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1. 发明授权

US08666598B2 Method of controlling the yawing movement of an aircraft running along the ground 有权
标题翻译：控制沿着地面运行的飞机的偏航运动的方法
公开(公告)号：US08666598B2
公开(公告)日：2014-03-04
申请号：US13211659
申请日：2011-08-17
申请人： David Lemay , David Frank , Michel Basset , Yann Chamaillard
发明人： David Lemay , David Frank , Michel Basset , Yann Chamaillard
IPC分类号： G05D1/00
CPC分类号： G05D1/0083 , B64C25/50 , Y10T70/5664
摘要： A method of controlling a yawing movement of an aircraft running along the ground, the aircraft comprising at least one first landing gear with a steerable bottom part bearing wheels. The method comprises the steps of (1) on the basis of a yaw rate setpoint {dot over (φ)}c, determining a wheel-steering prepositioning angle θp; and (2) using closed-loop control which as its input has the yaw rate setpoint and which generates a command to steer the bottom part in order to steer it through a steering angle θc equal to the sum of this prepositioning angle θp and of an angle θz which is determined taking account of an error between the yaw rate setpoint {dot over (φ)}c and the measured yaw rate {dot over (φ)}m when the steerable bottom part is steered by the steering angle θc.
摘要翻译：一种控制沿着地面运行的飞行器的偏航运动的方法，该飞行器包括至少一个具有可转向的底部轴承轮的第一起落架。该方法包括以下步骤：（1）基于偏航率设定点{dot over（phi）} c，确定车轮导向预定位角; 和（2）使用闭环控制，其作为其输入具有横摆率设定点，并且产生用于引导底部的指令，以便通过转向角等于该预定位角和考虑到当可转向底部通过转向角度转向时横摆率设定点{dot over（phi）} c和测量的横摆率{dot over（phi）} m之间的误差而确定的角度。

2. 发明授权

US08195372B2 Method of adaptive braking control for a vehicle 有权
标题翻译：车辆自适应制动控制方法
公开(公告)号：US08195372B2
公开(公告)日：2012-06-05
申请号：US11958610
申请日：2007-12-18
申请人： Jean-Pierre Garcia , David Frank , Gérard Léon Gissinger , Michel Basset , Yann Chamaillard , Arnaud Jacquet
发明人： Jean-Pierre Garcia , David Frank , Gérard Léon Gissinger , Michel Basset , Yann Chamaillard , Arnaud Jacquet
IPC分类号： G05D1/00
CPC分类号： B60T8/172 , B60T8/17636 , B60T2210/12
摘要： A braking control method that includes: (1) regularly updating a grip model representative of a relationship between a coefficient of friction and a wheel slip rate; (2) determining, with an iterative calculation process including a plurality of calculation cycles a variation of a braking setpoint in a given prediction horizon, the variation of the braking setpoint in the given prediction horizon being established using the regularly updated grip model and its characteristic shape and so that the variation of the braking setpoint in the given prediction horizon complies with the braking order and complies with a given calculation constraint which is function of the wheel slip rate; and (3) retaining as the generated braking setpoint a value of the braking setpoint in the given prediction horizon which corresponds to a first calculation cycle of the plurality of calculation cycles of the iterative calculation process.
摘要翻译：一种制动控制方法，包括：（1）定期更新表示摩擦系数与车轮滑移率之间的关系的把手模型; （2）使用包括多个计算周期的迭代计算过程来确定在给定预测范围内的制动设定值的变化，使用定期更新的握把模型及其特性来确定给定预测水平线中的制动设定点的变化使得给定预测视距内的制动设定值的变化符合制动顺序，并符合作为车轮滑移率函数的给定计算约束; 以及（3）将生成的制动设定值保持在对应于迭代计算处理的多个计算周期的第一计算周期的给定预测水平线中的制动设定值的值。

3. 发明申请

US20120072057A1 METHOD OF MANAGING MOVEMENT OF AN AIRCRAFT ON THE GROUND 有权
标题翻译：管理飞机在地面上的运动方法
公开(公告)号：US20120072057A1
公开(公告)日：2012-03-22
申请号：US13237402
申请日：2011-09-20
申请人： David LEMAY , David FRANK , Michel BASSET , Yann CHAMAILLARD
发明人： David LEMAY , David FRANK , Michel BASSET , Yann CHAMAILLARD
IPC分类号： G05D1/02
CPC分类号： G05D1/0083
摘要： The invention relates to a method of managing movement of an aircraft on the ground, the aircraft including at least one left main undercarriage and at least one right main undercarriage, each comprising wheels associated with torque application members for applying torque to the wheels in response to a general setpoint, the general setpoint comprising a longitudinal acceleration setpoint and an angular speed setpoint, the method including the successive steps of braking down the general setpoint into general torque setpoints for generating by the torque application members associated with each of the wheels.
摘要翻译：本发明涉及一种管理飞机在地面上的运动的方法，飞行器包括至少一个左主起落架和至少一个右主起落架，每个副底盘包括与扭矩施加构件相关联的轮，用于响应于通用设定点，所述总设定点包括纵向加速度设定点和角速度设定点，该方法包括将通用设定值制动到通用转矩设定点的连续步骤，用于由与每个车轮相关联的转矩施加构件产生。

4. 发明授权

US08103422B2 Method for the anticipated ascertainment of a bend on a portion of road, and associated system 有权
标题翻译：预期确定道路部分弯道和相关系统的方法
公开(公告)号：US08103422B2
公开(公告)日：2012-01-24
申请号：US11860681
申请日：2007-09-25
申请人： Benazouz Bradai , Anne Herbin , Michel Basset , Jean-Philippe Lauffenburger
发明人： Benazouz Bradai , Anne Herbin , Michel Basset , Jean-Philippe Lauffenburger
IPC分类号： B60T7/12 , B60R22/00
CPC分类号： G01C21/26 , B60Q1/085 , B60Q1/12 , B60Q2300/112 , B60Q2300/322 , B60Q2300/33 , B60W40/072 , B60W2550/10 , B60W2550/402 , G01C21/3697
摘要： A system and method for the anticipated detection of a bend on a portion of road taken by a motor vehicle comprising the following steps: establishing, by means of a first system, called as the navigation system, a first set of information on the bend in question, the first set of information being associated with a first confidence index; establishing, by means of a second system, called as the image processing system, a second set of information on the bend in question, the second set of information being associated with a second confidence index; and establishing, from the first set of information and the second set of information and by taking into account the first confidence index and the second confidence index, a third set of information on the bend in question.
摘要翻译：一种用于预期检测由汽车行驶的道路部分上的弯道的系统和方法，包括以下步骤：通过被称为导航系统的第一系统建立弯曲处的第一组信息问题，第一组信息与第一个置信指数相关联; 通过被称为图像处理系统的第二系统建立关于所述弯道的第二组信息，所述第二组信息与第二置信指数相关联; 以及从所述第一组信息和所述第二组信息中，并且通过考虑所述第一置信指数和所述第二置信指数来建立所述弯道的第三组信息。

5. 发明申请

US20090210126A1 METHOD OF DISTRIBUTING BRAKING BETWEEN THE BRAKES OF AN AIRCRAFT 有权
标题翻译：在飞机制动器之间分配制动器的方法
公开(公告)号：US20090210126A1
公开(公告)日：2009-08-20
申请号：US12282533
申请日：2007-03-13
申请人： Stephane Dellac , Arnaud Jacquet , Gerard Leon Gissinger , Michel Basset , Yann Chamaillard , Jean-Pierre Garcia
发明人： Stephane Dellac , Arnaud Jacquet , Gerard Leon Gissinger , Michel Basset , Yann Chamaillard , Jean-Pierre Garcia
IPC分类号： B64C25/48
CPC分类号： B64C25/48 , B60T8/1703 , B60T8/1755
摘要： A method of distribution braking between the brakes of an aircraft. The method includes a first step of estimating a braking force objective and a steering torque objective to be achieved by the brakes of the aircraft. It also includes the steps of defining at least two groups of brakes (12, 13) and determining, for each group, a braking level that is to be achieved by the group. The braking levels being calculated in such a manner that braking performed in application of the braking levels is, at least under normal operating conditions of the brakes, in compliance with a braking force objective and with a steering torque objective.
摘要翻译：一种在飞机制动器之间分配制动的方法。该方法包括估计制动力目标和由飞行器的制动器实现的转向扭矩目标的第一步骤。它还包括限定至少两组制动器（12,13）的步骤，并且为每个组确定要由该组实现的制动水平。计算制动水平，使得在制动水平的应用中进行的制动至少在制动器的正常操作条件下，符合制动力目标和转向转矩目标。

6. 发明授权

US09134730B2 Method of managing a turning movement of an aircraft taxiing on the ground 有权
标题翻译：管理在地面上滑行的飞机转弯运动的方法
公开(公告)号：US09134730B2
公开(公告)日：2015-09-15
申请号：US13099450
申请日：2011-05-03
申请人： David Lemay , David Frank , Michel Basset , Yann Chamaillard
发明人： David Lemay , David Frank , Michel Basset , Yann Chamaillard
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00 , B64C25/40
CPC分类号： G05D1/0083 , B64C25/405 , Y02T50/823
摘要： The invention relates to a management method for managing a turning movement of an aircraft taxiing on the ground, the aircraft having wheels each fitted with an independent drive device, in which method commands are generated for the independent drive devices so that at least some of those devices contribute to the turning movement. According to the invention, the method comprises the steps of: estimating at each instant during the turning movement: an instantaneous total power developed by all of the independent drive devices in response to the commands; and an instantaneous mean angular acceleration for all of the wheels; and adapting the commands to the independent drive devices such that the total instantaneous power developed by all of the independent drive devices is minimized, while conserving the mean angular acceleration.
摘要翻译：本发明涉及一种用于管理在地面上滑行的飞行器的转动运动的管理方法，所述飞机具有各自装配有独立驱动装置的轮子，其中为独立驱动装置生成指令，使得至少一些装置有助于转弯运动。根据本发明，该方法包括以下步骤：在转动运动期间的每个瞬间估计：由所有独立驱动装置响应命令产生的瞬时总功率; 和所有车轮的瞬时平均角加速度; 并且使命令适应独立的驱动装置，使得由所有独立驱动装置产生的总瞬时功率最小化，同时节省平均角加速度。

7. 发明授权

US08428307B2 Process for the automatic determination of speed limitations on a road and an associated system 有权
标题翻译：用于自动确定道路和相关系统上的速度限制的过程
公开(公告)号：US08428307B2
公开(公告)日：2013-04-23
申请号：US12175565
申请日：2008-07-18
申请人： Benazouz Bradai , Anne Herbin-Sahler , Jean-Philippe Lauffenburger , Michel Basset
发明人： Benazouz Bradai , Anne Herbin-Sahler , Jean-Philippe Lauffenburger , Michel Basset
IPC分类号： G06K9/00 , G06G7/76
CPC分类号： G08G1/09626 , G08G1/09623
摘要： An automatic process is provided for automatically determining a current speed limitation on a road being used by a motor vehicle, in which by means of a first system, making use in particular of a GPS aerial and cartographical details, a first set of information is established, in which at least one likely speed limitation is associated with a confidence index; by means of a second system, involving the use of a camera and image processing applications capable of identifying roadside speed limitation panels, a second set of information is established comprising at least one probable speed limitation, wherein the basis of the first and second sets of information, the current speed limitation is determined along the road in question.
摘要翻译：提供一种自动处理，用于自动确定汽车正在使用的道路上的当前速度限制，其中借助于第一系统特别使用GPS天线和地图细节，建立第一组信息其中至少一个可能的速度限制与置信指数相关联; 借助于第二系统，涉及使用能够识别路边速度限制板的相机和图像处理应用，建立包括至少一个可能的速度限制的第二组信息，其中第一组和第二组的基础信息，当前速度限制是沿着所述道路确定的。

8. 发明授权

US08384330B2 Method of managing the steering control of an aircraft undercarriage 有权
标题翻译：管理飞机起落架转向控制的方法
公开(公告)号：US08384330B2
公开(公告)日：2013-02-26
申请号：US12686694
申请日：2010-01-13
申请人： Paul-Louis Levy , Michel Basset , Gaétan Pouly , Jean-Philippe Lauffenburger
发明人： Paul-Louis Levy , Michel Basset , Gaétan Pouly , Jean-Philippe Lauffenburger
IPC分类号： G05B11/01
CPC分类号： G05B13/042 , B64C25/50 , G05B2219/42012
摘要： The invention relates to a method of managing a steering control for a steerable portion of an aircraft undercarriage, the method comprising implementing servo-control to servo-control an electromechanical steering actuator on an angular position setpoint, wherein, according to the invention, the servo-control implements a control relationship H∞ type, the position and speed information being delivered by means of a fieldbus of deterministic type to a computer that implements the servo-control.
摘要翻译：本发明涉及一种管理用于飞机起落架的可转向部分的转向控制的方法，所述方法包括实现伺服控制以在角位置设定点上对机电转向致动器进行伺服控制，其中根据本发明，所述伺服控制实现控制关系H∞类型，通过确定性类型的现场总线传送的位置和速度信息到实现伺服控制的计算机。

9. 发明授权

US08311685B2 Method of distributing braking within at least one group of brakes of an aircraft 有权
标题翻译：在飞机的至少一组制动器内分配制动的方法
公开(公告)号：US08311685B2
公开(公告)日：2012-11-13
申请号：US11917160
申请日：2007-03-13
申请人： Stephane Dellac , Arnaud Jacquet , Gerard Leon Gissinger , Michel Basset , Yann Chamaillard , Jean-Pierre Garcia
发明人： Stephane Dellac , Arnaud Jacquet , Gerard Leon Gissinger , Michel Basset , Yann Chamaillard , Jean-Pierre Garcia
IPC分类号： G01C23/00 , G05D1/00
CPC分类号： B60T8/1703 , B60T8/00 , B64C25/426
摘要： The invention provides a method of managing the braking of an aircraft having a plurality of brakes comprising friction elements, the method comprising the following steps for at least one group of brakes: estimating an energy level (□E) to be dissipated by the brakes of the group; and estimating individual braking setpoints (Fi) for each of the brakes of the group so that the individual braking setpoints make it possible, at least under normal operating conditions of the brakes, to implement braking that dissipates said energy level, the individual braking setpoints also being determined so as to satisfy at least one other given operating objective.
摘要翻译：本发明提供了一种管理具有包括摩擦元件的多个制动器的飞行器的制动的方法，该方法包括以下步骤，用于至少一组制动器：估计由制动器的制动器消耗的能量水平（□E）群组; 并估计组中每个制动器的各个制动设定点（Fi），使得各个制动设定点使得至少在制动器的正常操作条件下可以实现耗散所述能量水平的制动，各个制动设定点也被确定为满足至少一个其他给定的操作目标。

10. 发明申请

US20080249706A1 METHOD FOR THE ANTICIPATED ASCERTAINMENT OF A BEND ON A PORTION OF ROAD, AND ASSOCIATED SYSTEM 有权
标题翻译：用于道路弯曲和相关系统弯曲的预测方法
公开(公告)号：US20080249706A1
公开(公告)日：2008-10-09
申请号：US11860681
申请日：2007-09-25
申请人： Benazouz BRADAI , Anne HERBIN , Michel BASSET , Jean-Philippe LAUFFENBURGER
发明人： Benazouz BRADAI , Anne HERBIN , Michel BASSET , Jean-Philippe LAUFFENBURGER
IPC分类号： G01C21/26
CPC分类号： G01C21/26 , B60Q1/085 , B60Q1/12 , B60Q2300/112 , B60Q2300/322 , B60Q2300/33 , B60W40/072 , B60W2550/10 , B60W2550/402 , G01C21/3697
摘要： A system and method for the anticipated detection of a bend on a portion of road taken by a motor vehicle comprising the following steps: establishing, by means of a first system, called as the navigation system, a first set of information on the bend in question, the first set of information being associated with a first confidence index; establishing, by means of a second system, called as the image processing system, a second set of information on the bend in question, the second set of information being associated with a second confidence index; and establishing, from the first set of information and the second set of information and by taking into account the first confidence index and the second confidence index, a third set of information on the bend in question.
摘要翻译：一种用于预期检测由汽车行驶的道路部分上的弯道的系统和方法，包括以下步骤：通过被称为导航系统的第一系统建立弯曲处的第一组信息问题，第一组信息与第一个置信指数相关联; 通过被称为图像处理系统的第二系统建立关于所述弯道的第二组信息，所述第二组信息与第二置信指数相关联; 以及从所述第一组信息和所述第二组信息中，并且通过考虑所述第一置信指数和所述第二置信指数来建立所述弯道的第三组信息。

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