Patent ID: 8666598

Claim:
A method of controlling a yawing movement of an aircraft having a fuselage and running along the ground, the aircraft comprising at least one first landing gear with a steerable bottom part bearing wheels, the method being characterized in that it comprises the steps of: on the basis of a yaw rate, determining a wheel-steering prepositioning angle θ p ; using closed-loop control, which as its input has the yaw rate and which generates a command to steer the steerable bottom part in order to steer the steerable bottom part through a required steering angle θ c equal to the sum of said prepositioning angle θ p and an angle θ z , which is determined by taking account of an error, between the yaw rate and a measured yaw rate φ m , when the steerable bottom part is steered by the required steering angle θ c ; the method applied to an aircraft further comprising at least two main landing gears with wheels and being positioned, respectively, a left main landing gear on a left side of the fuselage and a right main landing gear on a right side of the fuselage and the wheels each of said left and fight main landing gears being associated with torque application members, the method further comprising the step of generating, for attention of the torque application members of the left and fight main landing gears, two acceleration setpoints, a left setpoint {acute over (Γ)} g and a right setpoint {acute over (Γ)} d , so that the torque application members thus stimulated generate, on the aircraft, a yaw moment M zp that complements the yaw moment M za generated by the first landing gear, so that the total yaw moment generated on the aircraft allows the aircraft to comply with the yaw setpoint φ c ; and the method in which the acceleration setpoints {acute over (Γ)} g , {acute over (Γ)} d are generated taking account of saturations in the accelerations on the right side (Sat g ) and on the left side (Sat d ) of the wheels of the right and left main landing gears, respectively.