Aircraft with yaw management system and yaw management method

Abstract

The invention relates to a vertical take-off aircraft (1) comprising at least one pair of wings, at least one horizontal thruster (3), vertical thrusters (5) arranged in the wings, the vertical thrusters (5) being configured to generate vertical thrust, a control surface (7) blown by the at least one horizontal thruster (3) and a control system intended to receive instructions and thrust data, and generate downstream commands for the horizontal thruster (3), for the vertical thrusters (5) and for the control surface (7), the control system comprising a control member intended to convert the instructions into upstream control setpoints, a yaw sensor intended to determine data representative of the yaw of the aircraft (1), an input of data representative of the speed of the aircraft (1), and a computer intended to receive the upstream control setpoints, the data representative of the yaw and the speed data, the computer being intended to generate downstream horizontal propulsion commands for the horizontal thruster (3), downstream vertical thruster commands for the vertical thrusters (5), and downstream control surface commands for the control surface (7), the computer being intended to determine yaw-correction components for at least one downstream vertical thruster command.

Description

Description Title of the invention: Aircraft with yaw management system and yaw management method

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

[0002] The aeronautics industry is currently undergoing a number of upheavals, partly due to changing environmental requirements and partly due 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 VTOL field itself is quite old (VTOLs were developed as early as 1921), but their electrification has led to an explosion of new solutions being proposed, including hybrid-powered VTOLs. 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. Both horizontal and vertical propulsion are provided by thrusters, particularly electric ones.

[0005] VTOLs are sensitive to aerodynamic torques that cause the VTOL to yaw, namely a vertical axis torque. Unintentional yaw movements are the source of various problems, including unwanted trajectory changes. Therefore, there are different methods of yaw correction.

[0006] In conventional aircraft, yaw is corrected by changing the orientation of a rudder mounted at the rear of the aircraft.

[0007] Some VTOLs have yaw correction systems that use thrusters that are tilted at different angles or can be tilted to generate a yaw correction torque. Different angles of tilt generate a loss of power. Tilt thrusters are heavy.

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

[0009] The invention improves the situation. To this end, it proposes a vertical takeoff aircraft comprising at least one pair of wings, at least one horizontal thruster, vertical thrusters arranged in the wings, said vertical thrusters being configured to generate vertical thrust, a control surface blown by said at least one horizontal thruster and a control system arranged to receive piloting instructions and thrust data, and to generate downstream commands to the horizontal thruster, the vertical thrusters and the control surface.

[0010] The control system comprises a control member arranged to convert the piloting instructions into upstream control instructions.

[0011] The control system includes a yaw sensor arranged to determine data representative of the yaw of the aircraft.

[0012] The control system includes a data input representative of the aircraft speed.

[0013] The control system comprises a computer arranged to receive upstream control instructions, data representative of the yaw and speed data. The computer is arranged to generate downstream horizontal propulsion commands to the horizontal thruster, downstream vertical thruster commands to the vertical thrusters and downstream rudder commands to the rudder. The computer is arranged to determine yaw correction components for at least one downstream vertical thruster command.

[0014] In one embodiment, the computer is arranged to further determine yaw correction components for at least one of the downstream horizontal propulsion controls and the downstream rudder controls. The available power of the vertical thrusters when present can be used while the rudder can be operated in case of saturation of the vertical thrusters.

[0015] In one embodiment, the computer is arranged to determine an angular data matrix from the upstream control instructions. The yaw correction is robust.

[0016] In one embodiment, the computer is arranged to receive the data representative of the yaw and the speed data of the aircraft and to process the data representative of the yaw and the speed data of the aircraft so as to determine state data of the aircraft, the computer being arranged to compare the state data and the angular data matrix.

[0017] In one embodiment, the calculator comprises a corrector arranged to determine yaw correction torques based on the state data and the angular data matrix.

[0018] In one embodiment, the computer is arranged to allocate a first yaw correction torque for the vertical propulsion controls and a second yaw correction torque for the control surface controls, the allocation depending on a threshold varying according to the flight conditions, the saturation of the vertical thrusters, a maximum orientation of the control surface and a current power of the horizontal thruster. The yaw correction has great flexibility.

[0019] In one embodiment, the computer is configured to determine a force matrix upstream of the determination of the downstream commands, the force matrix comprising a yaw correction torque.

[0020] In one embodiment, the computer is arranged to determine the downstream commands of the vertical thrusters differentiated for each of the vertical thrusters. The aircraft is stable.

[0021] In one embodiment, the computer is arranged to receive data representative of pitch and roll of the aircraft, the computer being arranged to determine pitch and roll correction components for downstream controls of the vertical thrusters. Pitch and roll are also corrected in a coordinated manner.

[0022] In one embodiment, the control system includes coupled control of the horizontal thruster, vertical thrusters, and control surface based on pitch and roll representative data, yaw representative data, and speed representative data to correct for pitch, roll, and yaw induced moments. The vertical thrusters furthest from the yaw axis may be used primarily for yaw correction.

[0023] In one embodiment, a method for correcting the yaw of an aircraft comprising the following operations: receiving piloting instructions, converting the piloting instructions into upstream control instructions, receiving data representative of the yaw, determining aircraft state data, determining, using a corrector, a yaw correction torque, decomposing the yaw correction torque into a first yaw correction torque and a second yaw correction torque, converting the first yaw correction torque into a first yaw correction component and converting the second yaw correction torque into a second yaw correction component, when the value of the correction torque exceeds a threshold, converting the first yaw correction component into vertical thruster power, converting the second yaw correction component into a control surface orientation value,provide the power of the vertical thrusters to the computer in order to generate downstream commands of the vertical thrusters, provide the orientation value of the control surface to the computer, in order to generate downstream control surface commands.

[0024] In one embodiment, a computer program comprises instructions for implementing the device or for performing the method when said computer program is executed on a computer.

[0025] In one embodiment, a data storage medium on which the computer program is recorded.

[0026] 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:

[0027] [Fig.1] is a perspective view of a VTOL according to one embodiment of the invention.

[0028] [Fig.2] is a block diagram of the control system according to one embodiment of the invention.

[0029] [Fig.3] is a block diagram of the calculator according to another embodiment of the invention.

[0030] [Fig.4] is a block diagram of the calculator according to another embodiment of the invention.

[0031] [Fig.5] is a block diagram of the calculator according to another embodiment of the invention.

[0032] [Fig.6] is a process diagram according to one embodiment of the invention.

[0033] The drawings and the description below contain, for the most part, elements of a certain character. They may therefore not only serve to better understand the present invention, but also contribute to its definition, if necessary.

[0034] As illustrated in Figure 1, an aircraft 1 according to one aspect of the invention comprises at least one pair of wings, here two pairs of wings. The aircraft 1 comprises a fuselage, a pair of front wings and a pair of rear wings. Alternatively, a flying wing is provided.

[0035] Aircraft 1 includes horizontal propulsion and vertical propulsion.

[0036] The horizontal propulsion is achieved by at least one horizontal thruster 3, in particular an engine equipped with a propeller. Here, the aircraft 1 comprises two horizontal thrusters 3, one mounted in the forward position on the nose of the aircraft 1, the other mounted in the upper position of the aircraft 1.

[0037] 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.

[0038] 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 of the aircraft 1. The vertical thrusters 5 may also be located on or under other portions of the aircraft 1, including the fuselage.

[0039] Here, the horizontal thrusters 3 and the vertical thrusters 5 are electric. Alternatively, the horizontal thrusters 3 are thermal.

[0040] An orthogonal reference frame is used to define the movements of aircraft 1. The orthogonal reference frame includes a vertical Z axis, an X axis along a direction of movement of aircraft 1 during its flight phase and a Y axis, orthogonal to the X and Z axes. The orthogonal reference frame includes the XY, XZ and YZ planes.

[0041] Aircraft 1 rotates in three rotational motions. A rotation of aircraft 1 along the X axis is called a roll. A rotation of aircraft 1 around the Y axis is called a pitch. A rotation of aircraft 1 along the Z axis is called a yaw. Pitch allows the longitudinal attitude of aircraft 1 to be changed. Yaw and roll allow aircraft 1 to turn relative to its initial direction of flight, the X axis. Yaw, roll, and pitch may be desired by a pilot. Yaw, roll, and pitch may also be experienced by aircraft 1.

[0042] The aircraft 1 comprises a rudder 7. The rudder 7 is here located at the rear of the aircraft 1. The rudder 7 is pivotable relative to a fin supporting said rudder 7. During a straight flight phase of the aircraft 1, the rudder 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 rudder 7. The horizontal thruster 3 in the high position comprises a propeller mounted upstream of the rudder 7 in the direction of airflow. Said propeller sweeps a surface located in front of a part of the rudder 7. Said propeller generates air streams interacting with the rudder 7. The horizontal thruster 3 can be mounted at the top of the rudder.

[0043] Thus, the airflow around the control surface 7 includes the airflow linked to the movement of the aircraft 1 and the airflow generated by the horizontal thruster 3. The orientation of the control surface 7 allows a yaw movement of the aircraft 1 to be carried out. When the orientation of the control surface 7 changes, a depression is created on one side of the control surface 7 and an overpressure is created on the other side of the control surface 7. An aerodynamic yaw torque along the Z axis is then generated. The aircraft 1 performs a rotation around the Z axis.

[0044] The aircraft 1 comprises ailerons 8 on the wings 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 and the rear pair of wings.

[0045] 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 the top of the fin to form a mobile stabilizer or relative to a stabilizer rigidly fixed to the top of the fin. The aircraft 1 may comprise actuators for controlling the orientation of the rudder 7, the ailerons 8 and the elevator 10. Like the rudder 7, the elevator 10 is blown by the horizontal thruster 3 in the high position. The elevator 10 may comprise several parts on either side of the longitudinal axis. The elevator 10 may comprise several parts along the longitudinal axis. In other words, the elevator 10 may comprise an upstream portion articulated on a frame of the aircraft and a downstream portion articulated on the upstream portion.

[0046] 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 over the air or following a trajectory determined or calculated in real time.

[0047] 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.

[0048] The aircraft 1 comprises a control system 21 illustrated in FIG. 2. The control system 21 makes it possible, in particular, to correct the yaw of the aircraft 1 that is not desired by the pilot.

[0049] During the takeoff, landing and flight phases, the aircraft 1 may be subjected to lateral moments causing an unwanted yaw movement, particularly in the event of a crosswind.

[0050] In Figures 2 and 3, the functional links concerning the yaw correction are shown in solid lines. The other, optional links are shown in dotted lines.

[0051] The control system 21 comprises a control member 19. The control member 19 is configured to receive at least the vertical propulsion instructions 105 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 horizontal propulsion instructions 104. 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.

[0052] 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.

[0053] The control system 21 comprises a yaw sensor of the aircraft 1. The yaw sensor is arranged to determine and provide data representative of the yaw 301 of the aircraft 1. The data representative of the yaw 301 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 301 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.

[0054] 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 the data representative of the yaw 301, speed data 303 of the aircraft 1 and, where appropriate, data representative of the pitch and roll 302, in particular provided by a pitch and roll sensor.

[0055] The computer 25 may include an input of the speed data 303 of the aircraft 1. The speed data 303 may be measured by a speed sensor. The speed sensor may be a Pitot tube and a static pressure port for example.

[0056] The representative yaw data 301, and where appropriate the representative pitch and roll data 302, can be supplied to the computer 25 by an inertial or gyroscopic unit.

[0057] The pitch can be corrected by the elevator 10 and / or by the vertical thrusters 5. The roll can be corrected by the ailerons 8 and / or by the vertical thrusters 5.

[0058] Yaw can be corrected by vertical thrusters 5, horizontal thruster 3 and / or rudder 7. Yaw correction can be performed by one of the vertical thrusters 5, the horizontal thruster 3 and the rudder 7, or two of the vertical thrusters 5, the horizontal thruster 3 and the rudder 7 or the vertical thrusters 5, the horizontal thruster 3 and the rudder 7.

[0059] The computer 25 is arranged to process the upstream control instructions 200, the data representative of the yaw 301, the aircraft speed data 303, and where appropriate, the data representative of the pitch and roll 302, 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 vertical thrusters 5, to the rudder 7, to the ailerons 8 and to the elevator 10. The downstream commands 400 comprise downstream horizontal thruster commands 404, downstream vertical thruster commands 405, downstream rudder commands 407, downstream aileron commands 408 and downstream elevator commands 410.

[0060] The downstream controls 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 yaw, a roll or a pitch unwanted by the pilot.

[0061] 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 yaw, and possibly untimely pitch and roll.

[0062] The downstream controls of the vertical thrusters 405 may comprise a main component 405P determined from the vertical propulsion commands 205. The downstream controls of the vertical thrusters 405 may comprise yaw correction components 405L, roll correction components 405R and pitch correction components 405T.

[0063] 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 torques for yaw, roll and pitch corrections.

[0064] The downstream rudder controls 407 may include a main component 407P and yaw correction components 407L.

[0065] The calculator 25 is detailed in figures 3, 4 and 5 according to three embodiments.

[0066] The computer 25 is arranged to receive the data representative of the yaw 301, the speed data 303 of the aircraft 1 and, where appropriate, the data representative of the pitch and roll 302. The computer 25 comprises an input of data representative of the yaw 301, of speed data 303 of the aircraft 1 and, where appropriate, of data representative of the pitch and roll 302 forming state data 304 of the aircraft 1 at a given instant. The state data 304 make it possible to calculate the position, the linear speed, the angular speed, the linear acceleration, the angular acceleration.

[0067] 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.

[0068] 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.

[0069] The computer 25 comprises a comparator 900 arranged to receive and compare the angular data matrix 300 and the state data 304 of the aircraft 1. The comparator 900 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 yaw correction torque 503 and possibly a roll correction torque 501 and a pitch correction torque 502.

[0070] The computer 25 is arranged to convert the vertical propulsion instructions 205 into a main component 405P by a converter 801. The computer 25 is arranged to determine a force matrix 600 of the vertical thrusters 5 from the roll correction torque 501, the pitch correction torque 502 and the main component 405P of the downstream controls of the vertical thrusters 405. The computer 25 is arranged to convert the forces of the force matrix 600 into at least first powers 701 dedicated to each vertical thruster 5.

[0071] The computer 25 is arranged to decompose the yaw correction torque 503 so as to determine a first yaw correction torque 503a and a second yaw correction torque 503b. The computer 25 is arranged to convert the first yaw correction torque 503a into yaw correction components 405L of the vertical thrusters 5 by a converter 803a. Optionally, the computer 25 is arranged to convert the second yaw correction torque 503b into yaw correction components 407L of the control surface 7 by a converter 803b. A distribution law may be provided. The computer 25 is arranged to convert the yaw correction components 405L of the vertical thrusters 5 into second powers 702 dedicated to each vertical thruster 5 by a converter 806. The computer 25 can be arranged to convert the yaw correction components 407L of the control surface 7 into an orientation value of the control surface 7.

[0072] The first powers 701 translate the piloting instructions 100. The second powers 702 translate the correction of the yaw, and, where applicable, of the pitch and the roll.

[0073] The computer 25 is arranged to determine the downstream commands of the vertical thrusters 405 from the first powers 701 and the second powers 702 by a converter 805.

[0074] The computer 25 can be arranged to determine the downstream control surface commands 407 from the main component 407P of the downstream control surface commands 407 and the yaw correction components 407L of the control surface 7 by a converter 807.

[0075] The computer 25 can be arranged to receive the horizontal propulsion instructions 204 and convert them to obtain the downstream horizontal propulsion commands 404 by a converter 804.

[0076] The computer 25 can be arranged to receive the pitch commands 201 and the roll commands 202 and convert them to obtain the downstream aileron commands 408 and the downstream elevator commands 410.

[0077] Yaw correction process, see Figure 6

[0078] To correct the untimely yaw of the aircraft 1, the control system 21 performs the following operations: - receive 1001 the piloting instructions 100, - convert 1002 the piloting instructions 100 into upstream control instructions 200, - receive 1003 the data representative of the yaw 301, - determine 1004 state data 304 of the aircraft 1 - determine 1005, using a corrector, in particular PID, the yaw correction torque 503 from state data 304 of the aircraft 1 and the upstream control instructions 200, - decompose 1006 the yaw correction torque 503 into a first yaw correction torque 503a and a second yaw correction torque 503b, - convert 1007 the first yaw correction torque 503a into a first yaw correction component 405L and convert the second yaw correction torque 503b into a second yaw correction component 407L, when the value of the correction torque exceeds a threshold,- convert 1008 the first yaw correction component 405L into 702 power of vertical thrusters 5, - convert 1009 the second yaw correction component 407L into a control surface orientation value 7, - provide 1010 the power 702 to the computer 25 in order to generate downstream commands for vertical thrusters 405, - provide 1011 the control surface orientation value 7 to the computer 25, in order to generate downstream commands for control surface 407.

[0079] To correct the yaw, the computer 25 performs the steps of: 1. determining the set angular position of the aircraft 1 from the piloting instructions 100. 2. determining the actual angular position of the aircraft 1 from the yaw representative data 301, the speed data 303 and, where appropriate, the pitch and roll representative data 302. 3. determining the yaw correction torques using a corrector, in particular PID. 4. determining a force matrix 600. 5. allocating a correction torque to each vertical thruster 5, to the horizontal thruster 3 and to the control surface 7. 6. converting the correction torques into dedicated power for each vertical thruster 5 and / or into power for the horizontal thruster 3 and / or into orientation for the control surface 7. 7. providing downstream correction commands.

[0080] The control member 19 converts the piloting instructions 100, in particular 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.

[0081] The computer 25 receives the data representative of the yaw 301, the speed data 303 of the aircraft 1 and, where appropriate, the data representative of the pitch and roll 302. The computer 25 converts the data representative of the yaw 301, the speed data 303 of the aircraft 1, and, where appropriate, the data representative of the pitch and roll 302 and determines the state data 304 of the aircraft 1.

[0082] 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 unit 19 so as to form the angular data matrix 300.

[0083] The angular data matrix 300 may include angles to define a desired angular position of the aircraft 1. The angular data matrix 300 may include angular velocities.

[0084] The comparator 900 receives and compares the angular data matrix 300 and the status data 304 of the aircraft 1. The comparator 900 provides the comparison data to the corrector 910.

[0085] The computer 25 also receives the horizontal propulsion instructions 204 and the vertical propulsion instructions 205. The computer 25 converts the vertical propulsion instructions 205 into a main component 405P of the vertical thrusters 5.

[0086] In a first embodiment, illustrated in figure 3, the correction of the yaw of the aircraft 1 is carried out by the vertical thrusters 5 alone.

[0087] The corrector 910 determines the roll correction torque 501, the pitch correction torque 502 and the yaw correction torque 503. The computer 25 determines the force matrix 600 of the vertical thrusters 5 from the roll correction torque 501, the pitch correction torque 502 and the main component 405P of the vertical thrusters 5.

[0088] From the force matrix 600 and the yaw correction torque 503, the computer 25 determines the first powers 701 and the second powers 702.

[0089] The computer 25 receives the first powers 701 and the second powers 702. The computer 25 processes the first powers 701 and the second powers 702 in order to determine the downstream commands of the vertical thrusters 405.

[0090] The computer 25 provides the downstream commands from the vertical thrusters 405 to the vertical thrusters 5.

[0091] The computer 25 determines the downstream control commands 407 from the yaw component of the angular data matrix 300.

[0092] The computer 25 provides the downstream control surface commands 407 to the control surface 7. In this embodiment, the yaw of the aircraft 1 can also be manually corrected by the pilot via the control surface 7.

[0093] In a second embodiment, illustrated in figure 4, the correction of the yaw of the aircraft 1 is carried out by the control surface 7 alone.

[0094] 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 unit 19 so as to form the angular data matrix 300.

[0095] The angular data matrix 300 may include angles to define a desired angular position of the aircraft 1. The angular data matrix 300 may include angular velocities.

[0096] In addition, the computer 25 receives the data representative of the yaw 301 from the yaw sensor 23. The computer 25 also receives the horizontal propulsion instructions 204 and the vertical propulsion instructions 205. The computer 25 converts the vertical propulsion instructions 205 into a main component 405P of the vertical thrusters 5.

[0097] The computer 25 processes the compared data from the comparator 900, via the corrector 910 so as to determine the yaw correction torque 503 and, where appropriate, the roll correction torque 501 and the pitch correction torque 502.

[0098] The computer 25 determines the force matrix 600 of the vertical thrusters 5 from the roll correction torque 501, the pitch correction torque 502 and the main component 405P of the vertical thrusters 5.

[0099] The calculator 25 determines the first powers 701 from the force matrix 600.

[0100] The computer 25 receives the first powers 701. The computer 25 converts the first powers 701 into downstream commands of the vertical thrusters 405 by the converter 805.

[0101] The computer 25 provides the downstream commands from the vertical thrusters 405 to the vertical thrusters 5 so as to correct the roll and pitch.

[0102] From the yaw correction torque 503, the computer 25 determines the yaw correction components 407L of the control surface 7.

[0103] The computer 25 receives the main component 407P of the downstream control surface commands 407 and the yaw correction components 407L of the control surface. The computer 25 processes the main component 407P of the downstream control surface commands 407 and the yaw correction components 407L of the control surface 7 so as to determine the downstream control surface commands 407.

[0104] The computer 25 provides the downstream controls of control surface 407 to control surface 7.

[0105] Alternatively, the computer 25 determines yaw correction components of the horizontal thruster 3. The yaw correction components of the horizontal thruster 3 correspond to a variation in the power of the horizontal propulsion. From the yaw correction torque 503, the computer 25 determines the yaw correction components 407L at the control surface 7 and the yaw correction components of the horizontal thruster 3.

[0106] In a third embodiment illustrated in Figure 5, the correction of the yaw of the aircraft 1 is achieved by a combination of the effect of the rudder 7 with the effect of the horizontal thruster 3.

[0107] Yaw correction may require significant vertical propulsion power. If the requested yaw correction torque is significant, the vertical thrusters 5 may saturate, particularly during takeoff and landing phases when the vertical thrusters 5 are particularly stressed. In addition, at low speed, the corrective effect of the control surface 7 on the yaw may be limited. It is therefore advantageous to provide corrections whose limitations are significantly located in different flight domains.

[0108] 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 unit 19 so as to form the angular data matrix 300.

[0109] The angular data matrix 300 may include angles to define a desired angular position of the aircraft 1. The angular data matrix 300 may include angular velocities.

[0110] In addition, the computer 25 receives the data representative of the yaw 301 from the yaw sensor 23. The computer 25 also receives the horizontal propulsion instructions 204 and the vertical propulsion instructions 205. The computer 25 converts the vertical propulsion instructions 205 into a main component 405P of the vertical thrusters 5 by the converter 801.

[0111] The computer 25 processes the compared data from the comparator 900, via the corrector 910 so as to determine the yaw correction torque 503 and, where appropriate, the roll correction torque 501, the pitch correction torque 502.

[0112] The computer 25 determines the force matrix 600 of the vertical thrusters 5 from the roll correction torque 501, the pitch correction torque 502 and the main component 405P of the vertical thrusters 5.

[0113] The calculator 25 determines from the force matrix 600 the first powers 701 of the vertical thrusters 405.

[0114] From the yaw correction torque 503, the computer 25 determines the yaw correction components 407L of the control surface 7 and the yaw correction components 405L of the vertical thrusters 5.

[0115] For this, the computer 25 decomposes the yaw correction torque 503 into a first yaw correction torque 503a and a second yaw correction torque 503b. The computer 25 converts the first yaw correction torque 503a into yaw correction components 405L of the vertical thrusters 5 by the converter 803a. The computer 25 converts the second yaw correction torque 503b into yaw correction components 407L of the control surface 7 by the converter 803b.

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

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

[0118] The computer 25 converts the yaw correction components 405L of the vertical thrusters 5 into second powers 702 of the vertical thrusters 5 by the converter 806.

[0119] The computer 25 converts the first powers 701 and the second powers 702 into downstream commands of the vertical thrusters 405 by the converter 805.

[0120] The computer 25 provides the downstream commands from the vertical thrusters 405 to the vertical thrusters 5.

[0121] The computer 25 receives the main component 407P of the downstream control surface commands 407 and the yaw correction components 407L of the control surface 7. The computer 25 converts the main component 407P of the downstream control surface commands 407 and the yaw correction components 407L of the control surface 7 into downstream control surface commands 407 by the converter 807.

[0122] Alternatively, the computer 25 determines yaw correction components of the horizontal thruster 3. The yaw correction components of the horizontal thruster 3 correspond to a variation in the power of the horizontal propulsion. From the yaw correction torque 503, the computer 25 determines the yaw correction components 407L at the control surface 7 and the yaw correction components of the horizontal thruster 3.

[0123] The computer 25 receives the horizontal propulsion instructions 204 and converts them into downstream horizontal thruster commands 404.

[0124] The control system 21 may comprise coupled control of the horizontal thruster 3, the vertical thrusters 5 and the rudder 7.

[0125] The computer 25 may comprise a link between the roll correction torque 501 and the pitch 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 rudder 7, the ailerons 8 and the elevator 10. For example, a rolling moment can be induced by a movement of the rudder 7 and, thus, be corrected by said link.

[0126] Alternatively, the computer 25 can determine the yaw correction components of the horizontal thruster 3. The yaw correction components of the horizontal thruster 3 correspond to a variation in the power of the horizontal propulsion. The computer 25 provides yaw correction components of the horizontal thruster 3 to the horizontal thruster 3 so as to ensure an airflow around the control surface 7. The airflow is capable of generating an aerodynamic yaw torque.

[0127] The power of the horizontal thruster 3 is controlled by the pilot but can be adapted by the control system 21 by providing the yaw correction components of the horizontal thruster 3. The yaw correction components of the horizontal thruster 3 correspond to a variation in the power of the horizontal propulsion.

[0128] The computer 25 is configured to adapt the yaw correction components 407L of the control surface 7 and the yaw correction components of the horizontal thruster 3 relative to each other so as to improve the performance of the aircraft 1, in particular by reducing drag.

[0129] The adaptation between the yaw correction components 407L of the control surface 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. A vertical take-off aircraft (1) comprising at least one pair of wings, at least one horizontal thruster (3), vertical thrusters (5) arranged in the wings, said vertical thrusters (5) being configured to generate vertical thrust, a control surface (7) blown by said at least one horizontal thruster (3) and a control system (21) arranged to receive piloting instructions (100) and thrust data, and to generate downstream commands (400) to the horizontal thruster (3), to the vertical thrusters (5) and to the control surface (7), the control system (21) comprising: - a control member (19) arranged to convert the piloting instructions (100) into upstream control instructions (200), - a yaw sensor arranged to determine data representative of the yaw (301) of the aircraft (1), - an input of data representative of the speed (303) of the aircraft (1),and - a computer (25) arranged to receive the upstream control instructions (200), the data representative of the yaw (301) and the speed data (303), the computer (25) being arranged to generate downstream horizontal propulsion commands (404) to the horizontal thruster (3), downstream commands from the vertical thrusters (405) to the vertical thrusters (5) and downstream control surface commands (407) to the control surface (7), the computer (25) being arranged to determine yaw correction components for at least one downstream command of the vertical thrusters (405).

2. Aircraft (1) according to claim 1, wherein the computer (25) is arranged to further determine yaw correction components for at least one of the downstream horizontal propulsion commands (404) and the downstream control surface commands (407).

3. Aircraft (1) according to claim 1 or 2,in which the computer (25) is arranged to determine an angular data matrix (300) from the upstream control instructions (200).,

4. Aircraft (1) according to claim 3, wherein the computer (25) is arranged to receive the data representative of the yaw (301) and the speed data (303) of the aircraft (1) and to process the data representative of the yaw (301) and the speed data (303) of the aircraft (1) so as to determine state data (304) of the aircraft (1), the computer (25) being arranged to compare the state data (304) and the angular data matrix (300).

5. Aircraft (1) according to claim 4, wherein the computer (25) comprises a corrector (910) arranged to determine yaw correction torques as a function of the state data (304) and the angular data matrix (300).

6. Aircraft (1) according to one of the preceding claims, wherein the computer (25) is arranged to allocate a first yaw correction torque (503a) for the vertical propulsion controls (405) and a second yaw correction torque (503b) for the control surface controls (407), the allocation depending on a threshold varying according to the flight conditions, the saturation of the vertical thrusters (5), a maximum orientation of the control surface (7) and a current power of the horizontal thruster (3).

7. Aircraft (1) according to one of the preceding claims, wherein the computer (25) is configured to determine a force matrix (600) upstream of the determination of the downstream controls (400), the force matrix (600) comprising a yaw correction torque (503).

8. Aircraft (1) according to one of the preceding claims, wherein the computer (25) is arranged to determine the downstream commands of the vertical thrusters (405) differentiated for each of the vertical thrusters (5).

9. Aircraft (1) according to one of the preceding claims, wherein the computer (25) is arranged to receive representative pitch and roll data (302) of the aircraft (1), the computer (25) being arranged to determine pitch and roll correction components for the downstream commands of the vertical thrusters (405).

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

11. Method for correcting the yaw 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 yaw (301), - determining (1004) state data (304) of the aircraft (1) - determining (1005), using a corrector, a yaw correction torque (503), - decomposing (1006) the yaw correction torque (503) into a first yaw correction torque (503a) and a second yaw correction torque (503b),- converting (1007) the first yaw correction torque (503a) into a first yaw correction component (405L) and converting the second yaw correction torque (503b) into a second yaw correction component (407L), when the value of the correction torque exceeds a threshold, - converting (1008) the first yaw correction component (405L) into power (702) of vertical thrusters (5), - converting (1009) the second yaw correction component (407L) into a control surface orientation value (7), - providing (1010) the power (702) of the vertical thrusters to the computer (25) in order to generate downstream commands of the vertical thrusters (405), - providing (1011) the control surface orientation value (7) to the computer (25),in order to generate downstream control commands (407).

12. Computer program comprising instructions for implementing the device of claims 1 to 9 or for executing the method according to claim 10 when said computer program is executed on a computer.,

13. Data storage medium on which the computer program according to claim 11 is recorded.

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