Method, system, and computer program product for performance monitored aircraft rejected takeoff braking

In exemplary embodiments, braking of an airplane is controlled during a rejected takeoff. A rejected takeoff of an airplane from a runway is initiated. Position of the airplane is determined, such as by inputting aircraft position from a global positioning system. Distance remaining on the runway is determined. Deceleration to stop the aircraft in the determined distance remaining on the runway is calculated, and the calculated deceleration is provided to an autobraking system of the airplane. When the aircraft can not be stopped in the determined distance remaining on the runway, a predetermined deceleration that correlates to maximum braking may be provided to the aircraft's autobraking system. The calculated deceleration may be provided to the autobraking system until a pilot takes command of the aircraft's brakes or the aircraft has stopped.

BACKGROUND

A takeoff of an aircraft from a runway may be rejected for a variety of reasons, such as engine failure, activation of a takeoff warning horn, direction from air traffic control, blown tires, system warnings, and the like. For takeoff, currently-known autobraking systems are placed in a rejected takeoff (“RTO”) mode. With a currently-known autobraking system in the RTO mode, a pilot typically can initiate a rejected takeoff maneuver by returning throttles to the “idle” position or by engaging reverse thrust.

Currently-known autobraking systems for large aircraft provide maximum braking pressure when a rejected takeoff is initiated. Characteristic of all rejected takeoffs is the objective of stopping the airplane within the remaining runway. Maximum braking is applied, typically at speeds above 85 knots, independent of the amount of runway remaining or the amount of headwind or temperature. During maximum braking, aircraft brakes absorb the braking energy and can become very hot. Absorption of the braking energy can cause brake over-temperature, brake fires, fuse plug melting, tire destruction, and subsequent runway closures. These results of brake energy absorption can lead to increased costs, decreased safety, and other issues for airlines and controlling agencies.

The rejected takeoff function of currently-known autobraking systems applies maximum braking without controlling deceleration and without consideration to application of less than maximum braking pressure. Thus, some of the consequences of absorption of brake energy can be incurred unnecessarily in instances when a rejected takeoff is initiated but the aircraft can be stopped on the remaining runway with application of less than maximum brake pressure.

The foregoing examples of related art and limitations associated therewith are intended to be illustrative and not exclusive. Other limitations of the related art will become apparent to those of skill in the art upon a reading of the specification and a study of the drawings.

SUMMARY

The following embodiments and aspects thereof are described and illustrated in conjunction with systems and methods which are meant to be exemplary and illustrative, not limiting in scope. In various embodiments, one or more of the problems described above in the Background have been reduced or eliminated, while other embodiments are directed to other improvements.

In exemplary embodiments, braking of an airplane is controlled during a rejected takeoff. A rejected takeoff of an airplane from a runway is initiated. Position of the airplane is determined, and distance remaining on the runway is determined. Deceleration to stop the aircraft in the determined distance remaining on the runway is calculated, and the calculated deceleration is provided to an autobraking system of the airplane.

According to an aspect, a determination may be made whether the aircraft can be stopped in the determined distance remaining on the runway. When the aircraft can not be stopped in the determined distance remaining on the runway, a maximum braking signal is provided to the aircraft's autobraking system.

According to another aspect, position of the aircraft may be determined by inputting aircraft position from a navigation system that can incorporate inputs from internal and external sensors, such as an inertial navigation system, space and terrestrial-based electronic navigation aids, and crew-entered or activated position information.

According to another aspect, the calculated deceleration may be provided to the autobraking system until a pilot takes command of the aircraft's brakes or the aircraft has stopped.

According to another aspect, braking performance may be displayed.

In addition to the exemplary embodiments and aspects described above, further embodiments and aspects will become apparent by reference to the drawings and by study of the following detailed description.

DETAILED DESCRIPTION

Given by way of non-limiting overview, in exemplary embodiments braking of an airplane is controlled during a rejected takeoff. A rejected takeoff of an airplane from a runway is initiated. Position of the airplane is determined, such as by inputting aircraft position from a global positioning system. Distance remaining on the runway is determined. Deceleration to stop the aircraft in the determined distance remaining on the runway is calculated, and the calculated deceleration is provided to an autobraking system of the airplane. When the aircraft can not be stopped in the determined distance remaining on the runway, a predetermined deceleration that correlates to maximum braking may be provided to the aircraft's autobraking system. The calculated deceleration may be provided to the autobraking system until a pilot takes command of the aircraft's brakes or the aircraft has stopped. Braking performance may be displayed. Details of exemplary embodiments will be set forth below.

Referring now toFIG. 1, an exemplary method10controls braking of an aircraft during a rejected takeoff from a runway. At a block12, a rejected takeoff of an aircraft from a runway is initiated. For example, with an autobraking system in a rejected takeoff (“RTO”) mode, a pilot can initiate a rejected takeoff maneuver by returning throttles (or autothrottles) to the “idle” position or by engaging reverse thrust. A rejected takeoff is imitated at speeds less than “decision speed”, also referred to as V1, that is the minimum speed in the takeoff, following a failure of the critical engine, at which the takeoff can be continued with only the remaining engines. Below V1the takeoff is to be rejected; above V1the takeoff is to be continued and the aircraft is to be returned for landing.

At a block14, position of the aircraft on the runway is determined. In exemplary embodiments, aircraft position is determined by an integrated navigation system whose inputs may include global positioning system (GPS) or other space-based navigation systems, with or without accuracy augmentation. In some such cases, position of the aircraft on the runway can be determined within around 1 meter. Moreover, in such cases position can be updated around once every second or so. However, if desired, in other embodiments aircraft position may be determined by other position determining systems and methods, such as counting tire rotations from a known fix, terrestrial Distance Measuring Equipment (DME), and internal accelerometers. A signal that is indicative of aircraft position is provided to a suitable computer processor, such as without limitation a flight management computer or the like.

At a block16distance remaining on the runway is calculated. The distance remaining on the runway is calculated as the difference between the position of the aircraft and the end of the runway. The runway end position is retrieved from an on-board electronic Navigation Database (NDB). The runway end position retrieved from the NDB is compared with the aircraft position, as determined at the block14, to determine distance remaining on the runway.

At a block18deceleration for the aircraft to be stopped in the distance remaining on the runway is calculated. Deceleration is calculated from a basic equation of motion:
vfinal=v+at(1)where:vfinal=final aircraft velocityv=current aircraft velocitya=average aircraft accelerationt=timePosition is determined by integrating equation (1):
xfinal=x+vt+(½)at2(2)where xfinal=final aircraft positionx=current aircraft position
As discussed above, the distance remaining on the runway, L, is the difference between the final position of the aircraft (that is, the end of the runway) and the present position of the aircraft. The distance remaining on the runway, L, is derived from equation (2):
L=|xfinal−x|=|vt+(½)at2|  (3)Equation (1) can be rearranged to solve for time:
t=(vfinal−v)/a(4)
With equations (3) and (4) there are two equations and two unknowns (that is, a and t). Substituting equation (4) into equation (3) yields
L=|v{(vfinal−v)/a}+(½)a{(vfinal−v)/a}2|  (5)Simplifying,
L=|(½a)(v2final−v2)|  (6)Solving for acceleration, a, in equation (6) yields
a=±|(½L)(v2final−v2)|  (7)
However, the final velocity of the aircraft at the end of the rejected takeoff is zero. With vfinal=0, equation (7) simplifies to
a=±|−v2/2L|(8)
A deceleration signal is the magnitude of the acceleration calculated in equation (8):
decel=|−v2/2L|(9)
If desired, the performance calculations described above may be refined to include more parameters that are indicative of specific characteristics of airframes and environmental conditions that can affect aerodynamic drag. For example, airframe characteristics can include configuration of high-lift devices, such as flaps, flaperons, or the like. Environmental conditions may include, but not be limited to, runway slope, surface type, friction measurements by aircraft or ground sensors, braking effectiveness reports, and atmospheric conditions.

The distance remaining on the runway, L, is assigned a minimum value that is greater than zero in order to prevent computation errors (by dividing by zero) when the aircraft is at the end of the runway (that is, when the value of L would be zero). For example, a minimum value of L may be assigned as the position uncertainty (or accuracy) of the position determining system. Given by way of non-limiting example, when position of the aircraft is determined by a global positioning system, the minimum value of L may be around 3 meters or so. However, any minimum value for L (that is greater than zero) may be selected as desired for a particular application.

At a decision block20, a determination is made whether the aircraft can stop on the remaining runway. Such a determination can be made based upon analysis of distance remaining on the runway. As discussed above, at the block16distance remaining on the runway is calculated based on position of the aircraft that was determined at the block14. This distance calculated at the block16can be considered the actual distance remaining on the runway, Lactual. As also discussed above, distance remaining on the runway, L, can be calculated according to equation (6). Because vfinalis zero, equation (6) can be simplified to
Lcalc=|(½a)(−v2)|  (10)
By using the calculated deceleration decel from equation (9) and current aircraft velocity v sensed by a global positioning system or an air data inertial reference unit or the like, the distance remaining on the runway, Lcalc, calculated according to equation (10) can be considered a calculated distance remaining on the runway. When the calculated distance remaining on the runway, Lcalc, exceeds the actual distance remaining on the runway, Lactual, then the aircraft can not be stopped in the distance remaining on the runway. Alternately, when the calculated distance remaining on the runway, Lcalc, is less than or equal to the actual distance remaining on the runway, Lactual, then the aircraft can be stopped in the distance remaining on the runway.

When it is determined at the decision block20that the aircraft can not be stopped in the distance remaining on the runway, then at a block24a predetermined deceleration that correlates to maximum braking is provided to a control unit of the aircraft's autobraking system. For example and without limitation, in many currently known commercial aircraft a deceleration of at least 12 ft/sec2correlates to maximum braking and is provided to the aircraft's autobraking control unit. A safety margin can be provided by selecting an even higher deceleration. For example, for an aircraft autobraking system in which a deceleration of 12 ft/sec2correlates to maximum braking, providing a deceleration of 14 ft/sec2to the aircraft's autobraking control unit establishes a safety margin that helps to ensure that the autobraking system applies maximum braking. Correlation of deceleration to maximum braking can vary from aircraft to aircraft. Therefore, the above example is given by way of illustration only and is not intended to be limiting in any respect whatsoever.

At a block26, the aircraft's autobraking system applies maximum braking. In one non-limiting example, braking may be applied by electric brakes. In such an embodiment, maximum braking is effected by electric brakes via electromechanical actuators, such as an electric motor and gears, causing actuators on a brake ring to press carbon disks against each other in a manner to cause maximum braking. In another non-limiting example, braking may be applied by hydraulic brakes. Maximum braking pressure in a hydraulic brake system may vary from aircraft to aircraft. For example, in many commercial aircraft, maximum braking pressure is around 3,000 psig. However, the maximum braking pressure can vary from autobraking system to autobraking system.

Conversely, when it is determined at the decision block20that the aircraft can be stopped in the distance remaining on the runway, then at a block28the calculated deceleration decel is provided to the autobraking control unit. At a block30, responsive to the calculated deceleration decel the autobraking system applies braking that correlates to the calculated deceleration. In one non-limiting example, braking may be applied by electric brakes. In such an embodiment, electromechanical actuators cause actuators on a brake ring to press carbon disks against each other in a manner to cause braking that results in the calculated deceleration.

Given by way of another non-limiting example, braking may be applied by hydraulic brakes. Referring additionally toFIG. 2and as can be seen from a graph22of brake pressure versus deceleration for a typical aircraft autobraking system, braking pressure of around 3000 psig is applied responsive to a calculated deceleration of around 12 ft/sec2, braking pressure of around 2000 psig is applied responsive to a calculated deceleration of around 7.2 ft/sec2, braking pressure of around 1500 psig is applied responsive to a calculated deceleration of around 5 ft/sec2, and braking pressure of around 1250 psig is applied responsive to a calculated deceleration of around 4 ft/sec2. Such braking pressure-deceleration correlation is typically provided in known autobraking systems as selectable autobraking levels that can be used during landing. The non-limiting graph22is fit through these typical correlation values and, for deceleration less than or equal to 12 ft/sec2, is given by the equation
brake pressure (in psig)=208.33×deceleration (in ft/sec2)+500  (11)
Brake pressure is set to a value of 3,000 psig (corresponding to maximum braking pressure) for deceleration greater than 12 ft/sec2.

In the hydraulic brake embodiment, the brake pressure to be applied at the block30is calculated by an autobraking control unit by applying equation (11) to the calculated deceleration decel. Alternately, a number of discrete points that lie along the graph22can be entered and stored in a look-up table. The look-up table can be provided as part of the autobraking control unit, or as part of a flight management computer or a flight management system, or a standalone database, as desired for a particular application. An autobraking control unit can access the look-up table, enter the look-up table with calculated deceleration, and retrieve from the look-up table a braking pressure that corresponds to the calculated deceleration.

From the blocks26and30, the method10proceeds to a block32at which braking performance is displayed. A measure of braking performance that may be displayed is whether or not the aircraft can be stopped on the runway, as determined by calculations described previously, and within parameters specified by the manufacturer and/or the operator. Another measure of braking performance that may be displayed is a braking performance green arc on the airport map display.

Braking performance can be displayed in any manner and on any display device as desired for a particular application. For example, braking performance can be displayed on a head-up display or a head-down display, such as a primary flight display or a secondary display like navigation display, as desired. Further, symbology used to represent braking performance can be any symbology as desired for a particular application. In an exemplary embodiment given by way of non-limiting example, standard symbology is displayed on an aircraft's primary flight display. The primary flight display is monitored by the flight crew in the flight deck during takeoff, so use of the primary flight display to display braking performance does not disrupt the flight crew's typical takeoff routine. Use of standard, known symbology does not introduce symbols that may be new to a flight crew.

For example, referring briefly now toFIGS. 3A and 3B, a primary flight display36includes standard symbology such as an airplane symbol36, a roll steering bar38, a horizon line40, a pitch bar42, and a runway symbol44. Referring now toFIG. 3A, when the aircraft can be stopped on the runway, the runway symbol44is displayed in a standard manner in which a member of a flight crew expects to see the runway symbol44appear during normal operations. For example, the runway symbol44may appear filled in with a solid standard color, such as green, that is indicative of normal operation and that is known to flight crews. Appearance of the runway symbol44in an expected manner concisely communicates to the flight crew that the airplane can stop on the runway.

Referring now toFIG. 3B, when the aircraft can not be stopped on the runway, the runway symbol44is displayed in a non-standard manner that is different from a standard manner in which a member of a flight crew expects to see the runway symbol44appear during normal operations. For example, the runway symbol44may appear “greyed out”, or may appear filled in with a non-standard color, such as red, that is not indicative of normal operation, or may flash intermittently, or may be filled in with symbols (not shown) that may be anything other than a solid color expected for normal operation. The above examples of non-standard display of the runway symbol44are given by way of example and are not intended to be limiting. Any non-standard display of the runway symbol44can be used as desired to indicate that the aircraft can not be stopped in the distance remaining in the runway.

Referring back toFIG. 1, at a decision block a determination is made whether a pilot has taken command of the brakes (that is, a pilot has applied brake pedals). When a pilot has taken command of the brakes, the method10stops at a block48.

When a pilot has not taken control of the brakes, a determination is made at a decision block50whether or not the aircraft has stopped. For example, an indication that an aircraft has stopped is when current velocity v (that is, ground speed from an air data inertial reference unit) equals zero. When the aircraft has stopped, the method10stops at the block48. When the aircraft has not stopped, the method10returns to the block14and the method10iteratively continues, with aircraft position being updated around once per second at the block14when the aircraft's position is determined with a global positioning system.

Referring now toFIG. 4, an exemplary system100controls braking of an aircraft during a rejected takeoff from a runway. To that end, the system100suitably executes the method10(FIG. 1). Given by way of non-limiting example, in an exemplary embodiment the system100includes a processor102, such as without limitation a flight management computer or the like, and input data sources104. The input data sources provide suitable input signals to input interfaces (not shown) of the processor102and to an autobraking control unit106of an autobraking system108. The processor102provides the calculated deceleration decel to the autobraking control unit106.

The input data sources provide various input data used by the processor102in executing the method10(FIG. 1). For example, a signal indicative of position of thrust levers (or autothrottles)110is provided to the processor102. During takeoff, placement of the thrust levers110to idle is indicative of initiation of a rejected takeoff maneuver. In such a case, the processor102causes the method10to begin at the block12(FIG. 1).

A signal indicative of operation of thrust reversers112is provided to the processor102. During takeoff, engagement of reverse thrust is indicative of initiation of a rejected takeoff maneuver. In such a case, the processor102causes the method10to begin at the block12(FIG. 1).

A signal indicative of operation of brake pedals114is provided to the processor102. During a rejected takeoff maneuver, operation of the brake pedals114is indicative of a pilot taking command of the brakes. In such a case, the processor102makes a determination at the decision block46(FIG. 1) that the pilot has taken command of the brakes and causes the method10to stop at the block48(FIG. 1).

The signals provided by the thrust levers110, the thrust reversers112, and the brake pedals114are also provided to the autobraking control unit106for controlling braking during a rejected takeoff. When an autobraking selector panel116of the autobraking system108is configured to select a rejected takeoff (RTO) function, the autobraking system108is placed in an RTO mode. When the autobraking system108is in the RTO mode and the autobraking control unit106receives either (i) a signal indicating that the thrust levers110have been repositioned to idle or (ii) a signal indicating that the thrust reversers112have engaged reverse thrust, the autobraking control unit106determines braking that correlates to the calculated deceleration decel. The autobraking control unit106controls autobraking control devices118(such as electromechanical actuators in an electric brake system or control valves in a hydraulic brake system) to cause application of maximum braking at the block26(FIG. 1) or braking correlating to the calculated deceleration decel at the block30(FIG. 1).

When a rejected takeoff maneuver is being performed and a pilot takes command of the brakes, then the signal indicative of operation of the brake pedals114causes the autobraking control unit106to stop controlling the autobraking control devices118.

Other input data sources104are provided to the processor102but need not be provided to the autobraking control unit106. For example, databases120may reside within a flight management computer system or may be standalone databases. The databases120suitably provide information regarding runway position and runway length.

A user input device122may be used by the flight crew to enter various parameters or to modify parameters supplied by the databases120. For example, the flight crew may modify runway length due to temporary changes to runway length due to, for example, construction or because a takeoff is started at an intersection. A flight crew may enter data indicative of runway condition (such as contaminants or braking condition, like coefficient of friction), runway slope (from approach charts), runway surface type (such as construction material like concrete, asphalt, dirt, or the like), whether a runway is grooved, or the like. The user input device may be any acceptable user input device as desired. In some aircraft, a control display unit (CDU) of a navigation display (ND) suitably may be used as the user input device122.

A position determining system124can provide various data to the processor102. For example, as discussed above the position determining system124may be a global positioning system (GPS). Use of a GPS permits determining position of an aircraft within a position uncertainty of around 3 meters or so, with determined position being updated around once per second. A GPS can also provide actual current velocity and actual current deceleration to the processor102. Alternately, the position determining system122may be a global navigation satellite system (GNSS) other than a GPS, if desired. As a further example, the position determining system122may be an aircraft navigation system. Like a GPS, an aircraft navigation system can provide aircraft position information as well as actual current velocity and actual current deceleration to the processor102.

An air data inertial reference unit126can provide acceleration information (in this case, actual deceleration) to the processor102. A Central Air Data Computer128can provide ground speed (that is, current velocity) to the processor102.

Aircraft sensors130can provide various sensed information to the processor102. For example, accelerometers can provide current acceleration information. As a further example, current velocity can be provided by an aircraft's navigation system, which has several inputs. Primary information comes from an inertial navigation system's accelerometers (second integral of accelerations), with additional information from space-based (such as GPS) and terrestrial (such as Distance Measuring Equipment (“DME”)) sensors. Landing gear rotation information can be provided to the processor102to determine position of the aircraft on the runway, if desired. Also, configuration of high-lift devices, such as flaps, flaperons, or the like, can be provided to the processor102as effects on aerodynamic drag in the calculation at the block18(FIG. 1).

A display132displays braking performance. As discussed above, the display132may be any display device as desired for a particular application. For example and as discussed above, the display132can be a head-up display or a head-down display, such as a primary flight display or a secondary display like navigation display, as desired. In an exemplary embodiment, the display132may be a primary flight display and the displayed symbology is shown inFIGS. 3A and 3B, as discussed above.

In various embodiments, portions of the system100(FIG. 4) and the method10(FIG. 1) include a computer program product. The computer program product may be bundled with the system100for inclusion in a new aircraft, or the computer program product may be incorporated into systems in an existing aircraft as a retrofit. Regardless of the manner of providing the computer program product, the computer program product includes a computer-readable storage medium, such as a non-volatile storage medium, and computer-readable program code portions, such as a series of computer instructions, embodied in the computer-readable storage medium. Typically, the computer program is stored and executed by a processing unit or a related memory device, such as the processor102and/or the autobraking control unit106depicted inFIG. 4.

In this regard,FIGS. 1 and 4are flowcharts and block diagrams of methods, systems and program products according various embodiments. It will be understood that each block of the block diagrams and flowcharts and combinations of blocks in the block diagrams and flowcharts can be implemented by computer program instructions. These computer program instructions may be loaded onto a computer or other programmable apparatus to produce a machine, such that the instructions which execute on the computer or other programmable apparatus create means for implementing the functions specified in the block diagrams or flowchart blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the block diagrams or flowchart blocks. The computer program instructions may also be loaded onto a computer or other programmable apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the block diagrams or flowchart blocks.

Accordingly, blocks of the block diagrams or flowcharts support combinations of means for performing the specified functions, combinations of steps for performing the specified functions and program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams or flowcharts, and combinations of blocks in the block diagrams or flowcharts, can be implemented by special purpose hardware-based computer systems which perform the specified functions or steps, or combinations of special purpose hardware and computer instructions.

Referring now toFIGS. 1-5, an exemplary aircraft150suitably includes the system100(FIG. 4) and an autobraking system108(FIG. 4). The aircraft150includes a fuselage152, a pair of wings154, engines156, and landing gear including a nose gear158and main landing gear160. While the aircraft150is depicted for purposes of illustration as a large commercial aircraft, it will be appreciated that the aircraft150is not intended to be so limited. The aircraft150suitably is any aircraft, and may be any civil or military aircraft of any size and may be manned or unmanned, as desired. For purpose of clarity, only high level components such as the processor102, the input data sources104, and the autobraking system108are shown inFIG. 5. Construction and operation of the system100has been set forth above. Details of construction and operation of the system100need not be repeated for an understanding.

While a number of exemplary embodiments and aspects have been illustrated and discussed above, those of skill in the art will recognize certain modifications, permutations, additions, and sub-combinations thereof. It is therefore intended that the following appended claims and claims hereafter introduced are interpreted to include all such modifications, permutations, additions, and sub-combinations as are within their true spirit and scope.