# US 11,440,416 B2 · Maglev supervisory control architecture > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,416 B2 - Document ID: US11440416B2 - Status: Granted - Kind: B2 - Application number: 16/804,441 - Filed: 2020-02-28 - Published: 2021-09-02 - Granted: 2022-09-13 - Earliest claimed: 2020-02-28 - Assignees: Safran Landing Systems; Safran Landing Systems Canada Inc. - Applicants: Safran Landing Systems; Safran Landing Systems Canada Inc. - Inventors: Andrew Michael Ellis; Graeme Peter Arthur Klim; Thibaud Mazoue - Web page: https://patentgrep.com/patent/US11440416B2 ## CPC - B60L 13/06: Means to sense or control vehicle position or attitude with respect to railway - B60L 13/04: Magnetic suspension or levitation for vehicles - B60L 2200/26: Rail vehicles - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES ## Abstract In some embodiments, a control unit for a vehicle is provided. The vehicle may be a maglev vehicle. The control unit is configured to autonomously control positions of landing gear on the vehicle that are extendible and retractable. In some embodiments, the control unit is configured to detect a change in a weight-on-wheels state of the vehicle, and to transition between passively controlling extension or retraction of the landing gear and actively controlling the extension distance of the landing gear in order to maintain a desired distance between the vehicle and a levitation mechanism. ## Claims ### Claim 1 A control unit for a vehicle, the control unit configured with logic that, in response to execution by the control unit, cause the control unit to perform actions comprising: receiving a command to extend at least one landing gear of the vehicle from a stowed position or to retract the at least one landing gear of the vehicle from an extended position; causing at least one motor control unit of the vehicle to extend or retract the at least one landing gear based on the command; detecting a change in a weight-on-wheels state of the vehicle; and transitioning between passively controlling an extension distance of the at least one landing gear and actively controlling the extension distance of the at least one landing gear based on the change in the weight-on-wheels state. ### Claim 2 (depends on 1) The control unit of claim 1, wherein actively controlling the extension distance of the at least one landing gear includes: receiving a sensed distance value from a sensor of the vehicle, wherein the sensed distance value represents a distance between a component of the vehicle and a levitation mechanism; determining a desired distance value, wherein the desired distance value represents a desired distance between the component of the vehicle and the levitation mechanism; and using the sensed distance value and the desired distance value to determine a control input to the at least one motor control unit. ### Claim 3 (depends on 2) The control unit of claim 2, wherein determining the desired distance value includes: receiving a vehicle speed value from a vehicle speed sensor; and determining the desired distance value based on the vehicle speed value. ### Claim 4 (depends on 2) The control unit of claim 2, wherein using the sensed distance value and the desired distance value to determine a control input to the at least one motor control unit includes providing the sensed distance value and the desired distance value to a proportional-integral (PI) control logic, a proportional-derivative (PD) control logic, or a proportional-integral-derivative (PID) control logic. ### Claim 5 (depends on 1) The control unit of claim 1, wherein detecting the change in the weight-on-wheels state of the vehicle includes: receiving a landing gear state value from a landing gear sensor; and determining the weight-on-wheels state of the vehicle based on the landing gear state value. ### Claim 6 (depends on 5) The control unit of claim 5, wherein receiving the landing gear state value from the landing gear sensor includes at least one of: receiving a ground contact detection value; and receiving a static stroke detection value. ### Claim 7 (depends on 5) The control unit of claim 5, wherein receiving the landing gear state value from the landing gear sensor includes receiving a shock absorber compression value, and wherein determining the weight-on-wheels state of the vehicle based on the landing gear state value includes comparing the shock absorber compression value to a threshold compression value. ### Claim 8 (depends on 1) The control unit of claim 1, wherein passively controlling the extension distance of the at least one landing gear includes: determining a control input to move the at least one landing gear from a current extension distance to a fully extended position or a stowed position; and providing the control input to the at least one motor control unit. ### Claim 9 (depends on 8) The control unit of claim 8, wherein determining the control input to move the at least one landing gear from the current extension distance to the fully extended position or the stowed position includes determining the control input based on a rate specified by the command to extend the at least one landing gear or to retract the at least one landing gear. ### Claim 10 (depends on 1) A maglev vehicle, comprising: at least one landing gear; at least one motor control unit configured to change an extension distance of the at least one landing gear; and the control unit as recited in claim 1. ### Claim 11 (depends on 10) The maglev vehicle of claim 10, further comprising at least one landing gear sensor communicatively coupled to the control unit. ### Claim 12 (depends on 10) The maglev vehicle of claim 10, further comprising at least one sensor configured to determine a sensed distance value that represents a distance between a component of the maglev vehicle and a levitation mechanism, wherein the at least one sensor is communicatively coupled to the control unit. ### Claim 13 (depends on 10) The maglev vehicle of claim 10, further comprising at least one vehicle speed sensor communicatively coupled to the control unit. ### Claim 14 (depends on 10) The maglev vehicle of claim 10, wherein the control unit is a first control unit, and wherein the maglev vehicle further comprises a second control unit configured to transmit commands to the first control unit. ### Claim 15 A non-transitory computer-readable medium having computer-executable instructions stored thereon that, in response to execution by a control unit of a vehicle, cause the control unit to perform actions comprising: receiving a command to extend at least one landing gear of the vehicle from a stowed position or to retract the at least one landing gear of the vehicle from an extended position; causing at least one motor control unit of the vehicle to extend or retract the at least one landing gear based on the command; detecting a change in a weight-on-wheels state of the vehicle; and transitioning between passively controlling an extension distance of the at least one landing gear and actively controlling the extension distance of the at least one landing gear based on the change in the weight-on-wheels state.