• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
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    • 专利摘要:
    An aircraft actuation system comprising: - an electromechanical actuator (25) having a nonvolatile memory (60) in which stored data (61) is stored having configuration data (62) specific to the electromechanical actuator; - a control unit (22) using the configuration data to implement a servo loop having as output signal a digital control signal of the electric motor of the electromechanical actuator; - At least one digital transmission channel (50) connecting the control unit and the electromechanical actuator.
    公开号:FR3044432A1
    申请号:FR1561679
    申请日:2015-12-01
    公开日:2017-06-02
    发明作者:Antoine Moutaux；Florent Nierlich
    申请人:Messier Bugatti Dowty SA；Turbomeca SA；
    IPC主号:
    专利说明:

    The invention relates to the field of electrical actuation systems embedded in aircraft.
    BACKGROUND OF THE INVENTION
    In aircraft, many embedded systems incorporate moving parts that must be set in motion.
    Among these moving parts, there are in particular wing elements (for example a fin, a flap, an airbrake), elements of the landing gear (for example a landing gear leg movable between an extended position and a retracted position, or a pusher of a brake of a wheel which slides opposite friction members of the brake), elements making it possible to implement turbines with variable geometries, elements of a pump or a mechanism of fuel metering, elements of the thrust reversers, elements of a pitch control mechanism of a propeller (for example on a helicopter or turboprop), etc.
    In modern aircraft, more and more electromechanical actuators are being used to move these moving parts. The advantages of using electromechanical actuators are many: simplicity of electrical distribution and control, flexibility, simplification of maintenance operations, etc.
    An electromechanical actuator conventionally comprises a movable actuating member which displaces the moving part, an electric motor intended to drive the movable actuating member and therefore the moving part, and one or more sensors of various parameters of the electromechanical actuator.
    An on-board electrical actuation system in which is integrated such an electromechanical actuator conventionally implements the following functions: development of a setpoint according to the function to be performed (for example, a setpoint speed or position or in force), measure a servo parameter of the electromechanical actuator (for example, velocity, position, force), execution of a servo loop enabling the electromechanical actuator to reach the setpoint, generating a electrical power supply of the electric motor, and transformation by the electric motor of the electrical energy into a mechanical energy that drives the actuating member and therefore the moving part. Generally, the functions of execution of the control loop and of the generation of the electric supply current are implemented in one or more centralized computers: this is called a centralized architecture.
    Thus, with reference to FIG. 1, a known aircraft brake 1 comprises four electromechanical braking actuators 2 which are grouped into two distinct groups of two electromechanical actuators 2. The electromechanical actuators 2 of a distinct group are connected to the same centralized computer 3 located in the hold of the aircraft. The electric motor of each electromechanical actuator 2 receives an electric supply current from the centralized computer 3 to which the electromechanical actuator 2 is connected, and each electromechanical actuator 2 transmits measurements of a servocontrol parameter to the centralized computer 3 ( for example, angular position measurements of the rotor of the electric motor).
    There are at least two different configurations of such a centralized architecture which are differentiated by the location of the development of the setpoint.
    In a first configuration, visible in FIG. 2, setpoint generation means 5 of each centralized computer 3 elaborate the setpoint and transmit it to processing means 6 of the centralized computer 3. The processing means 6 of the centralized computer 3 execute then a servo loop. The electromechanical actuator 2 transmits the servo parameter measurements made by a sensor 7 to the centralized computer 3, said measurements constituting the feedback signal of the servocontrol loop. The output signal of the servocontrol loop is transmitted to a power module driver 8 and then to a power module 9 of the centralized computer 3 which generates the electric supply current of the electric motor 10 of the electromechanical actuator 2. The electric motor 10 then drives the actuating member 11. The implementation of the servocontrol loop requires parameters stored in a memory 12 of the centralized computer 3. The power module 9 of the centralized computer 3 is powered by a supply unit 13 external to the centralized computer 3.
    In a second configuration, visible in FIG. 3, the centralized computer 3 is this time dedicated to the servocontrol of the electromechanical actuator 2 and to the generation of the electric supply current, and it no longer produces the setpoint, which it is provided by another equipment 14 via a digital bus 15 for example (transmission symbolized by the reference T1 in Figure 3).
    Note that these two architecture configurations have a number of disadvantages. It is in particular necessary to size the centralized computer 3 according to the technology of the electromechanical actuator 2 used and to adapt the parameters of the servo loop to the dimensioning of the electromechanical actuator 2 used. It thus tends to match the centralized computer 3 and the electromechanical actuator 2, which makes it very complicated and very expensive a change in technology of the electromechanical actuator 2 and a change in the setting of the servo loop resulting from the change of technology .
    In addition, the electrical wires between the centralized computer 3 and the electromechanical actuator 2 convey high and variable currents that require complex precautions to implement to control electromagnetic emissions.
    OBJECT OF THE INVENTION The object of the invention is to reduce the complexity and the cost of an electric actuation system.
    SUMMARY OF THE INVENTION
    With a view to achieving this goal, an aircraft actuation system is proposed comprising: an electromechanical actuator which comprises an electric motor, a power module intended to generate a power supply current for the electric motor, measurement means adapted to measure a servo-control quantity of the electromechanical actuator and to generate a digital measurement signal representative of the servo-control quantity, and a non-volatile memory in which stored data are stored including configuration data specific to the electromechanical actuator; a control unit intended to execute a servocontrol algorithm by acquiring and using the configuration data to adapt the servocontrol algorithm to the electromechanical actuator, the servocontrol algorithm implementing a servo control loop having as a feedback signal the digital measurement signal and as output signal a digital control signal of the electric motor to the power module; - At least one digital transmission channel connecting the control unit and the electromechanical actuator and allowing the path of the digital measurement signal, the stored data and the digital control signal. The use of the non-volatile memory located in the electromechanical actuator and comprising configuration data specific to the electromechanical actuator makes it possible to pool the control unit by using it in various electrical actuation systems integrating electromechanical actuators. different. This reduces the cost of these electrical actuation systems, but also the complexity of the development of said systems, since it is no longer necessary to fully develop a control unit for each of said systems. In addition, the design of the control unit no longer requires knowing the configuration data specific to the electromechanical actuator used (or even, no longer needs to know the specific technology of the electromechanical actuator used). Thus, the necessary interactions between the development activities of the control unit and the electromechanical actuator are reduced, and thus the complexity of these developments and therefore the cost of the electrical actuation systems is reduced again. Other characteristics and advantages of the invention will emerge on reading the following description of particular, non-limiting embodiments of the invention.
    BRIEF DESCRIPTION OF THE DRAWINGS
    Reference will be made to the appended drawings in which: FIG. 1 represents a braking system architecture of the prior art; FIG. 2 represents a first actuation system of the prior art; - Figure 3 shows a second actuating system of the prior art; FIG. 4 represents a braking system architecture according to a first embodiment; FIG. 5 represents a braking system architecture according to a second embodiment; FIG. 6 represents an actuating system according to a first embodiment of the invention; FIG. 7 represents an actuating system according to a second embodiment of the invention; FIG. 8 represents an actuating system according to a third embodiment of the invention; FIG. 9 represents an actuating system according to a fourth embodiment of the invention. DETAILED DESCRIPTION OF THE INVENTION The invention is implemented here on an aircraft which comprises a plurality of main undercarriages each carrying a plurality of so-called "braked" wheels, that is to say a plurality of wheels equipped with a brake. to brake the aircraft. The present description relates to a single braked wheel, but the invention applies of course in the same way to all or part of the braked wheels of the aircraft or to any other device of an aircraft or its actuator implementing an electromechanical actuator.
    With reference to FIG. 4, a braking system architecture according to a first embodiment therefore comprises a brake 20 for braking an aircraft wheel, a first power supply unit 21a, a second power supply unit 21b, a first control unit 22a, a second control unit 22b and a network switch 23.
    The brake 20 comprises an actuator holder on which are mounted four electromechanical braking actuators 25a, 25b, 25c, 25d and friction members, in this case a stack of carbon disks.
    The four electromechanical actuators 25 are used to apply a braking force on the stack of carbon disks and thus exert a braking torque on the wheel which slows down the rotation of the wheel and thus brakes the aircraft when it is on the ground .
    Each electromechanical actuator 25 comprises a body attached to the actuator holder, a pusher and a locking member adapted to lock in position the pusher. An electric motor, a power module and a digital communication module 26 are integrated inside the body of each electromechanical actuator 25.
    The pusher is actuated by the electric motor to slide and apply the braking force to the stack of carbon discs.
    The power module makes it possible to generate an alternating supply current which circulates in three phases of the electric motor when it is necessary to actuate the pusher and thus to brake the wheel. The power module comprises for this purpose an inverter comprising a plurality of switches which are controlled so as to transform a DC supply voltage Vc into an AC voltage under which the power supply current of the electric motor is generated.
    The supply voltages Vc received by the power modules of the four electromechanical actuators 25 of the brake 20 come from the first power supply unit 21a and the second power supply unit 21b.
    The four electromechanical actuators 25 are grouped into a first group and a second group separate, the first group comprising the electromechanical actuators 25a and 25b and the second group comprising the electromechanical actuators 25c and 25d.
    The first power supply unit 21a supplies the supply voltage Vc to the power modules of the electromechanical actuators 25a and 25b of the first group, while the second supply unit 21b supplies the supply voltage to the power modules of the electromechanical actuators. 25c and 25d of the second group.
    To receive the supply voltage Vc, each electromechanical actuator 25 is connected by two electrical supply wires 28 to the first power supply unit 21a or the second power supply unit 21b.
    The first feed unit 21a and the second feed unit 21b are positioned in the hold, in the fuselage of the aircraft, at the top of the lander.
    The power module of each electromechanical actuator 25 also uses a digital control signal Sc to control the inverter switches.
    The digital control signals Sc of the four electromechanical actuators 25 are generated by the first control unit 22a and by the second control unit 22b.
    This time, each control unit 22 generates digital control signals Sc for the four electromechanical actuators 25. The first control unit 22a and the second control unit 22b are thus redundant, so that the loss of one of the two control units 22 does not degrade the braking performance.
    The first control unit 22a and the second control unit 22b are positioned in the hold, in the fuselage of the aircraft, at the top of the lander.
    The distribution of the digital control signals Sc to the power modules of the four electromechanical actuators 25 is performed via the digital communication modules 26 of the four electromechanical actuators 25, each digital communication module 26 of an electromechanical actuator 25 transmitting to the power module and therefore to the inverter of the power module of said electromechanical actuator 25 the digital control signals Sc which are intended for it.
    The digital communication modules 26 of the four electromechanical actuators 25 are interconnected to form a digital network 30 (digital network is thus meant here a set of interconnected communicating devices and exchanging data in the form of digital signals). The digital network 30 here has a ring topology.
    The network switch 23, which is connected to the first control unit 22a and the second control unit 22b, is integrated in the digital network 30.
    The network switch 23 is thus connected to the digital communication modules 26 of two electromechanical actuators of the brake 25a and 25c, so as to constitute also one of the entities forming the closed loop of the digital ring network 30, the digital communication modules 26 of the four electromechanical actuators 25 constituting the other entities. Each entity (digital communication module 26 or network switch 23) of the digital network 30 is connected by four electrical communication wires 32 to two separate entities.
    The network switch 23 manages the operation of the digital network 30 by distributing the digital control signals Sc coming from the first control unit 22a and the second control unit 22b to the digital communication modules 26 via the digital network 30.
    The network switch 23 is here positioned with the first control unit 22a and with the second control unit 22b in the same housing (which is therefore positioned in the hold, in the fuselage of the aircraft, at the top of the lander).
    Thus, the transmission to the digital communication modules 26 and thus to the power modules of the digital control signals Sc coming from the control units 22, and the supply of the power modules by the supply voltages Vc coming from the power supply units. 21 require sixteen electrical son that walk from the top of the undercarriage to the brake 20, instead of twenty-eight electrical son of the architecture of Figure 1.
    Note that the digital network 30 just described is not only used to transmit the digital control signals Sc to the power modules of the electromechanical actuators 25.
    Sm digital signals are also transmitted from the brake 20 to the control units 22 via the digital network 30 and thus via the network switch 23.
    The digital signals Sm first comprise digital measurement signals emitted by the digital communication modules 26 and coming from sensors integrated into the electromechanical actuators 25. The digital measurement signals are here signals for measuring the angular position of the rotors. electric motors, measuring signals of the power supply currents of the electric motors, and measurement signals of the force produced by the actuating member of the electromechanical actuators 25.
    The angular position measuring signals come, for each electromechanical actuator 25, from an angular position sensor integrated into said electromechanical actuator 25.
    The current measurement signals come, for each electromechanical actuator 25, from a current sensor integrated in said electromechanical actuator 25.
    The force measurement signals come, for each electromechanical actuator 25, from a force sensor integrated in said electromechanical actuator 25.
    The angular position, current and effort measurement signals are digitized by the communication modules 26, transmitted on the digital network 30 and used by the control units 22 to generate the digital control signals Sc and to drive the electric motors. four electromechanical actuators 25.
    The digital signals Sm then comprise monitoring signals of the electromechanical actuators 25 emitted by the digital communication modules 26.
    The monitoring signals of the electromechanical actuators 25 are intended to provide a state of the electromechanical actuators 25 from which the control units 22 may possibly make the decision to control a maintenance operation, or to deactivate fully or partially one or more electromechanical actuators. 25.
    Finally, the digital signals Sm have measurement signals transmitted to the electromechanical actuators by an external sensor located on the wheel (not shown in Figure 4). The external sensor here is a brake torque sensor located on the brake 20. The external sensor is integrated in the digital network 30 (it also forms a ring digital network entity). It comprises a digital interface which, like the previously mentioned digital communication modules 2 6, allows the external sensor to transmit the torque measurements to the control units 22 via the digital network 30.
    Furthermore, in addition to the digital control signals Sc, additional digital downlink signals Sd are transmitted from the control units 22 to the brake 20 via the digital network 30.
    The additional downlink digital signals Sd comprise, firstly, functional test command signals and electromechanical actuator sanctioning order signals 25.
    The functional test order signals trigger the execution of functional tests by the electromechanical actuators 25 to establish diagnostics relating to the operation of the electromechanical actuators 25 (and, possibly, relating to the efficiency of the communications from and to the destination electromechanical actuators 25).
    The sanction order signals allow the control units 22 to "sanction" an electromechanical actuator 25 by completely or partially deactivating it, or by excluding its digital communication module 26 from the digital network 30.
    The additional digital downlink signals Sd also comprise control signals from another equipment mounted on the wheel, in this case a brake fan 20 (not shown in FIG. 4). The brake fan 20 is integrated in the digital network 30 (it also forms an entity of the digital ring network). It comprises a digital interface which, like the aforementioned digital communication modules 26, allows the brake fan 20 to receive the control signals from the control units 22 via the digital network 30.
    In the braking system architecture according to a second embodiment, visible in FIG. 5, the digital network is this time a digital star network 40.
    The network switch 23 forms a node of the digital star network 40 to which all the electromechanical actuators 25 of the brake 20 are connected.
    Note that the braking system architecture according to the second embodiment comprises, besides the four electromechanical actuators 25, the two power supply units 21, the two control units 22 and the network switch 23, a connection box 41. mounted on the actuator carrier of the brake 20.
    The four electromechanical actuators 25, the two power supply units 21, the two control units 22 and the network switch 23 are connected to the connection box 41.
    The connection box 41 receives the DC supply voltages and the digital downlink signals mentioned above, and distributes them to the electromechanical actuators 25 as well as to the braking torque sensor and the brake fan. The connection box 41 also receives the digital uplink signals mentioned above, and distributes them to the network switch 23 which transmits them to the two control units 22.
    Advantageously, and whatever the embodiment of the braking system architecture, the locking member of each electromechanical actuator 25 is also integrated in the digital network 30 or 40. The locking member is then powered locally to from the supply voltage received by the electromechanical actuator 25 and coming from one of the power supply units 21. The locking member receives control commands via the digital network 30, 40 and transmits a status on the digital network 30, 40.
    The manner in which each control unit 22 controls one of the four electromechanical actuators 25 is now described in greater detail, and thus generates the digital control signals Sc destined for this electromechanical actuator 25.
    With reference to FIG. 6, it is considered that one of the two control units 22 and one of the four electromechanical actuators 25 form an actuating system according to a first embodiment of the invention which, in addition to the the control unit 22 and the electromechanical actuator 25, comprises a digital transmission channel 50 which connects the control unit 22 and the electromechanical actuator 25. The following applies, of course, to the two control units 22 and to the electromechanical actuator 25. four electromechanical actuators 25 described earlier.
    In the braking system architectures of FIGS. 4 and 5, the digital transmission channel 50 is formed by the electrical wires which connect the control unit 22 to the network switch 23, by the network switch 23, by the connection box 41 with regard to FIG. 5, and by the different elements of the digital network (electrical wires, communication modules 26 of other electromechanical actuators 25) which separate the digital communication module 26 from the electromechanical actuator 25 in question from the network switch 23. The control unit 22 comprises reference generation means 51, processing means 52, and a digital communication interface 53.
    As we saw earlier, the electromechanical actuator 25 comprises a communication module 26, a power module 54, an electric motor 55, a pusher 56 and measuring means 59 comprising sensors (for example current sensor angular or linear position sensor, force or torque sensor). The power module 54 comprises an inverter driver 57 and an inverter 58. The electromechanical actuator 25 further comprises a non-volatile memory 60 in which stored data 61 are stored including configuration data 62 specific to the electromechanical actuator. 25.
    The configuration data 62 include servo parameters 63 specific to the electromechanical actuator 25 whose role is explained below.
    The non-volatile memory 60, programmed during the manufacture of the electromechanical actuator 25, is compatible with the environmental conditions (temperature, vibrations, shocks, electromagnetic disturbances, etc.) experienced by the electromechanical actuator 25 which is mounted on an electromechanical actuator 25. brake actuator holders. The nonvolatile memory 60 is advantageously integrated in a semiconductor component of the digital communication module 26.
    The angular position measured by the angular position sensor of the electromechanical actuator 25 and the current measured by the current sensor of the electromechanical actuator 25 constitute servocontrol quantities of the electromechanical actuator 25.
    The measuring means 59 convert the measurements of the servo variables into digital measurement signals representative of the servo variables.
    To control the electromechanical actuator 25, the processing means 52 of the control unit 22 execute a servocontrol algorithm 67 whose executable code 65 is stored in a memory 66 of the processing means 52. The servocontrol algorithm 67 implements three nested servocontrol loops for controlling the power module 54 of the electromechanical actuator 25 via the digital channel 50: a current control loop, a speed control loop and a control loop. enslavement in position.
    Each control loop has as its nominal signal a setpoint generated by the command generation means 51 of the control unit 22 or another control unit of the aircraft
    The current feedback loop has as its feedback signal the digital measurement signal representative of the current, and the speed and position servo loops have as their feedback signals the digital measurement signals representative of the angular position. The return signals are transmitted by the communication module 26 of the electromechanical actuator 25 to the control unit 22 via the digital transmission channel 50 (transmission T2 in FIG. 6). The servocontrol algorithm has as its output signal a digital control signal from the electric motor 55 to the power module 54 (transmission T3 in FIG. 6).
    The digital control signals are transmitted to the power module 54 of the electromechanical actuator 25 via the digital interface 53 of the control unit 22, the digital transmission channel 50 and the digital communication module 26 of the electromechanical actuator 25 (transmission T3 in FIG. 6). The inverter driver 57 of the power module 54 then drives the inverter 58 which generates a supply current of the electric motor 55 to drive the pusher 56 of the electromechanical actuator 25 in accordance with the instruction.
    The implementation of the control loops uses the control parameters 63 specific to the electromechanical actuator 25, which here comprise a proportional coefficient, an integral coefficient and a derivative coefficient, and a limitation in position, a limitation in speed and a current limitation of the electromechanical actuator 25.
    Before the use of the electromechanical actuator 25, for example at the moment of powering up the control unit 22 and the electromechanical actuator 25, the processing means 52 of the control unit 22 acquire the parameters servocontrol 63 stored in the nonvolatile memory 60 of the electromechanical actuator 25 and integrate them in the servo loops (transmission T4 in Figure 6). The processing means 52 then have all the data necessary to execute the servocontrol algorithm 67 and the servo loops.
    Thus, any change in the design of the electromechanical actuator 25 requiring a modification of the servo parameters 63 specific to the electromechanical actuator 25 can be implemented only by storing the new servo parameters 63 in the non-volatile memory 60 of the electromechanical actuator 25, and therefore without modifying the control unit 22. The costs related to this change in the design of the electromechanical actuator 25 are reduced.
    With reference to FIG. 7, the actuating system according to a second embodiment of the invention again comprises the control unit 22, the electromechanical actuator 25 and the digital transmission channel 50.
    The non-volatile memory 60 of the electromechanical actuator 25 of the system according to the second embodiment of the invention is also used to parameterize other algorithms.
    Thus, the configuration data 62 of the stored data 61 stored in the nonvolatile memory 60 comprise, in addition to the servocontrol parameters 63 of the servocontrol algorithm 67, parameters 70 of a fault detection algorithm 71, d. a trend tracking algorithm 72 and a cycle counting algorithm 73. The fault detection algorithm 71, the trend tracking algorithm 72 and the cycle counting algorithm 73 are stored in the memory Processing means 52 of the control unit 22. When one of these algorithms 71, 72, 73 is to be executed, the control unit 22 acquires the corresponding parameters 70 (transmission T5 on the Figure 7).
    With reference to FIG. 8, the actuating system according to a third embodiment of the invention again comprises the control unit 22, the electromechanical actuator 25 and the digital transmission channel 50.
    The nonvolatile memory 60 of the electromechanical actuator 25 of the actuation system according to the third embodiment of the invention is also used to store an identifier 80 of a servocontrol algorithm to be used for the electromechanical actuator 25.
    Thus, the configuration data 62 of the stored data 61 stored in the nonvolatile memory 60 comprise an identifier 80 which enables the processing means 52 of the control unit 22 to select the servocontrol algorithm to be used from among a list of servo algorithms stored in the memory 66 of the processing means 52.
    The list of servocontrol algorithms comprises a servo-control algorithm 81 for an electromechanical actuator having an AC motor, a servo-control algorithm 82 for an electro-mechanical actuator having a DC motor, a servo control algorithm. for an electromechanical actuator having a torque motor, a servo control algorithm 84 for an electromechanical actuator having a stepper motor.
    The electric motor 55 of the electromechanical actuator 25 is here an AC motor. Thus, before use of the electromechanical actuator 25, for example at the moment of powering up the control unit 22 and the electromechanical actuator 25, the processing means 52 of the control unit 22 acquire the identifier 80 stored in the non-volatile memory 60 of the electromechanical actuator 25 (transmissions T6 and T6 '' in FIG. 8). The processing means 52 then select and execute the servo algorithm 81 for an electromechanical actuator having an AC motor.
    Thus, a change of technology of the electric motor 55 of the electromechanical actuator 25 which requires the use of a different servo-control algorithm previously stored in the memory 66 of the processing means 52 can be implemented only by storing the new identifier in the non-volatile memory 60 of the electromechanical actuator 25 without modifying the control unit 22.
    With reference to FIG. 9, the actuation system according to a fourth embodiment of the invention again comprises the control unit 22, an electromechanical actuator 25 and a digital transmission channel 50.
    The non-volatile memory 60 of the electromechanical actuator 25 of the system according to the fourth embodiment of the invention is also used to store an executable code 90 of an already parameterized servocontrol algorithm of the electromechanical actuator 25.
    Thus, before the use of the electromechanical actuator 25, for example at the moment of powering up the control unit 22 and the electromechanical actuator 25, the processing means 52 of the control unit 22 acquire the executable code 90 of the servo algorithm in the non-volatile memory (transmissions T7 in FIG. 9).
    The design of the control unit 22 does not therefore require a prior definition of the servocontrol algorithm.
    It will be noted here that the executable code of any type of algorithm may be stored in the nonvolatile memory 60, and not only the executable code of a servocontrol algorithm (for example, the executable code of a detection algorithm of failure and / or trend tracking algorithm and / or cycle counting algorithm).
    Advantageously, and whatever the embodiment of the actuation system described above, the non-volatile memory 60 of the electromechanical actuator 25 can be used to store configuration data comprising calibration data of the electromechanical actuator 25. The calibration data can be used by the control unit 22 to correct one or more command line signals of the control loops or digital measurement signals. The calibration data are, for example, data enabling a slope correction, an offset correction, or a correction as a function of parameters measured by the sensors of the electromechanical actuator 25.
    Storing the calibration data in the non-volatile memory 60 of the electromechanical actuator 25 makes it possible to simplify the development of the electromechanical actuator 25 during its design and manufacture, and thus to reduce the design and manufacturing costs. The performance of the system is further improved by calibrating the electromechanical actuator 25 with the aid of the calibration data.
    Advantageously, and whatever the embodiment of the actuation system described above, the nonvolatile memory 60 may contain data supplied by the control unit 22. The nonvolatile memory 60 is in this case accessible in read and write mode. Writing by the control unit 22. The stored data travels between the electromechanical actuator 25 and the control unit 22 by the transmission channel 50, whatever the direction of this path.
    The data supplied by the control unit 22 here comprises information of use of the electromechanical actuator 25, which are produced from other data stored in the non-volatile memory 60 of the electromechanical actuator 25, or which are obtained by the execution of any algorithm by the control unit 22.
    Storing the usage information relating to the electromechanical actuator 25 in its non-volatile memory 60 facilitates future maintenance operations. A maintenance operator will have access to the usage information of the electromechanical actuator 25 without it being necessary to configure the control unit 22 or the electromechanical actuator 25 in a particular maintenance configuration. future repair operations. A repair operator will have access to the usage information of the electromechanical actuator 25 without the need to transfer data from the control unit 22.
    Advantageously, and whatever the embodiment of the actuation system described above, the nonvolatile memory 60 may contain other information useful for the servocontrol algorithm, the monitoring, the maintenance, the production and delivery of the electromechanical actuator 25. Among these other information, one can cite for example the reference or the serial number of the electromechanical actuator 25.
    This information can in particular be used during the initialization phase of the electromechanical actuator 25.
    Advantageously, and whatever the embodiment of the actuation system described above, the storage of the stored data 61 in the non-volatile memory 60 is protected by a control tool of the redundancy check type which ensures the integrity of the data. stored 61 and detecting a corruption of these stored data.
    Advantageously, and whatever the embodiment of the actuation system described above, the transmission channel 50 consists of a fast channel and a slow channel.
    Digital data that requires fast transmission (real-time transmission type) passes through the fast channel. These include digital control signals and digital measurement signals used in control loops.
    Digital data that does not require fast transmission passes through the slow channel. This includes stored data 61 of the nonvolatile memory 60 during writing or reading of these stored data 61.
    The stored data 61 may also be accessible for reading and / or writing by a wireless interrogation device using RFID type technology. This wireless access is particularly advantageous for performing maintenance operations on the electromechanical actuator 25.
    Advantageously, the communication module and / or the power module are integrated in the same ASIC which can be developed for several types of electromechanical actuators, which reduces the so-called "non-recurring" costs of developing these electromechanical actuators. The invention is not limited to the particular embodiments that have just been described, but, on the contrary, covers any variant within the scope of the invention as defined by the claims.
    Although it has been indicated that the external sensor is a brake torque sensor located on the brake, it is perfectly possible to provide one or more different external sensors, for example a temperature sensor of the disk stack (typically one thermocouple), or a tire pressure sensor of the wheel, or a tachometer.
    Although the actuation system of the invention has been described in a braking system architecture, the actuation system of the invention can perfectly be integrated into an architecture of another type of system. : propulsion system, flight control system, landing gear system, thrust reverser control system, wing element control system, etc.
    Although the electromechanical actuator described has a particular architecture, it can of course be different. The invention applies for example to an actuation system comprising an electromechanical actuator comprising two separate redundant channels, each channel comprising its own communication module, its own power module, possibly its own motor and its own actuator . Each channel is also associated with different configuration data to implement different servo algorithms.
    The digital transmission channel described here is relatively complex, because of the network arrangement of the electromechanical actuators. The invention of course applies to an actuation system comprising a different digital transmission channel, such as a simple digital bus.
    权利要求:
    Claims (17)
    [1" id="c-fr-0001]
    An aircraft operating system comprising: - an electromechanical actuator (25) which comprises an electric motor (55), a power module (54) for generating a power supply current of the electric motor, measuring means ( 59) adapted to measure a servo-control quantity of the electromechanical actuator and to generate a digital measurement signal representative of the servo-control quantity, and a non-volatile memory (60) in which stored data (61) including configuration data (62) specific to the electromechanical actuator; a control unit (22) for executing a servo algorithm by acquiring and using the configuration data to adapt the servocontrol algorithm to the electromechanical actuator, the servo algorithm implementing a loop servocontrol having as a feedback signal the digital measurement signal and for an output signal a digital control signal of the electric motor to the power module; - At least one digital transmission channel (50) connecting the control unit and the electromechanical actuator and allowing the routing of the digital measurement signal, the stored data and the digital control signal.
    [2" id="c-fr-0002]
    The system of claim 1, wherein the configuration data includes parameters (63) of the servo algorithm.
    [3" id="c-fr-0003]
    The system of claim 2, wherein the parameters (63) comprise a proportional coefficient and / or an integral coefficient and / or a coefficient derived from the servo loop, and / or a position limitation and / or a speed limitation and / or current limitation of the electromechanical actuator.
    [4" id="c-fr-0004]
    The system of claim 1, wherein the config data (62) includes parameters of another algorithm.
    [5" id="c-fr-0005]
    5. The system of claim 4, wherein the other algorithm comprises a fault detection algorithm and / or a trend tracking algorithm and / or a cycle count alqorithm.
    [6" id="c-fr-0006]
    The system of claim 1, wherein the config data (62) includes an identifier (80) enabling the control unit to select the servo tag to be used from a list of stored servo alqorithms. in the control unit.
    [7" id="c-fr-0007]
    The system of claim 1, wherein the configuration data comprises an executable code of the servo algorithm.
    [8" id="c-fr-0008]
    The system of claim 1, wherein the configuration data includes calibration data of the electromechanical actuator.
    [9" id="c-fr-0009]
    The system of claim 8, wherein the calibration data comprises an executable code of a calibration algorithm.
    [10" id="c-fr-0010]
    The system of claim 9, wherein the calibration algorithm is slope correction and / or offset correction and / or correction as a function of a parameter measured in the electromechanical actuator such as temperature.
    [11" id="c-fr-0011]
    The system of claim 1, wherein the stored data further comprises data transmitted by the control unit.
    [12" id="c-fr-0012]
    12. The system of claim 11, wherein the data transmitted by the control unit includes usage information of the electromechanical actuator.
    [13" id="c-fr-0013]
    The system of claim 1, wherein the stored data is protected by a control tool of the redundancy check type.
    [14" id="c-fr-0014]
    14. The system of claim 1, wherein the electromechanical actuator comprises two redundant channels with which are associated different configuration data to implement different servo control algorithms.
    [15" id="c-fr-0015]
    The system of claim 1, wherein two digital transmission channels connect the control unit and the electromechanical actuator.
    [16" id="c-fr-0016]
    16. System according to claim 15, in which the two digital transmission channels comprise a fast channel for exchanging the digital measurement signal and the digital control signal, and a slow channel for transmitting the stored data.
    [17" id="c-fr-0017]
    The system of claim 1, wherein some of the stored data is read and / or writable by a wireless interrogator using RFID technology.
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    法律状态:
    2016-12-07| PLFP| Fee payment|Year of fee payment: 2 |
    2017-06-02| PLSC| Publication of the preliminary search report|Effective date: 20170602 |
    2017-11-21| PLFP| Fee payment|Year of fee payment: 3 |
    2018-07-20| CD| Change of name or company name|Owner name: TURBOMECA, FR Effective date: 20180618 Owner name: SAFRAN LANDING SYSTEMS, FR Effective date: 20180618 |
    2018-08-17| CD| Change of name or company name|Owner name: SAFRAN LANDING SYSTEMS, FR Effective date: 20180717 Owner name: SAFRAN HELICOPTER ENGINES, FR Effective date: 20180717 |
    2019-11-20| PLFP| Fee payment|Year of fee payment: 5 |
    2020-11-20| PLFP| Fee payment|Year of fee payment: 6 |
    2021-11-18| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1561679A|FR3044432B1|2015-12-01|2015-12-01|ACTUATING SYSTEM FOR AIRCRAFT.|FR1561679A| FR3044432B1|2015-12-01|2015-12-01|ACTUATING SYSTEM FOR AIRCRAFT.|
    CA2949963A| CA2949963C|2015-12-01|2016-11-28|Activation device for aircraft|
    US15/365,144| US10023303B2|2015-12-01|2016-11-30|Field of electric actuating systems aboard aircrafts|
    RU2016147088A| RU2664025C2|2015-12-01|2016-11-30|Aircraft actuating system|
    PL16201546T| PL3176655T3|2015-12-01|2016-11-30|Actuating system for an aircraft|
    JP2016232268A| JP6462647B2|2015-12-01|2016-11-30|Launch system for aircraft|
    CN201611273061.0A| CN106849762B|2015-12-01|2016-11-30|Actuation system for an aircraft|
    EP16201546.5A| EP3176655B1|2015-12-01|2016-11-30|Actuating system for an aircraft|
    KR1020160163048A| KR101913169B1|2015-12-01|2016-12-01|Actuating system for an aircraft|
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