# US 11,299,259 B2 · Hybrid low speed control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,259 B2 - Document ID: US11299259B2 - Status: Granted - Kind: B2 - Application number: 16/775,531 - Filed: 2020-01-29 - Published: 2021-07-29 - Granted: 2022-04-12 - Earliest claimed: 2020-01-29 - Assignees: Textron Innovations Inc. - Applicants: Bell Textron Inc. - Inventors: Kevin Thomas Christensen; Hunter Barton Nelson; Martin Wesley Shubert; Paul David Ruckel - Web page: https://patentgrep.com/patent/US11299259B2 ## CPC - B64C 19/02: Conjoint controls - B64C 27/54: Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement - B64C 13/042: {operated by hand} - B64C 13/10: comprising warning devices - B64C 13/503: {Fly-by-Wire} - B64C 15/12: the power plant being tiltable - B64C 27/56: characterised by the control initiating means, e.g. manually actuated - B64D 31/02: Initiating means - G05D 1/0858: {specially adapted for vertical take-off of aircraft} - B64C: AEROPLANES; HELICOPTERS - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An exemplary method for controlling low speed flight of an aircraft having a controller receiving pilot input includes transitioning from a translational rate command (TRC) to a linear acceleration command (LAC) when the controller is displaced above a control transition displacement (CTD), and while in LAC holding speed when the controller is relaxed to CTD. ## Claims ### Claim 1 A method for controlling low speed flight of an aircraft having a controller receiving manual pilot input, the method comprising: defining a control transition displacement (CTD) relative to a centered, no-force detent position of the controller, the controller in data communication with an aircraft computer; defining a translational rate command (TRC) region bounded by the CTD and a TRC threshold speed; defining a linear acceleration command (LAC) region where the controller is displaced greater than the CTD or the aircraft exceeds the TRC threshold speed; maneuvering the aircraft in response to displacing the controller from the detent position in response to manual input from a pilot; commanding, when in the TRC region, a speed proportional to the displacement of the controller from the detent position; commanding, when in the LAC region, an acceleration or deceleration proportional to the displacement of the controller from the CTD; and transitioning, with an aircraft computer, from translational rate commands in the TRC region to linear acceleration commands in the LAC region. ### Claim 2 (depends on 1) The method of claim 1, wherein the CTD is approximately 1-inch from the detent position and the TRC threshold speed is approximately 10 knots. ### Claim 3 (depends on 1) The method of claim 1, comprising commanding acceleration when the controller is displaced greater than the CTD; commanding zero acceleration when the controller is at the CTD; and commanding deceleration when the controller is displaced less than the CTD and the groundspeed is greater than the TRC threshold speed. ### Claim 4 (depends on 1) The method of claim 1, further comprising communicating a tactile cue when the controller is at the CTD. ### Claim 5 (depends on 4) The method of claim 4, wherein the tactile cue is communicated through the controller. ### Claim 6 (depends on 1) The method of claim 1, wherein the transitioning between the TRC and the LAC occurs without the use of manually operated switches. ### Claim 7 (depends on 1) The method of claim 1, wherein the CTD is approximately 1-inch form the detent position. ### Claim 8 (depends on 7) The method of claim 7, comprising commanding acceleration when the controller is displaced greater than the CTD; commanding zero acceleration when the controller is at the CTD; and commanding deceleration when the controller is displaced less than the CTD and the groundspeed is greater than the TRC threshold speed. ### Claim 9 (depends on 1) The method of claim 1, wherein the TRC threshold speed is approximately 10 knots. ### Claim 10 (depends on 9) The method of claim 9, comprising commanding acceleration when the controller is displaced greater than the CTD; commanding zero acceleration when the controller is at the CTD; and commanding deceleration when the controller is displaced less than the CTD and the groundspeed is greater than the TRC threshold speed. ### Claim 11 A system for controlling low speed flight of an aircraft, the system comprising: a rotor system having blades to propel the aircraft; a controller in data communication with an aircraft computer, the controller displaced from a detent position in response to manual input from a pilot, wherein the detent position is a centered, no-force position; and the aircraft computer having instructions stored thereon that cause the system to: transition from translational rate command (TRC) to linear acceleration command (LAC) when the controller is displaced greater than a control transition displacement (CTD) from the detent position. ### Claim 12 (depends on 11) The system of claim 11, wherein the aircraft computer causes the aircraft to maneuver with the TRC when the controller is displaced less than the CTD and a groundspeed of the aircraft is less than a TRC threshold speed and the aircraft is maneuvered with the LAC when the groundspeed is greater than the threshold speed. ### Claim 13 (depends on 12) The system of claim 12, wherein the CTD is approximately 1-inch from the detent position and the TRC threshold speed is approximately 10 knots. ### Claim 14 (depends on 12) The system of claim 12, wherein the aircraft computer causes the aircraft to: command acceleration when the controller is displaced greater than the CTD; command zero acceleration when the controller is at the CTD; and command deceleration when the controller is displaced less than the CTD the groundspeed is greater than the TRC threshold speed. ### Claim 15 (depends on 11) The system of claim 11, wherein the aircraft computer causes the aircraft to transition from the LAC to the TRC when the controller is displaced less than the CTD and a groundspeed of the aircraft is less than a TRC threshold speed; and command zero acceleration when the controller is at the CTD. ### Claim 16 (depends on 11) The system of claim 11, wherein the aircraft computer causes the aircraft to: command, when in the TRC, a speed proportional to the displacement of the controller from the detent position; command, when in the LAC, an acceleration or deceleration proportional to the displacement of the controller from the CTD; and transition between the TRC and the LAC without the use of manually operated switches. ### Claim 17 (depends on 11) The system of claim 11, wherein the aircraft computer causes the aircraft to: command, when in the TRC, a speed proportional to the displacement of the controller from the detent position; and command, when in the LAC, an acceleration or deceleration proportional to the displacement of the controller from the CTD. ### Claim 18 (depends on 17) The system of claim 17, wherein the aircraft computer causes the aircraft to: command acceleration when the controller is displaced greater than the CTD; and command zero acceleration when the controller is at the CTD. ### Claim 19 (depends on 11) The system of claim 11, wherein the CTD is approximately 1-inch from the detent position.