• 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 actuator system (1) comprises an actuator (4) which is configured to generate a force on a rudder, according to an actuation command received, a control unit (5) of the actuator (4) ), which is configured to calculate an actuation command of the actuator (4), a receiving element (17) of a current value of the force generated by the actuator (4), and a limiting unit (18) configured to reduce the control authority of the control unit (5) according to said current value of the force and to limit the force of the actuator (4) to a predetermined target value.
    公开号:FR3020036A1
    申请号:FR1453386
    申请日:2014-04-16
    公开日:2015-10-23
    发明作者:Xavier Pol；Nicolas Larrieu；Chiheb Kossentini；Mathieu Delabre
    申请人:Airbus Operations SAS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to an actuator system for an aircraft control surface and a method of controlling an actuator of such an actuator system. It is known that an electrical flight control system of an aircraft, in particular a transport aircraft, controls actuators that make it possible to generate a movement (for example a pivoting) of control surfaces such as a elevator, a rudder or a rudder, to control the aircraft. The present invention applies to an actuator which is intended to actuate such an aircraft control surface. This actuator can be a hydraulic power servo. It may also be an electro-hydrostatic actuator, in particular type EHA ("ElectroHydrostatic Actuator" in English), or an electric emergency hydraulic actuator, type EBHA ("Electrical Backup Hydraulic Actuator" in English) .
    [0002] A steering actuator must meet performance requirements (speed and effort to counter the aerodynamic force applied to the associated rudder) without, however, damaging or damaging the structure on which it acts or on which it is mounted. By its technology, such an actuator is able to locally generate more effort than the maximum level necessary for its operation. There is therefore the risk that the structure on which the actuator is mounted is subjected to greater efforts than the level for which it was dimensioned. Also, to protect this structure, the actuators are usually equipped with a passive mechanical stress control device, namely a pressure relief valve type PRV ("Pressure Relief Valve" in English), which limits the effort generated by the actuator. However, with such a device, the force generated or resumed by the actuator is dependent on the speed of the actuator. Also, when the force generated or taken up by the actuator is greater than the forces that the associated structure can withstand, this passive force control device is not sufficient, because of its dependence on the speed of the actuator. .
    [0003] An excessive force generated or resumed by the actuator can be generated in particular by a failure of the control of the actuator, by contact with another surface, by a boarding of another actuator or by other external circumstances.
    [0004] The present invention relates to an actuator system for an aircraft steering, which is intended to overcome the aforementioned drawback. For this purpose, according to the invention, said actuator system comprising: at least one actuator which is configured to generate a force, as a function of a received actuation command; and an actuator control unit, which is configured, on the one hand, to receive a control signal and a position indication of the control surface, and on the other hand, to calculate an actuation command to the control unit. use of said control signal and said position indication, said actuation command being transmitted to said actuator, is remarkable in that it comprises a receiving element of a current value of the force generated by the actuator, and in that the control unit comprises a limiting unit configured to limit and control the force generated by the actuator, said limiting unit comprising: - a first unit configured to reduce the control authority of the unit control, according to said current value of the effort; and a second unit configured to limit the force of the actuator to a predetermined set value. Thus, thanks to the invention, there is a limitation unit for limiting and actively controlling the effort generated (or resumed) by the actuator, both by reducing the command authority if necessary, and limiting the effort to a predetermined set value, as specified below, which overcomes the aforementioned drawback. This provides an actuator system with an actuator that meets performance requirements, without damage or damage to the structure on which it acts or on which it is mounted.
    [0005] In the context of the present invention, for reasons of simplification, the force "generated" by the actuator may correspond to the force generated (or produced) by the actuator, and also to the force taken up by the actuator.
    [0006] In a preferred embodiment, the first unit (of the limiting unit) comprises: - a calculation element configured to calculate a gain value, according to a predetermined gain table and said current value of the effort, received from the receiving element; and a calculation element configured to apply said gain to said actuation command before transmitting said actuation command (thus modified) to said actuator. In addition, advantageously, the second unit (of the limiting unit) comprises: a first calculation element for comparing the current value of the force received from the receiving element with said setpoint value; a second calculation element for calculating a corrective term, if said current value of the force is greater than said setpoint value; and a third calculation element for applying the corrective term to said actuation command, before transmitting this actuation command (thus modified) to said actuator. Furthermore, in a particular embodiment, said actuator system further comprises an activation unit comprising: an auxiliary reception element configured to receive a current value of at least one parameter relating to at least one movement adapted to be connected to said actuator; a verification element configured to verify, using at least said current value, whether at least one activation condition is fulfilled; and activation elements configured to activate the first and second units when said at least one activation condition is fulfilled.
    [0007] In addition, advantageously, said actuator system further comprises at least one sensor configured to measure a current force generated by the actuator and transmit a corresponding current value. The present invention also relates to a control chain in position of a control surface (lateral, direction, depth, ...) of an aircraft, including a transport aircraft. This servo control chain which comprises: said rudder which is mobile and whose position is regulated by at least one actuator; at least one position sensor which measures the actual position of said rudder and which emits a position indication corresponding to this actual position; said actuator which is configured to generate a force, as a function of a received command of operation, in order to adjust the position of the rudder; and - an actuator control unit, which is configured, on the one hand, to receive a control signal and said position indication, and on the other hand, to calculate an actuation command using said control signal and said position indication, said actuation command being transmitted to said actuator, is remarkable in that said actuator and said control unit are part of an actuator system such as that mentioned above. The present invention furthermore relates to an electrical flight control system of an aircraft, said system comprising at least one control unit for generating a control signal for at least one control surface of the aircraft and at least one servo chain in position of this rudder, such as that mentioned above. The present invention also relates to an aircraft, in particular a transport aircraft, which comprises an actuator system, a control system and / or an electrical flight control system, such as those described above.
    [0008] Furthermore, the present invention also relates to a control method of an actuator forming part of an actuator system of an aircraft control surface, said rudder being movable and its position being regulated by means of a force generated by the actuator, said actuator being configured to generate a force according to a received actuation command. According to the invention, said method comprises steps of: - receiving a control signal and a position indication of the rudder; and - calculating an actuation command, using said control signal and said position indication, said actuation command being transmitted to said actuator, is remarkable in that it further comprises a step of receiving a current value of the force generated by the actuator and a limiting step for limiting and controlling the force generated by the actuator, the limiting step of: - reducing the command authority to operate the actuator, as a function of said current value of the effort; and - limiting the force of the actuator to a predetermined set value.
    [0009] In a preferred embodiment, said method comprises an activation step of: - receiving a current value of at least one parameter relating to at least one movement that can be linked to the actuator; - checking, using at least this current value, if at least one activation condition is met; and if said at least one activation condition is fulfilled, to activate (or trigger) the implementation of the limiting step. The appended figures will make it clear how the invention can be realized. In these figures, identical references designate similar elements.
    [0010] Figure 1 is a block diagram of a particular embodiment of an actuator system according to the invention. Figure 2 schematically illustrates an electric flight control system to which the present invention is applied.
    [0011] Figure 3 schematically shows means forming part of the actuator system of Figure 1. Figure 4 is a graph for explaining a function implemented by an actuator system. The actuator system 1 illustrating the invention and diagrammatically shown in FIG. 1 is intended to actuate (that is to say to move, in particular pivot) a rudder 3 (FIG. 2) of an aircraft (no represented), in particular of a transport plane, in particular for piloting the aircraft. This actuator system 1 comprises: an actuator 4 which is configured to generate, in the usual way, a force, as a function of an actuation command received; and a control unit 5 of the actuator 4, which is configured: on the one hand, to receive a control signal and a position indication of the rudder 3; and on the other hand, for calculating an actuation command with the aid of said control signal and said position indication, said actuation command being transmitted to said actuator 4 via a link 6. The actuator system 1 is part of a servo chain 2 in position (shown in Figure 2). The rudder 3 (for example a fin, a spoiler, a rudder, a rudder, ...) is slaved in position by the servo-control chain 2. Usually, this servo-control chain 2 is part of of an electric flight control system 7 of the aircraft and comprises: - said rudder 3 (shown partially in Figure 2) which is movable, being capable of being steered, as illustrated by a double arrow B on the Figure 2, and whose position relative to the structure of the aircraft is set by the actuator 4; said actuator 4 which adjusts the position of said rudder 3, for example by means of a rod 8 which acts on the latter, as a function of at least one actuation command received via the connection 6 ; at least one sensor 9 which measures the actual position of said rudder 3. For this purpose, it may be a sensor 9 which is directly associated with the rudder 3, for example of RVDT type (for "Rotary Variable Differential Transducer "in English), and / or a sensor (not shown), for example of the LVDT (Linear Variable Differential Transducer) type, which measures, for example, the displacement of the rod 8 of the actuator 4; and the control unit 5 which is, for example, part of a flight control computer. This control unit 5: - receives a control signal from a usual control unit 10, via a link 11. This control unit 10 is a usual unit for generating control signals and comprises, by for example, a control stick which can be actuated by a pilot of the aircraft, as well as inertial sensors; receives a position indication indicating the actual position measured by the sensor or sensors 9, via a link 13, via an input of analog or digital type; - Develops, in a usual manner, an order of actuation of the control surface 3, using an integrated calculation unit 12. This calculation unit 12 contains control laws and uses for this preparation, in particular the control signal (relative for example to the action of the pilot on the control stick) received from said control unit 10, and the indication of position received from the sensor 9; and - transmits this actuation command (in the form of a servo control) to a control means (for example a servovalve or an electric motor) of the actuator 4, via the link 6 via a Analog or digital type output. The calculation unit 12 comprises in the usual way, as represented in FIG. 1: a calculation element 14 which calculates the difference between the control signal received by the link 11 and the position indication received by the link 13; a calculation element 15 which multiplies this difference by a gain; and a calculation element 16 which filters the result provided by the calculation element 15.
    [0012] The computing element 16 generates an electric current representing an actuation order. The calculation unit 12 thus receives a control (electrical) signal via the link 11 and converts this electrical control signal into an actuation command, for example a setpoint (speed) for an engine The electric flight control system 7 comprises at least one control unit 10 for generating a control signal for at least one rudder 3 and at least one control servo chain 2 in position of this rudder 3 .
    [0013] According to the invention, said actuator system 1 further comprises an element (connection 17) for receiving a current value of the force generated by the actuator 4. In addition, according to the invention, the control unit 5 comprises a limitation unit 18 configured to limit and control the force generated by the actuator 4. This limitation unit 18 comprises, as shown in FIG. 3: a unit 20 configured to reduce the authority of control of the control unit 5, according to said current value of the effort; and - a unit 21 configured to limit the effort of the actuator 4 to a set value.
    [0014] Said actuator system 1 further comprises at least one sensor 19 configured to measure a current force generated by the actuator 4 and transmit a corresponding current value (via the link 17). This sensor 19 may, for example, be a piezoelectric sensor or a sensor type LVDT (for "Linear Variable Differential Transducer" in English). Thus, the actuator system 1 has a limitation unit 18 for actively limiting and controlling the force generated by the actuator 4 on the rudder 3, both by reducing the control authority. control if necessary, and limiting the effort to a predetermined set value. An actuator system 1 is thus obtained provided with an actuator 4 which makes it possible to meet performance requirements, without however damaging or damaging the structure on which it acts or on which it is mounted. Furthermore, the unit 20 of the limiting unit 18 comprises, as represented in FIG. 3: a computing element 22 configured to calculate a gain value G, as a function of a predetermined gain table (recorded) and said current value of the force received via the link 17; and a calculation element 23 configured to apply the gain G (generated by the calculation element 22) to the operation command received via a link 25 of the calculation unit 12.
    [0015] The calculation element 23 multiplies the value representative of the actuation command (generated by the calculation unit 12) by the gain G. The gain G (or reduction coefficient) has a value between 1 and a value V1 less than 1 (this value V1 may be equal to 0 but not necessarily), as a function of the current value E of the force (received via the link 17) and of predetermined values E1 and E2 such as those represented in FIG. 4 Thus: as long as the value of the force E is less than or equal to a first predetermined value El, the gain is equal to 1, that is to say that the actuation command received via the link 25 (and multiplied by 1) remains unchanged; when the value of the force E varies from the first value E1 to a second predetermined value E2 (greater than the value E1), the gain G varies from 1 to a value V1 less than 1 (this value V1 may be equal to 0 as shown in Figure 4, but not necessarily). This variation is linear in the example of FIG. 4. It can also have another shape. In this case, the actuation order is reduced by said gain G; and if the current value of the force E is greater than or equal to the value E2, the gain G is zero, that is to say that the actuation order becomes zero. The values E1 and E2, as well as the evolution of the curve G between these values E1 and E2, are determined empirically, in particular by calculating theoretical values which are then refined by tests. Furthermore, the unit 21 of the limiting unit 18 comprises, as represented in FIG. 3: a calculation element 26 for comparing the current value of the force generated by the actuator 4 with said setpoint value of the effort (received by a link 29) and for calculating a corrective term, if the current value is greater than the set value; and - a computing element 30 for applying said corrective term to said operating command received from the computing element 23 of the unit 20.
    [0016] Calculation element 30 adds the corrective term to the received operation order. This corrective term: - is zero, as long as the current value of the force is less than or equal to the set value; and - becomes negative (or positive depending on the sign convention used) to limit the effort of the actuator 4 to a set value, when the current value of the force is greater than the set value. Said setpoint value of the force, which is received by a link 29 and which is for example stored in a memory of the actuator system 1, is suitable for the intended application. Preferably, it is determined empirically, in particular by calculating a theoretical value which is then refined by tests. In a particular embodiment, the calculation element 26 comprises, as represented in FIG. 3, a means 27 for calculating the difference between the current value of the effort and the set value of the effort and a means 28 correction and limitation. Furthermore, the actuator system 1 further comprises, as shown in FIGS. 2 and 3, an activation unit 31 which comprises: a reception element (link 32) for receiving the current value of at least a parameter relating to a movement that can be linked to said actuator 4. The activation unit 31 may also include measuring elements for measuring this parameter; a verification element 33 configured to verify, with the aid of said current value received via the link 32, whether at least one activation condition is fulfilled (otherwise, it is in an inactivation situation); and activation elements 34 and 35 connected via a link 36 to the verification element 33 and configured to activate the units 20 and 21 when said at least one activation condition is fulfilled. The activation elements 34 and 35 are switching means which are controlled by the verification element 33 via the link 36. More precisely: the activation element 34 brings the second input of the calculation means 23: at a value 1 (so that the actuation command, calculated by the calculation unit 12 and received at the first input via the link 25, remains unchanged), in case of inactivation situation; and at the output of the computing element 26, in case of activation; and - the activation element 35 causes the second input of the calculation means 30: - to a value 0 (so that the actuation command, received at the first input of the calculation element 23, remains unchanged ), in case of inactivation situation; and - at the output of the computing element 26 in case of activation.
    [0017] The parameter relating to a movement that can be linked to said actuator 4, whose current value is received via the link 32, can be a parameter that measures the movement (or that is representative of the movement) of the rudder 3 or the rod 8 of the actuator 4 or of any other structural element whose movement (or movement) is related to the movement of the rudder 3, generated by the actuator 4. It may, for example, be a parameter detecting the movement of an aircraft flap, whose movement is followed by a spoiler (rudder 3) moved by an actuator 4. Furthermore, said actuator 4 may be a hydraulic power servo. It may also be an electro-hydrostatic actuator, in particular of the EHA ("Electro-Hydrostatic Actuator") type, which comprises, in the usual way, an electronic module, an electric motor, a hydraulic pump, a check valve overpressure, a hydraulic block and a hydraulic cylinder. Local control in the electronic module converts a control current into a speed setpoint for the electric motor that drives the hydraulic pump using electric power supplied by the aircraft. The pump then locally generates hydraulic power to move the hydraulic cylinder. It may also be a hydraulic emergency power actuator, type EBHA ("Electrical Backup Hydraulic Actuator" in English), when operating in electric mode. This EBHA actuator is a hybrid actuator comprising the characteristics of both a conventional hydraulic servo and an electro-hydrostatic actuator type EHA. In the nominal (non-fault-tolerant) situation, the EBHA actuator functions as a standard servocontrol. On the other hand, in the event of failure affecting the hydraulic mode, this EBHA actuator switches to electric mode and functions as an EHA actuator. The limitation unit 18 of the actuator system 1 thus makes it possible to limit and control the force of the actuator 4 in the case of interaction forces greater than those which the associated structure can withstand. This limiting unit 18 is nested in the control loop in the position of the control surface 3. The limitation unit 18 implements two functions, namely: - reducing the control authority of the control loop in position; and - develop a new command that regulates the effort of the actuator 4 to a set value. In the context of the present invention, the control unit 5 which contains the limitation unit 18 may be part of the actuator 4 or may be integrated in a computer, in particular a flight control computer. The present invention can be applied to different aircraft steering actuators, and in particular to spoiler actuators of a transport aircraft. It is known that, on a transport plane, during the deployment or during the re-entry of a flap, an associated spoiler follows the flap so as to maintain a slot between its trailing edge and the leading edge of the flap. However, a failure or a sequence of failures can bring the spoiler in contact with the flap and thus generate significant efforts in the structure during the return of the flap. These efforts, if they are not mastered, can cause damage to the structure. In such an application, the limitation unit 18 therefore aims to reduce the authority of the control of the servo loop in position (which has led the spoiler (rudder 3) to an erroneous position) and to develop a new command according to the effort of the actuator 4, which will allow the extension of the spoiler (rudder 3) while regulating the effort to a set value.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. An actuator system for an aircraft control surface, said system (1) comprising: - at least one actuator (4) which is configured to generate a force, as a function of a received actuation command; and - a control unit (5) of the actuator (4), which is configured, on the one hand, to receive a control signal and a position indication of the rudder (3), and on the other hand, for calculating an actuation command by means of said control signal and said position indication, said actuation command being transmitted to said actuator (4), characterized in that it comprises a reception element (17) d a current value of the force generated by the actuator (4), and in that the control unit (5) comprises a limiting unit (18) configured to limit and control the force generated by the actuator (4), said limiting unit (18) comprising: - a first unit (20) configured to reduce the control authority of the control unit (5) as a function of said current value of the effort; and - a second unit (21) configured to limit the effort of the actuator (4) to a predetermined set value.
    [0002]
    2. System according to claim 1, characterized in that the first unit (20) comprises: a calculation element (22) configured to calculate a gain value, as a function of a predetermined gain table and of said current value the force received from the receiving member (17); and - a computing element (23) configured to apply said gain to said actuation command, before transmitting it to said actuator (4).
    [0003]
    3. System according to one of claims 1 and 2, characterized in that the second unit (21) comprises: - a first calculation element (26) for comparing the current value of the effort received from the receiving element (17) at said setpoint; a second calculating element (26) for calculating a corrective term if said current value of the force is greater than said setpoint value; and - a third calculation element (30) for applying the corrective term to said actuation command, before transmitting it to said actuator (4).
    [0004]
    4. System according to any one of claims 1 to 3, characterized in that it further comprises an activation unit (31) comprising: - an auxiliary receiving element (32) configured to receive a current value at least one parameter relating to at least one movement that can be linked to said actuator (4); a verification element (33) configured to verify, using at least said current value, whether at least one activation condition is fulfilled; and - activation elements (34, 35) configured to activate the first and second units (20, 21) when said at least one activation condition is fulfilled.
    [0005]
    5. System according to any one of claims 1 to 4, characterized in that it comprises, in addition, at least one sensor (19) configured to measure a current force generated by the actuator (4) and transmit a value corresponding current.
    [0006]
    6. Servo-control chain in position of an aircraft control surface, said servo-control chain (2) comprising: - said rudder (3) which is mobile, and whose position is regulated by at least one actuator (4) ; at least one position sensor (9) which measures the actual position of said rudder (3) and which emits a position indication corresponding to this actual position; - said actuator (4) which is configured to generate a force, according to a received command of operation, to adjust the position of the rudder (3); and a control unit (5) of the actuator (4), which is configured, on the one hand, to receive a control signal and said position indication, and on the other hand, to calculate an order of actuation using said control signal and said position indication, said actuation command being transmitted to said actuator (4), characterized in that said actuator (4) and said control unit (5) are part of a an actuator system (1) as specified in any one of claims 1 to 5.
    [0007]
    7. An aircraft electrical flight control system, said system (7) comprising at least one control unit (10) for generating a control signal for at least one rudder (3) of the aircraft and at least one servo-control chain in position of this rudder (3), characterized in that said servo-control chain (2) is as specified in claim 6.
    [0008]
    8. Aircraft, characterized in that it comprises a system (7) of electric flight controls, such as that specified in claim 7.
    [0009]
    9. A method of controlling an actuator (4) forming part of an actuator system (1) of an aircraft control surface (3), said rudder (3) being mobile and its position being regulated by via a force generated by the actuator (4), said actuator (4) being configured to generate a force as a function of a received actuation command, said method comprising steps of: - receiving a signal control and indication of the position of the rudder (3); and - calculating an actuation command, using said control signal and said position indication, said actuation command being transmitted to said actuator (4), characterized in that it further comprises a step of receiving a current value of the force generated by the actuator (4) and a limiting step for limiting and controlling the force generated by the actuator (4), the limiting step of: - at reducing the command authority to actuate the actuator (4) according to said current value of the effort; and - limiting the force of the actuator (4) to a predetermined set value.
    [0010]
    10. Method according to claim 9, characterized in that it comprises an activation step consisting of: - receiving a current value of at least one parameter relating to at least one movement that can be linked to the actuator (4 ); - to check, at least with the aid of this current value, if at least one activation condition is fulfilled; and if said at least one activation condition is fulfilled, to activate the implementation of the limiting step.
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    同族专利:
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    US10633080B2|2016-07-22|2020-04-28|The Boeing Company|Electronically controlled rotary actuator for an aircraft control surface|
    FR3076387B1|2018-01-04|2020-01-24|Airbus Operations|METHOD AND SYSTEM FOR ASSISTING THE MANAGEMENT OF ORDER LISTS ON AN AIRCRAFT.|
    法律状态:
    2015-04-21| PLFP| Fee payment|Year of fee payment: 2 |
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    2021-04-23| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1453386A|FR3020036B1|2014-04-16|2014-04-16|ACTUATOR SYSTEM FOR AN AIRCRAFT GOVERNOR.|FR1453386A| FR3020036B1|2014-04-16|2014-04-16|ACTUATOR SYSTEM FOR AN AIRCRAFT GOVERNOR.|
    US14/682,232| US10029782B2|2014-04-16|2015-04-09|Actuator system for aircraft control surface|
    CN201510169338.4A| CN105035309B|2014-04-16|2015-04-10|Actuator system for aircraft control surfaces|
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