Automatic takeoff and landing apparatus for aircraft, and methods for performing an automatic takeoff and an automatic landing of an aircraft
View Patent ↗An automatic takeoff and landing apparatus for an aircraft for realizing a takeoff run and performing an ascending flight of the aircraft up to a target altitude at takeoff; and for realizing an approaching flight and performing a landing run of the aircraft at landing.
1. An automatic takeoff apparatus for an aircraft comprising:
an altitude sensor for measuring an altitude of the aircraft from a ground;
an airspeed sensor for measuring an airspeed of the aircraft;
an attitude angle sensor for detecting an attitude angle of the aircraft;
a direction sensor for detecting a direction of the aircraft;
a takeoff command inputting section for inputting a takeoff command; and
a control device for controlling a propulsion device and a control surface of the aircraft based on the altitude of the aircraft from the ground, the airspeed of the aircraft, the attitude angle of the aircraft, the direction of the aircraft and the takeoff command,
wherein the control device comprises:
a takeoff run control section for realizing a takeoff run by controlling the propulsion device to provide a maximum output and by controlling the control surface to maintain the attitude angle and a traveling direction of the aircraft constant, in response to the takeoff command;
a rotation control section for controlling the control surface to perform a rotation when the airspeed of the aircraft exceeds a predetermined takeoff judgment speed; and
an ascending flight control section for controlling the propulsion device and the control surface to make the aircraft perform an ascending flight up to a predetermined target altitude with a predetermined ascending speed maintained, when the altitude of the aircraft from the ground exceeds a predetermined takeoff judgment altitude and an altitude change rate of the aircraft, at a time when the aircraft is off the ground, exceeds a predetermined takeoff judgment altitude change rate.
2. An automatic landing apparatus for an aircraft comprising:
an altitude sensor for measuring an altitude of the aircraft from a ground;
an airspeed sensor for measuring an airspeed of the aircraft;
an attitude angle sensor for detecting an attitude angle of the aircraft;
a direction sensor for detecting a direction of the aircraft;
a position sensor for detecting a position of the aircraft;
a landing command inputting section for inputting a landing command; and
a control device for controlling a propulsion device and a control surface of the aircraft, based on the altitude of the aircraft from the ground, the airspeed of the aircraft, the attitude angle of the aircraft, the direction of the aircraft, the position of the aircraft and the landing command,
wherein the control device comprises:
an approaching flight control section for realizing an approaching flight along a predetermined approaching path by controlling the propulsion device and the control surface, in response to the landing command;
a flare control section for controlling the propulsion device to provide a minimum output and for controlling the control surface to perform a flare, by setting a pitch angle of the aircraft to a predetermined pitch angle calculated by integrating a pitch angle command rate based on the altitude and altitude change rate of the aircraft, when the altitude of the aircraft from the ground becomes less than a predetermined landing judgment altitude; and
a landing run control section for realizing a landing run by controlling the propulsion device to maintain the minimum output and by controlling the control surface to maintain the attitude angle and a traveling direction of the aircraft constant when the airspeed of the aircraft becomes less than a predetermined landing judgment speed.
3. An automatic takeoff and landing apparatus for an aircraft comprising:
an altitude sensor for measuring an altitude of the aircraft from a ground;
an airspeed sensor for measuring an airspeed of the aircraft;
an attitude angle sensor for detecting an attitude angle of the aircraft;
a direction sensor for detecting a direction of the aircraft;
a position sensor for detecting a position of the aircraft;
a takeoff command inputting section for inputting a takeoff command;
a landing command inputting section for inputting a landing command; and
a control device for controlling, a propulsion device and a control surface of the aircraft, based on the altitude of the aircraft from the ground, the airspeed of the aircraft, the attitude angle of the aircraft, the direction of the aircraft, the position of the aircraft, the takeoff command and the landing command,
wherein the control device comprises:
a takeoff run control section for realizing a takeoff run by controlling the propulsion device to provide a maximum output and by controlling the control surface to maintain the attitude angle and a traveling direction of the aircraft constant, in response to the takeoff command;
a rotation control section for controlling the control surface to perform a rotation when the airspeed of the aircraft exceeds a predetermined takeoff judgment speed;
an ascending flight control section for controlling the propulsion device and the control surface to make the aircraft perform an ascending flight up to a predetermined target altitude with a predetermined ascending speed maintained, when the altitude of the aircraft from the ground exceeds a predetermined takeoff judgment altitude and an altitude change rate of the aircraft exceeds a predetermined takeoff judgment altitude change rate;
an approaching flight control section for realizing an approaching flight along a predetermined approaching path by controlling the propulsion device and the control surface, in response to the landing command;
a flare control section for controlling the propulsion device to provide a minimum output and for controlling the control surface to perform a flare, by setting a pitch angle of the aircraft to a predetermined pitch angle calculated by integrating a pitch angle command rate based on the altitude and altitude change rate of the aircraft, when the altitude of the aircraft from the ground becomes less than a predetermined landing judgment altitude; and
a landing run control section for realizing a landing run by controlling the propulsion device to maintain the minimum output and by controlling the control surface to maintain the attitude angle and a traveling direction of the aircraft constant when the airspeed of the aircraft becomes less than a predetermined landing judgment speed.
4. An automatic takeoff method for an aircraft comprising:
obtaining information relating to an altitude of the aircraft from a ground, an airspeed of the aircraft, an attitude angle of the aircraft and a direction of the aircraft;
inputting a takeoff command; and
controlling a propulsion device and a control surface of the aircraft based on each of the obtained information and the takeoff command,
wherein the controlling includes:
realizing a takeoff run by controlling the propulsion device to provide a maximum output and by controlling the control surface to maintain the attitude angle and a traveling direction of the aircraft constant, in response to the takeoff command;
controlling the control surface to perform a rotation when the airspeed of the aircraft exceeds a predetermined takeoff judgment speed; and
controlling the propulsion device and the control surface to make the aircraft perform an ascending flight up to a predetermined target altitude with a predetermined ascending speed maintained, when the altitude of the aircraft from the ground exceeds a predetermined takeoff judgment altitude and an altitude change rate of the aircraft, at a time when the aircraft is off the ground, exceeds a predetermined takeoff judgment altitude change rate.
5. An automatic landing method for an aircraft comprising:
obtaining information relating to an altitude of the aircraft from a ground, an airspeed of the aircraft, an attitude angle of the aircraft, a direction of the aircraft and a position of the aircraft;
inputting a landing command; and
controlling a propulsion device and a control surface of the aircraft, based on each of the obtained information and the landing command,
wherein the controlling includes:
realizing an approaching flight along a predetermined approaching path by controlling the propulsion device and the control surface, in response to the landing command;
controlling the propulsion device to provide a minimum output and controlling the control surface to perform a flare, by setting a pitch angle of the aircraft to a predetermined pitch angle calculated by integrating a pitch angle command rate based on the altitude and altitude change rate of the aircraft, when the altitude of the aircraft from the ground becomes less than a predetermined landing judgment altitude; and
realizing a landing run by controlling the propulsion device to maintain the minimum output and by controlling the control surface to maintain the attitude angle and a traveling direction of the aircraft constant when the airspeed of the aircraft becomes less than a predetermined landing judgment speed.
6. An automatic takeoff and landing method for an aircraft comprising:
obtaining information relating to an altitude of the aircraft from a ground, an airspeed of the aircraft, an attitude angle of the aircraft, a direction of the aircraft and a position of the aircraft;
inputting a takeoff command;
inputting a landing command; and
controlling a propulsion device and a control surface based on each of the obtained information and one of the takeoff command and the landing command,
wherein the controlling includes:
realizing a takeoff run by controlling the propulsion device to provide a maximum output and by controlling the control surface to maintain the attitude angle and a traveling direction of the aircraft constant, in response to the takeoff command;
controlling the control surface to perform a rotation when the airspeed of the aircraft exceeds a predetermined takeoff judgment speed;
controlling the propulsion device and the control surface to make the aircraft perform an ascending flight up to a predetermined target altitude with a predetermined ascending speed maintained, when the altitude of the aircraft from the ground exceeds a predetermined takeoff judgment altitude;
realizing an approaching flight along a predetermined approaching path by controlling the propulsion device and the control surface, in response to the landing command;
controlling the propulsion device to provide a minimum output and controlling the control surface to perform a flare, by setting a pitch angle of the aircraft to a predetermined pitch angle calculated by integrating a pitch angle command rate based on the altitude and altitude change rate of the aircraft, when the altitude of the aircraft from the ground becomes less than a predetermined landing judgment altitude; and
realizing a landing run by controlling the propulsion device to maintain the minimum output and by controlling the control surface to maintain the altitude angle and a traveling direction of the aircraft constant when the airspeed of the aircraft becomes less than a predetermined landing judgment speed.