• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for monitoring at least two electromechanical actuators (5) for aircraft wheel braking comprising, for each electromechanical actuator (5), the steps of: - determining a current value representative of the current of power supply of the electromechanical actuator; determining an estimated reference current value from the supply currents of at least one other electromechanical actuator (5); - comparing the representative current value and the reference current value; - detecting an abnormal operation of the electromechanical actuator (5) when the difference between the representative current value and the reference current value is greater than a predetermined threshold.
    公开号:FR3017094A1
    申请号:FR1450788
    申请日:2014-01-31
    公开日:2015-08-07
    发明作者:Philippe Chico；Frederic Ragot；Francois Bonigen；Thomas Lepage
    申请人:Messier Bugatti Dowty SA；
    IPC主号:
    专利说明:

    [0001] The invention relates to a monitoring method of comparing a current value representative of the supply current of an electromechanical braking actuator with an estimated reference current value from the supply currents of other actuators. BACKGROUND OF THE INVENTION An electromechanical aircraft brake generally comprises at least one electromechanical actuator conventionally comprising a pusher and an electric motor adapted to move the pusher opposite friction members of the brake (a stack of discs carbon for example), so as to exert on the friction members a braking force tending to slow down the aircraft.
    [0002] To perform the park braking function, that is to say the immobilization of the aircraft without the pilot having to continuously press on the brake pedals, the electromechanical actuator is provided with a control member. blocking which selectively immobilizes the push of the electromechanical actuator in position. Such an electromechanical actuator is electrically powered and controlled by external or internal control means which receive a braking setpoint and determine a braking force to be applied to the friction members. This electromechanical actuator must be associated with effective monitoring means for regularly checking that the electromechanical actuator is working properly. It is indeed fundamental for the safety of the aircraft to ensure, on the one hand, that the controlled braking force is correctly applied, and on the other hand, that a braking force is not applied. Inadvertently. It is also fundamental to know the real state of the locking member of the electromechanical actuator, and to detect a possible malfunction of this locking member, for example an accidental locking thereof. The implementation of the existing monitoring means often leads to a non-negligible mass increase of the electromechanical actuator or the addition of additional sensors associated with the electromechanical actuator. In addition, the existing monitoring means are often sensitive to environmental disturbances (thermal, electromagnetic, etc.) suffered by the electromechanical actuators. OBJECT OF THE INVENTION The subject of the invention is a method of monitoring electromechanical braking actuators which is very insensitive to environmental disturbances and can be implemented without any increase in mass. SUMMARY OF THE INVENTION The invention will be better understood in the light of the description which follows with reference to the figures of the appended drawings in which: FIG. 1 schematically represents an architecture of a braking system of an aircraft in which which the monitoring method of the invention is implemented; Figure 2 is a block diagram illustrating the monitoring method of the invention. BRIEF DESCRIPTION OF THE DRAWINGS In view of achieving this object, there is provided a method of monitoring at least two electromechanical aircraft wheel brake actuators, each electromechanical actuator being powered by means of a feed stream. to selectively apply a press force on friction members. The monitoring method comprises the step of activating the electromechanical actuators, and, for each electromechanical actuator, the steps of: determining a current value representative of the supply current of the electromechanical actuator; determining an estimated reference current value from the supply currents of at least one other electromechanical actuator; - comparing the representative current value and the reference current value; detecting an abnormal operation of the electromechanical actuator when the difference between the representative current value and the reference current value is greater than a predetermined threshold. Thus, the abnormal operation of the electromechanical actuator is detected by determination then by analysis of the current value representative of its supply current and the reference current value, said determinations and analysis being able to be carried out using pre-existing means (current sensors, etc.). The implementation of the monitoring method of the invention therefore does not require the use of additional equipment and can therefore be performed without increasing mass. If an abnormal operation of the electromechanical actuator is detected, the braking system is thus able to warn the pilot of the aircraft and / or generate a fault message. The braking system can then be reconfigured to attempt to restore the electromechanical actuator under normal operating conditions.
    [0003] In addition, since the detection of the abnormal operation of the actuators is based on the analysis of the difference between the representative current value and the reference current value, the influence on the detection of environmental disturbances is greatly reduced by comparing actuator motor supply currents which are subjected to the same or almost the same environmental disturbances, especially to temperature (actuators of the same brake or of two adjacent wheel brakes, or actuators powered by a motor); same controller, etc.). DETAILED DESCRIPTION OF THE INVENTION With reference to FIG. 1, the invention is here implemented on an aircraft 1 comprising two main undercarriages 2 each carrying two wheels 3 equipped with electromechanical brakes 4. Each electromechanical brake 4 comprises four actuators electromechanical braking devices 5a, 5b, 5c, 5d. The brakes 4 of the wheels 3 of the aircraft 1 are actuated by a braking system which, in addition to the electromechanical actuators 5, comprises two brake pedals 6, a park brake lever 7, a single braking computer 8 and four braking controllers 9. Each braking controller 9 comprises four power modules 10a, 10b, 10c, 10d each connected to an electromechanical actuator 5a, 5b, 5c, 5d of the brake 4 of the same wheel 3. Each electromechanical actuator 5 comprises an electric motor 11, a pusher 12 driven by the electric motor 11 and a locking member 13 adapted to lock in the pusher position 12. The pusher 12 is actuated by the electric motor 11 to selectively apply a controlled braking force on friction members of the associated brake 4, in this case on a disk stack 15. This controlled braking force induces frictional forces between rotors and stators of the battery of disks. 15 and contributes to slowing down the rotation of the associated wheel 3 and thus to braking the aircraft 1. The blocking member 13 is here a brake for lack of current which, when powered, leaves free the pusher 12 of the electromechanical actuator 5 to move under the action of the electric motor 11 but, when no longer supplied, blocks the pusher 12 in position.
    [0004] The brakes 4 of the wheels 3 of the aircraft 1 are therefore controllable to brake the aircraft 1 when the aircraft 1 is on the ground, and are adapted to implement a controlled braking mode and a park brake mode. The braking of the aircraft 1 in controlled mode is activated either by the action of a pilot of the aircraft 1 on the brake pedals 6, or in response to a selection by the pilot of a determined deceleration level ( "autobrake" function). The braking computer 8 then generates a braking setpoint transmitted to each braking controller 9 and converted into a braking force command Comm itself transmitted to the power modules 10 of the braking controllers 9. Each power module 10 a , 10b, 10c, 10d supplies, as a function of this braking command Comm, a supply current a, b, c, d to the electric motor 11 of the electromechanical actuator 5a, 5b, 5c, 5d to which it is connected, so that the brakes 4 generate a braking force to slow down and slow down the aircraft 1.
    [0005] The braking of the aircraft 1 in the park mode is activated by the action of the pilot on the park brake lever 7. In the park brake mode, the pusher 12 is controlled to exert on the pile of disks 15 a park force, then is locked in position by the locking member 13. In the embodiment described here, the monitoring method of the invention aims to detect an accidental locking of a locking member 13 of an actuator electromechanical 5 of the brake 4 of a wheel 3 by comparing the supply current la of the electric motor 11 of this electromechanical actuator 5 with the supply currents la of the other electric motors 11 of the other electromechanical actuators 5 of the same wheel 3.
    [0006] The method of the invention will therefore be described in reference to a single wheel 3 equipped with a brake 4 comprising four electromechanical actuators 5a, 5b, 5c, 5d, this description also being applicable to the other wheels 3 of the aircraft 1 .
    [0007] With reference to FIG. 2, the monitoring method of the invention can be implemented following a braking command or during a functional test. The monitoring method first comprises a step E1 in which the electromechanical actuators 5 of the wheel 3 are activated. Then, the monitoring method of the invention comprises a number of steps performed for each electromechanical actuator 5a, 5b, 5c, 5d one after the other, and intended to verify that the locking member 13 of said actuator electromechanical 5a, 5b, 5c, 5d is not abnormally locked. Thus, for the electromechanical actuator 5a, the monitoring method of the invention comprises a step E2 of determining a representative current value Ivr a of the supply current a of the electric motor 11 of the electromechanical actuator 5a. . This representative value Ivr a is here an absolute value of an estimate a of the supply current a of the electric motor 11 of the electromechanical actuator 5a. The estimation of the supply current a of the electric motor 11 of the electromechanical actuator 5a is here an average value over a period T of the supply current has measured by a current sensor 18 (visible on the 1) connected to the motor 11 of the electromechanical actuator 5a. Each motor 11 of each electromechanical actuator 5 of each brake 4 of each wheel 3 is thus connected to a current sensor 18.
    [0008] The method of the invention then comprises a step E3 of determining a reference current value Ir a estimated from the supply currents la of at least one other electric motor 11 of another electromechanical actuator 5. In In this case, the reference current value Ir a is here estimated from the supply currents b, c, d of the motors 11 of the electromechanical actuators 5b, 5c, 5d. This reference current value Ir a is here an average of absolute values of estimates b, c, d of the supply currents of the motors 11 of the electromechanical actuators 5b, 5c, 5d. The estimates b, c, d are here mean values over the period T of the supply currents b, c, d measured by the associated current sensors 18. The method of the invention then comprises a step E4 during which the representative current value Ivr a and the reference current value Ir a, that is to say in this case the absolute value of the estimate the a and the mean of the absolute values of the estimates b, c, d, are compared. If the difference between the representative current value Ivr a and the reference current value Ir a is greater than a predetermined current threshold Is, then an inadvertent locking of the locking member 13 of the electromechanical actuator 5a is detected. In this case, the electromechanical actuator 5a is identified and its abnormal operation is signaled. A rectifying action of the braking system or a corrective action can be controlled, in an attempt to correct the accidental locking of the locking member 12 and to reset the electromechanical actuator 5a under normal operating conditions. If the reconfiguration action or the correction action does not allow the electromechanical actuator 5a to be put back under normal operating conditions, the electromechanical actuator 5a is deactivated, a failure message is sent and a maintenance operation is commanded the said maintenance operation consisting of directly performing a test on the electromechanical actuator 5a or replacing it.If the difference between the representative current value Ivr a and the reference current value Ir a is lower than or equal to the predetermined current threshold Is, normal operation of the electromechanical actuator 5a is detected. The steps which have just been described are then carried out for each other electromechanical actuator 5b, 5c, 5d.
    [0009] Note that, in the case of the monitoring method described herein, where the abnormal operation of the detected electromechanical actuator 5 is an accidental locking of the locking member 12 of said electromechanical actuator 5, it is preferable for each actuator With the electromechanical system 5 monitored, the representative current value Ivr and the reference current value Ir are determined from power supply currents measured during the idling phases of the electromechanical actuator 5. An operating phase empty corresponds to an approach movement or a movement away from the pusher 12 of the stack of disks 15, during which the pusher 12 moves towards the stack of disks 15 or moves away from the stack of disks 15 without being in contact with it. During such approach or distance movements, the supply current la of the electric motor 11 of the electromechanical actuator 5 concerned is substantially constant and low, the speed of the pusher 12 is stable, substantially constant, and the The position of the pusher 12 varies linearly. The invention is not limited to the particular embodiment that has just been described, but, on the contrary, covers any variant within the scope of the invention as defined by the claims.
    [0010] Although the invention has been described in an aircraft having a braking system having a certain architecture, the invention can of course be implemented in an aircraft comprising a braking system designed differently.
    [0011] Although, in the monitoring method described here, we have taken the example of a current-canceling brake as a locking member of the electromechanical actuator, the invention can be applied to any type of locking member .
    [0012] Although, in the monitoring method described here, a supply current of a motor of an electromechanical actuator is compared with the supply currents of the motors of the other electromechanical actuators of the same wheel or with the average of the currents of supplying all the actuators of the wheel, it is possible to compare a supply current of a motor of an actuator with that of a motor of an actuator of another wheel. The monitoring method is thus for example applicable to a braking system of any vehicle having two wheels each equipped with a brake comprising a single electromechanical actuator. Although it has been indicated that the values of the estimates a, b, c, d of the power supply currents of the motors are average values over a certain period T, these estimation values can also be instantaneous values of the supply currents or any other type of value making it possible to estimate these supply currents.
    [0013] Although it has been indicated here that the abnormal operation of the electromechanical actuator detected is an accidental locking of the locking member, the abnormal operation detected may be different (accidental blocking of the pusher, seizing or internal wear on the part of the actuator). actuator, etc.).
    权利要求:
    Claims (6)
    [0001]
    REVENDICATIONS1. A method of monitoring at least two electromechanical actuators (5) for aircraft wheel braking, each electromechanical actuator (5) being fed by means of a feed current (Ia) for selectively applying a braking force to friction members (15), the monitoring method comprising the step of activating the electromechanical actuators (5), and, for each electromechanical actuator (5), the steps of: - determining a representative current value (Ivr ) the supply current of the electromechanical actuator; determining a reference current value (Ir) estimated from the supply currents of at least one other electromechanical actuator (5); - comparing the representative current value and the reference current value; - Detect an abnormal operation of the electromechanical actuator (5) when the difference between the representative current value and the reference current value is greater than a predetermined threshold (Is).
    [0002]
    The monitoring method according to claim 1, wherein the representative current value (Ivr) is an absolute value of an estimate of the supply current of the electromechanical actuator (5).
    [0003]
    3. The monitoring method according to one of the preceding claims, wherein the reference current value (Ir) is an average of absolute values of estimates of the power supply currents concerned.
    [0004]
    4. The monitoring method according to claims 2 and 3, wherein the estimates of the supply currents are average values or instantaneous values of the supply currents.
    [0005]
    The monitoring method according to one of the preceding claims, wherein the representative current value (Ivr) and the reference current value (Ir) are obtained from power supply currents measured during operating phases at vacuum electromechanical actuators (5).
    [0006]
    6. Monitoring method according to one of the preceding claims further comprising, following the detection of an abnormal operation of an electromechanical actuator, the steps of: - identifying the electromechanical actuator having the abnormal operation; - signal the abnormal operation of the electromechanical actuator; - Perform a correction or reconfiguration action to attempt to restore the electromechanical actuator under normal operating conditions; - deactivate the electromechanical actuator with abnormal operation if the correction or reconfiguration action does not allow the electromechanical actuator to be returned to normal operating conditions.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2902285B1|2016-09-07|Method for monitoring at least two electromechanical braking actuators
    US9511757B2|2016-12-06|Method for determining a failure in a service or parking brake in a vehicle, regulating or control unit for carrying out the method, and parking brake having such a regulating or control unit
    FR2964625A1|2012-03-16|SYSTEMS AND METHODS FOR DYNAMICALLY STABLE BRAKING
    FR2945503A1|2010-11-19|INTEGRATED BRAKE OPERATION TEST EQUIPMENT
    FR2978423A1|2013-02-01|METHOD AND DEVICE FOR DETECTING THE BOATING OF AN AIRCRAFT GOVERNMENT
    US8463462B2|2013-06-11|Systems and methods for braking system testing
    FR2982239A1|2013-05-10|METHOD AND DEVICE FOR DETECTING THE BLOCKING OF AN AIRCRAFT GOVERNMENT
    FR2949921A1|2011-03-11|SECURE SURVEILLANCE AND CONTROL DEVICE FOR AN AIRCRAFT STEERING ACTUATOR
    EP2894070B1|2021-07-28|Method for monitoring a blocking member, and electromechanical actuator
    FR2803051A1|2001-06-29|Helicopter rotor power pack for power regulation has a rotor speed detector signal with sum and derivative levels comparator applied providing fuel dosage reduction/increase drive level
    EP3702269B1|2021-04-21|A haptic alert mechanism for alerting an aircraft pilot, and an aircraft
    FR2953266A1|2011-06-03|METHOD FOR MONITORING AN ADJUSTABLE HORIZONTAL PLAN ACTUATOR IRREVERSIBILITY DEVICE, CORRESPONDING SYSTEM AND AIRCRAFT
    EP2724907B1|2015-08-12|Electromechanical brake system for an aircraft
    FR3008368A1|2015-01-16|METHOD FOR MANAGING THE BRAKING OF AN AIRCRAFT
    EP1912103B1|2013-03-13|Method and device for supervising the servo function of an actuator
    FR2963914A1|2012-02-24|METHOD FOR DETECTING THE ACTUATION STROKE OF AN ELECTRIC PARKING BRAKE EQUIPPED WITH A MOTOR VEHICLE
    FR2763108A1|1998-11-13|Automatic clutch for vehicle
    EP2766232B1|2018-05-16|Regenerative braking setpoint matching
    EP3718841A1|2020-10-07|Braking system of an aircraft wheel, configurable according to a normal mode or according to an rto mode
    WO2021018988A1|2021-02-04|Wheel braking device
    FR2975076A1|2012-11-16|ADJUSTING DEVICE, IN PARTICULAR ADJUSTING DEVICE FOR AN AIRCRAFT
    FR3107033A1|2021-08-13|Method of piloting an aircraft taxing system
    EP2602601B1|2015-10-21|System for monitoring a drive train
    CN108799360B|2021-10-22|Method for determining the condition of a clutch
    EP3718883A1|2020-10-07|Method for controlling a braking device
    同族专利:
    公开号 | 公开日
    EP2902285A1|2015-08-05|
    CN104816717B|2017-07-18|
    FR3017094B1|2016-02-12|
    US20150217748A1|2015-08-06|
    US9815447B2|2017-11-14|
    CN104816717A|2015-08-05|
    EP2902285B1|2016-09-07|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE10260723A1|2002-08-22|2004-03-04|Robert Bosch Gmbh|Status monitoring of components in a road vehicle braking system is based upon current measurement at the end of a control period|
    GB2470251A|2009-05-14|2010-11-17|Goodrich Corp|Testing a brake disc stack|
    US5102203A|1991-06-27|1992-04-07|General Motors Corporation|Vehicle traction control system|
    JP3069049B2|1996-06-27|2000-07-24|株式会社不二越|How to adjust the pressure of the servo control welding gun|
    US6795761B1|2003-05-30|2004-09-21|Visteon Global Technologies, Inc.|Overall control algorithm for interactive vehicle control system|
    CN102132482A|2008-08-26|2011-07-20|松下电器产业株式会社|Conductive polymer actuator device, and conductive polymer actuator control device and control method|
    DE102009011280A1|2009-03-02|2010-09-09|Dr. Ing. H.C. F. Porsche Aktiengesellschaft|Method for checking the function of a brake system with brake booster|
    US8661884B2|2010-08-04|2014-03-04|Toyota Jidosha Kabushiki Kaisha|Stroke sensor abnormality determining apparatus|
    CN103392085B|2011-03-31|2016-03-16|爱信艾达株式会社|The control gear of speed changer and the braking torque of speed changer produce determination methods|
    JP5498541B2|2012-07-19|2014-05-21|本田技研工業株式会社|Braking force generator for vehicle|
    JP6182311B2|2012-11-30|2017-08-16|日立オートモティブシステムズ株式会社|Brake device|FR3016325B1|2014-01-10|2016-02-12|Messier Bugatti Dowty|METHOD FOR MONITORING A BLOCKING MEMBER, AND ELECTROMECHANICAL ACTUATOR|
    US9766638B2|2014-12-05|2017-09-19|Goodrich Corporation|Method of detecting an electric actuator with decreased efficiency|
    FR3045171B1|2015-12-15|2017-12-15|Sagem Defense Securite|METHOD FOR MONITORING AN ELECTROMECHANICAL ACTUATION SYSTEM|
    US10427665B2|2016-03-21|2019-10-01|Simmonds Precision Products, Inc.|Force feedback fault detection and accommodation for a multi-channel electric brake actuator controller|
    FR3086639B1|2018-10-01|2020-11-20|Safran Landing Systems|AIRCRAFT BRAKING SYSTEM ARCHITECTURE|
    法律状态:
    2015-01-22| PLFP| Fee payment|Year of fee payment: 2 |
    2016-01-21| PLFP| Fee payment|Year of fee payment: 3 |
    2017-01-20| PLFP| Fee payment|Year of fee payment: 4 |
    2017-06-23| CD| Change of name or company name|Owner name: MESSIER-BUGATTI-DOWTY, FR Effective date: 20170518 |
    2018-01-19| PLFP| Fee payment|Year of fee payment: 5 |
    2019-12-19| PLFP| Fee payment|Year of fee payment: 7 |
    2020-12-17| PLFP| Fee payment|Year of fee payment: 8 |
    2021-12-15| PLFP| Fee payment|Year of fee payment: 9 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1450788A|FR3017094B1|2014-01-31|2014-01-31|METHOD FOR MONITORING AT LEAST TWO ELECTROMECHANICAL BRAKING ACTUATORS|FR1450788A| FR3017094B1|2014-01-31|2014-01-31|METHOD FOR MONITORING AT LEAST TWO ELECTROMECHANICAL BRAKING ACTUATORS|
    US14/605,488| US9815447B2|2014-01-31|2015-01-26|Method for monitoring at least two electromechanical braking actuators|
    CN201510050783.9A| CN104816717B|2014-01-31|2015-01-30|Method for monitoring at least two electromechanical braking actuators|
    EP15153338.7A| EP2902285B1|2014-01-31|2015-01-30|Method for monitoring at least two electromechanical braking actuators|
    [返回顶部]