the pitch correction torque 501 into downstream control instructions for the elevator 410, - determine 1005 of the downstream control instructions for the elevator 410 - provide 1006 the downstream control instructions from elevator 410 to elevator 10.

[0091] To correct the pitch, roll and / or yaw respectively, the control system 21 performs the following operations: - Receive 1001 piloting instructions 100, - convert 1002 pilot instructions 100 into control instructions upstream 200, - receive 1003 data representative of the pitch 301, and possibly, the data representative of the roll 302, the data representative of the yaw 303, the speed data 304 and the vertical speed data 306, - determine correction components for pitch, possibly yaw and roll, - provide 1006 the downstream controls for the elevator 410, and possibly the downstream controls for the ailerons 408, the downstream controls for the yaw 407, the downstream controls for the vertical thrusters 405 and the downstream controls for horizontal propulsion 404.

[0092] To correct the pitch, respectively the roll and / or the yaw, the computer 25 executes the following operations, namely operations 1004 and 1005: - receive upstream order instructions 200, - receive the pitch representative data 301 and the speed data 304, and possibly, the roll representative data 302, the yaw representative data 303 and the vertical speed data 306, so as to obtain status data 305. - convert the upstream control instructions 200 into an angular data matrix 300 - compare the angular data matrix 300 and the state data 305. - from the compared data, determine, using a 910 corrector, in particular PID, the pitch correction torque 501, respectively the roll correction torque 502 and the yaw correction torque 503, from the status data 305 of the aircraft 1 and the upstream control instructions 200, - decompose, allocate and convert the pitch correction torque 501 into a main pitch component 410P, a pitch correction component 410T of the downstream elevator controls 410 and, possibly, a pitch correction component 405T of the downstream controls of the vertical thrusters 405. - Optionally, decompose, allocate and convert the roll correction torque 502 into a main roll component 408P, a roll correction component 408R of the downstream controls of the ailerons 408 and, optionally, a roll correction component 405R of the downstream controls of the vertical thrusters 405. - possibly decompose, allocate and convert the yaw correction torque 503 into a main yaw component 407P, a yaw correction component 407L of the downstream controls of the yaw control surface 407 and, possibly, a yaw correction component 405L of the downstream controls of the vertical thrusters 405. - sum the main pitch component 410P and the pitch correction component 410T in order to obtain the downstream elevator commands 410 corresponding to an elevator orientation value 10. - Optionally, add the main component 408P and the roll correction component 408R in order to obtain the downstream commands of the ailerons 408 corresponding to an orientation value of the ailerons 8. - Optionally, sum the main yaw component 407P and the roll correction component 407L in order to obtain the downstream elevator commands 407 corresponding to a yaw rudder orientation value 7. - Optionally, convert the pitch correction component 405T into second powers 702 of vertical thrusters 5. - Optionally, convert the roll correction component 405R into third powers 703 of vertical thrusters 5. - Optionally, convert the yaw correction component 405L into fourth powers 704 of vertical thrusters 5. - Optionally, add the first powers 701, the second powers 702, the third powers 703 and the fourth powers 704 so as to determine the downstream commands of the vertical thrusters 405.

[0093] The control member 19 converts the piloting instructions 100, in particular the pitch instructions 101, the roll instructions 102 and the yaw instructions 103, into upstream control instructions 200. The control member 19 provides the computer 25 with the upstream control instructions 200, and more precisely the pitch instructions 201, the roll instructions 202, the yaw instructions 203, the horizontal propulsion instructions 204 and the vertical propulsion instructions 205.

[0094] The computer 25 receives the data representative of the pitch 301 and the data representative of the roll 302, the speed data 304 of the aircraft 1 and, where applicable, the data representative of the yaw 303. The computer 25 converts the data representative of the pitch 301 and the data representative of the roll 302, the speed data 304 of the aircraft 1, and where applicable the data representative of the yaw 303 and determines the state data 305 of the aircraft 1.

[0095] The computer 25 determines the objective angular position of the aircraft 1 from the pitch instructions 201, the roll instructions 202 and the yaw instructions 203 coming from the control member 19 so as to form the angular data matrix 300.

[0096] The angular data matrix 300 may comprise angles to define a desired angular position of the aircraft 1. The angular data matrix 300 may comprise angular velocities.

[0097] The first comparator 901 receives and compares the angular data matrix 300 and the state data 305 of the aircraft 1. The first comparator 901 provides the comparison data to the corrector 910.

[0098] The computer 25 also receives the horizontal propulsion instructions 204. The converter 809 converts the horizontal propulsion instructions 204 into downstream horizontal propulsion commands 404.

[0099] In a first embodiment, illustrated in [Fig.3], the correction of the pitch of the aircraft 1, and possibly the correction of the roll and yaw, is carried out by the yaw control surface 7, the ailerons 8 and the elevator 10.

[0100] The corrector 910 determines the pitch correction torque 501, the roll correction torque 502 and the yaw correction torque 503.

[0101] The computer 25 converts the pitch correction torque 501 into downstream instructions of the elevator 410 corresponding to an orientation value of the elevator 10.

[0102] Optionally, the computer 25 converts the roll correction torque 502 into downstream instructions of the ailerons 408 corresponding to an orientation value of the ailerons 8.

[0103] Optionally, the computer 25 converts the yaw correction torque 503 into downstream instructions of the yaw control surface 407 corresponding to an orientation value of the yaw control surface 7.

[0104] In a second embodiment, the computer determines the downstream vertical propulsion commands 405, see [Fig.4].

[0105] Here, the computer 25 receives the vertical speed data 306. The second comparator 902 compares the vertical speed data 306 with the vertical propulsion instructions 205 in order to determine the vertical speed matrix 600.

[0106] The converter 800 converts the vertical velocity matrix 600 into principal components 405P of the vertical thrusters 5.

[0107] The converter 801 converts the main components 405P of the vertical thrusters 5 into first powers 701.

[0108] From the pitch correction torque 501, the computer 25 allocates a first part of the pitch correction torque 501 to the vertical propulsion and a second part of the pitch correction torque 501 to the elevator 10. The first part of the pitch correction torque 501 comprises the pitch correction component 405T of the vertical thrusters 5. The converter 802 converts the pitch correction component 405T of the vertical thrusters 5 into second powers 702.

[0109] The second part of the pitch correction torque 501 comprises the main component 410P of the downstream elevator controls 410 and the pitch correction components 410T of the elevator 10. The adder 906 sums the main component 410P and the pitch correction components 410T of the downstream elevator commands 410 to obtain the downstream elevator commands 410.

[0110] Optionally, from the roll correction torque 502, the computer 25 allocates a first part of the roll correction torque 502 to the vertical propulsion and a second part of the roll correction torque 502 to the ailerons 8. The first part of the roll correction torque 502 comprises the roll correction component 405R of the vertical thrusters 5. The converter 803 converts the roll correction component 405R of the vertical thrusters 5 into third powers 703.

[0111] The second part of the roll correction torque 502 comprises the main component 408P of the downstream commands of the ailerons 408 and the roll correction components 408R of the ailerons 8. The adder 908 sums the main component 408P and the pitch correction components of the downstream commands of the ailerons 408 to obtain the downstream commands of the ailerons 408.

[0112] Optionally, from the yaw correction torque 503, the computer 25 allocates a first part of the yaw correction torque 503 to the vertical propulsion and a second part of the yaw correction torque 503 to the yaw control surface 7. The first part of the yaw correction torque 503 comprises the yaw correction component 405L of the vertical thrusters 5. The converter 804 converts the yaw correction component 405L of the vertical thrusters 5 into fourth powers 704.

[0113] The second part of the yaw correction torque 503 comprises the main component 407P of the downstream yaw control surface commands 407 and the roll correction components 407L of the yaw control surface 7. The adder 907 sums the main component 407P and the pitch correction components 407L of the downstream yaw control surface commands 407 to obtain the downstream yaw control surface commands 407.

[0114] The computer 25 can perform the decomposition of the pitch correction torque 501 when the pitch correction torque 501 exceeds a predetermined threshold.

[0115] The computer 25 can perform the decomposition of the roll correction torque 502 when the roll correction torque 502 exceeds a predetermined threshold.

[0116] The computer 25 can perform the decomposition of the yaw correction torque 503 when the yaw correction torque 503 exceeds a predetermined threshold.

[0117] The threshold may be fixed or variable. The threshold may depend on the saturation of the vertical thrusters 5, a current power of the horizontal thruster 3, the maximum authorized orientation of the yaw control surface 7, the ailerons 8 and the elevator 10, flight conditions, failure case calculation and aircraft speed 1.

[0118] The converter 805 converts the first powers 701, the second powers 702, the third powers 703 and the fourth powers 704 into downstream commands of the vertical thrusters 405.

[0119] The computer 25 provides the downstream commands of the vertical thrusters 405 to the vertical thrusters 5.

[0120] The computer 25 provides the downstream elevator commands 410 to the elevator 10.

[0121] The computer 25 provides the downstream yaw control commands 407 to the yaw control 7.

[0122] The computer 25 provides the downstream commands of the ailerons 408 to the ailerons 8.

[0123] The computer 25 may comprise a link between the pitch correction torque 501 and the roll correction torque 502 on the one hand, and the yaw correction torque 503 on the other hand. The automatic link or coupling makes it possible to dynamically correct moments induced by an action of the actuators controlling the orientation of the yaw control surface 7, the ailerons 8 and the elevator 10. For example, a roll moment may be induced by a movement of the yaw control surface 7 and, thus, be corrected by said link.

[0124] The power of the horizontal thruster 3 is controlled by the pilot but can be adapted by the control system 21 by providing the roll and / or pitch correction components of the horizontal thruster 3. The roll and / or pitch correction components of the horizontal thruster 3 correspond to a variation in the power of the horizontal propulsion.

[0125] The computer 25 is configured to adapt the roll correction components 408R and / or pitch correction components 408T of the ailerons 8, the roll correction components 41 OR and / or pitch correction components 410T of the elevator 10, if applicable, the roll correction components 407R and / or pitch correction components 407T of the yaw control surface 7 and the roll correction components and / or pitch correction components of the horizontal thruster 3 to each other so as to improve the performance of the aircraft 1, in particular by reducing the drag. Such a configuration is represented in [Fig.3] by bidirectional arrows between the adders 906, 907 and 908.

[0126] The adaptation between the roll correction components 408R and / or pitch correction components 408T of the ailerons 8, the roll correction components 410R and / or pitch correction components 410T of the elevator 10, where appropriate, the yaw correction components 407L of the yaw rudder 7 and the yaw correction components of the horizontal thruster 3 depends on the speed of the aircraft 1, the torque generated by the external forces and by the saturation of the vertical thrusters 5.

Claims

Claims

1. Aircraft (1) comprising at least one pair of wings (2), at least one horizontal thruster (3), an elevator (10) blown by at least one of the horizontal thrusters (3) and a control system (21) arranged to receive piloting instructions (100) and thrust data, and generate downstream commands (400) to the horizontal thruster (3) and to the elevator (10), the control system (21) comprising: - a control member (19) arranged to convert the piloting instructions (100) into upstream control instructions (200), - a pitch sensor arranged to determine data representative of the pitch (301) of the aircraft (1), - a speed data input (304) of the aircraft (1), and - a computer (25) arranged to receive the upstream control instructions (200), the data representative of the pitch (301) and speed data (304),the computer (25) being arranged to generate downstream pitch commands (410) to the elevator (10), the computer (25) being arranged to determine pitch correction components (410T) for the downstream commands of the elevator (410).,

2. An aircraft (1) according to claim 1, further comprising vertical thrusters (5) arranged in the wings (2), said vertical thrusters (5) being configured to generate vertical thrust, the control system (21) being arranged to further generate downstream commands (400) to the vertical thrusters (5), and the computer being arranged to generate downstream vertical propulsion commands (405) to the vertical thrusters (5) and to further determine pitch correction components (405T) and roll correction components (405R) for at least one downstream vertical propulsion command (405).

3. Aircraft (1) according to claim 2, wherein the computer (25) is arranged to determine a pitch correction torque (501), and to allocate a portion of the pitch correction torque (501) to the pitch correction components (405T) of the vertical thrusters (5) and a portion of the pitch correction torque (501) to the pitch correction components (410T) of the elevator (10), the allocation depending on a threshold varying according to flight conditions, saturation of vertical thrusters (5), maximum elevator orientation (10) and current power of horizontal thrusters (3).

4. Aircraft (1) according to one of the preceding claims, comprising at least three horizontal thrusters (3) and ailerons (8) blown by at least horizontal thrusters (3), the control system (21) being arranged to generate downstream commands (408) to the ailerons (8), the control system (21) further comprising a roll sensor arranged to determine data representative of the roll (302) of the aircraft (1), the computer (25) being arranged to generate the downstream roll commands (408) to the ailerons (8) and to determine roll correction components (408R) for the downstream roll commands (408).

5. Aircraft (1) according to claims 2 and 4, wherein the computer (25) is arranged to determine a roll correction torque (502) and to allocate a portion of the roll correction torque (502) to the roll correction components (405R) of the vertical thrusters (5) and a portion of the roll correction torque (502) to the roll correction components (408R) of the ailerons (8), the allocation depending on a threshold varying according to the flight conditions, the saturation of the vertical thrusters (5), a maximum orientation of the ailerons (8) and a current power of the horizontal thrusters (3).

6. Aircraft (1) according to one of the preceding claims, comprising a yaw control surface (7) blown by at least one of the horizontal thrusters (3), the control system (21) being arranged to generate downstream commands (407) to the yaw control surface (7), the control system (21) further comprising a yaw sensor arranged to determine data representative of the yaw (303) of the aircraft (1), the computer (25) being arranged to generate both the downstream yaw commands (407) to the yaw control surface (7) and to determine yaw correction components (407L) for the downstream yaw commands (407).

7. Aircraft (1) according to claim 6, wherein the computer (25) comprises a corrector (910) arranged to determine the pitch correction torque (501), the roll correction torque (502) and the yaw correction torque (503) as a function of the state data (305) and the angular data matrix (300).

8. Aircraft (1) according to claims 2 and 6, wherein the computer (25) is arranged to determine a yaw correction torque (503), and to allocate a portion of the yaw correction torque (503) to the yaw correction components (405L) of the vertical thrusters (5) and a portion of the yaw correction torque (503) to the yaw correction components (407L) of the yaw control surface (7), the allocation depending on a threshold varying according to the flight conditions, the saturation of the vertical thrusters (5), a maximum orientation of the yaw control surface (7) and a current power of the horizontal thrusters (3).

9. Aircraft (1) according to one of the preceding claims, in which the computer (25) is arranged to determine the downstream controls of the vertical thrusters (405) differentiated for each of the vertical thrusters (5).

10. Aircraft (1) according to one of the preceding claims, wherein the control system (21) comprises coupled control of the horizontal thruster (3), the vertical thrusters (5), the yaw control surface (7), the ailerons (8) and the elevator (10) as a function of the pitch representative data (301), the roll representative data (302), the yaw representative data (303), the speed data (304) and the vertical speed data (306) so as to correct induced pitch, roll and yaw moments.

11. Aircraft (1) according to one of the preceding claims, wherein the computer (25) is arranged to generate downstream horizontal propulsion commands (404) to the horizontal thruster (3).

12. Method for correcting the pitch of an aircraft (1) comprising the following operations: - receiving (1001) piloting instructions (100), - converting (1002) the piloting instructions (100) into upstream control instructions (200), - receiving (1003) data representative of the pitch (301), - converting (1004) the pitch correction torque (501) into downstream control instructions for the elevator (410), - determining (1005) downstream control instructions for the elevator (410), - providing (1006) the downstream control instructions for the elevator (410) to the elevator (10).

13. A computer program comprising instructions to implement the device of claims 1 to 11 or to perform the method according to claim 12 when said computer program is executed on a computer.

14. Data storage medium on which the computer program according to claim 13 is recorded.

Images