Wedge brake control system and method
Aspects of the technology relate to a braking assembly for a lateral propulsion system of a high altitude platform (HAP) configured to operate in the stratosphere. Power is supplied to a propeller assembly as needed during lateral propulsion so that the HAP can move to a desired location or remain on station. When lateral propulsion is not needed, power is no longer supplied to the propeller assembly and it may slowly cease rotating. However, in certain situations, it may be necessary to cause the propeller assembly to stop rotating as soon as possible. This can include an unplanned descent. Rapid braking can avoid the propeller blades from entangling in the envelope, parachute or other parts of the HAP. A reusable brake is employed to prevent uncontrolled rotation of the propeller on descent, or otherwise to prevent the propeller from spinning freely when not being used to propel the HAP laterally.
1. A method for controlling lateral propulsion in a high altitude platform configured to operate in the stratosphere, the method comprising:
causing, by a brake control module, an electromagnet of a brake assembly of the high altitude platform to energize;
causing, by the brake control module, a solenoid of the brake assembly of the high altitude platform to energize;
judging, by the brake control module and based on the energized electromagnet and the energized solenoid, that a brake pad of the brake assembly has disengaged from contact with a hub of a propeller assembly; and
in response to the judging, causing the propeller assembly to spin at a selected rate in a selected direction to cause the high altitude platform to move in a specified direction.
2. The method of claim 1 , wherein the brake pad is engaged with the hub whenever the propeller assembly is not being operated.
3. The method of claim 1 , wherein causing the solenoid to energize includes determining whether a solenoid energy limit has been reached.
4. The method of claim 3 , wherein, when the solenoid energy limit has been reached, de-energizing the solenoid.
5. The method of claim 4 , further comprising de-energizing the electromagnet when the solenoid energy limit has been reached.
6. The method of claim 3 , wherein upon a determination that the brake pad of the brake assembly has not disengaged from contact with the hub of the propeller assembly, issuing an error signal.
7. The method of claim 1 , further comprising:
determining, by the brake control module, that there is an unintended or unexpected disengagement; and
issuing, by the brake control module, an error signal in response to determining that there is an unintended or unexpected disengagement.
8. A method for controlling propeller operation in a high altitude platform configured to operate in the stratosphere, the method comprising:
determining, by a brake control module, that a brake pad of a brake assembly is disengaged from contact with a hub of a propeller assembly of the high altitude platform, wherein the propeller assembly is configured to spin at a selected rate in a selected direction when the brake pad is disengaged in order to cause the high altitude platform to move in a specified direction;
determining, by the brake control module, whether a selected condition has occurred with respect to the high altitude platform; and
in response to determining that the selected condition has occurred, the brake control module causing the brake pad to engage with the hub of the propeller assembly to cause the propeller assembly to cease rotation;
selecting a severity of a braking response based on the selected condition;
wherein the selected condition is one of a tilt angle of a balloon envelope of the high altitude platform above a threshold, a change in ambient air pressure above a threshold, or an overspeed condition of the propeller assembly;
when the selected condition is the tilt angle of the balloon envelope above a threshold, the braking response comprises applying the brake pad to the hub of the propeller assembly when the propeller assembly has stopped spinning;
when the selected condition is the change in ambient air pressure above a threshold, the braking response comprises immediately applying the brake pad to the hub of the propeller assembly;
when the selected condition is an overspeed condition below an overspeed value, the braking response comprises applying the brake pad to the hub of the propeller assembly when the propeller assembly has stopped spinning; and
when the selected condition is an overspeed condition above the overspeed value, the braking response comprises immediately applying the brake pad to the hub of the propeller assembly.
9. The method of claim 8 , wherein causing the brake pad to engage with the hub of the propeller assembly includes de-energizing an electromagnet of the brake assembly.
10. The method of claim 8 , wherein determining whether the selected condition has occurred with respect to the high altitude platform includes one or more of: determining of descent of the high altitude platform, determining uncontrolled propeller rotation, determining power loss, or determining a situation when the propeller assembly is not being actively used.
11. A method for controlling propeller operation in a high altitude platform configured to operate in the stratosphere, the method comprising:
determining, by a brake control module, that a brake pad of a brake assembly is disengaged from contact with a hub of a propeller assembly of the high altitude platform, wherein the propeller assembly is configured to spin at a selected rate in a selected direction when the brake pad is disengaged in order to cause the high altitude platform to move in a specified direction;
determining, by the brake control module, whether a selected condition has occurred with respect to the high altitude platform; and
in response to determining that the selected condition has occurred, the brake control module causing the brake pad to engage with the hub of the propeller assembly to cause the propeller assembly to cease rotation;
determining, by the brake control module, that there is an unintended or unexpected engagement; and
issuing, by the brake control module, an error signal in response to determining that there is an unintended or unexpected engagement.
12. A brake control module for a high altitude platform configured to operate in the stratosphere, the high altitude platform including a balloon envelope configured to contain a lighter than air gas and a propulsion system including a propeller assembly to drive the high altitude platform in a lateral direction and a brake mechanism configured to stop rotation of the propeller assembly, the brake control module comprising:
one or more processors configured to implement braking logic to enable the propeller assembly to rotate during operation and to cause the propeller assembly to cease rotation upon occurrence of a selected condition;
wherein the braking logic includes evaluation of different states of operation of the brake mechanism, the different states of operation including (i) an engaged state when a brake pad of the brake mechanism is engaged with a propeller hub of the propeller assembly, (ii) a disengaged state when the brake pad is fully disengaged from the propeller hub so that the propeller assembly can freely rotate for propulsion of the high altitude platform, and (iii) a release state occurring between the engaged state and the disengaged state.
13. The brake control module of claim 12 , wherein the selected condition includes one or more of: determination of descent of the high altitude platform, determination of uncontrolled propeller rotation, determination of power loss, or determination of a situation when the propeller assembly is not being actively used.
14. The brake control module of claim 13 , wherein the one or more processors are configured to select a severity of a braking response based on the selected condition.
15. The brake control module of claim 12 , wherein the braking logic further comprises a judging state in which the brake control module is configured to determine whether the brake pad has pulled away from the hub by at least a minimum clearance amount.
16. The brake control module of claim 12 , wherein the braking logic further comprises at least one of an unexpected disengage state in which the brake control module is configured to monitor for unexpected disengagements, and an unexpected engage state in which the brake control module is configured to monitor for unexpected engagements.
17. A lighter than air high altitude platform configured for operation in the stratosphere, comprising:
a balloon envelope configured to contain lighter than air gas;
a propulsion system including the propeller assembly to drive the high altitude platform in a lateral direction; and
the brake control module of claim 12 .