• 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 proposes a method for characterizing the amplitude (AS) of a set (S (t) of an electromechanical actuator (10), the electromechanical actuator comprising an electric motor (11) and a mobile element (1) adapted to be set in motion by the motor, the actuator (10) comprising an upstream sensor (41) suitable for measuring a position of the motor (X1 (t)) and a downstream sensor (42) suitable for measuring a position of the movable element (X2 (t)), and a force sensor (43) capable of measuring a load applied to the movable element (F1 (t)), the method comprising steps of : - (E1) Measurement of the position of the motor (X1 (t)), the position of the movable element (X2 (t)) and the applied load (Fl (t)) to the movable element at using the three sensors, - (E2) From a computer model of the actuator and the measured position of the motor (X1 (t)), the measured position of the movable element (X2 (t)) and the applied load (Fl (t)) to the element measured mobile, estimation of a mechanical play value (S (t)) using a state observer by considering the game (S (t)) as a component of the state, - (E3) Determination of the amplitude of the game (ΔS) from a set of values of the dynamic variable obtained in the previous step for different times (t).
    公开号:FR3050523A1
    申请号:FR1653497
    申请日:2016-04-20
    公开日:2017-10-27
    发明作者:Badr Mansouri；Alexandre Guyamier；Jerome Piaton
    申请人:Sagem Defense Securite SA；
    IPC主号:
    专利说明:

    The invention relates to the field of the monitoring of actuators in aircraft, and more specifically the monitoring of electromechanical actuators with the aid of an estimation of the game (FIG. in English "backlash") present in the actuator.
    These actuators are for example intended to mechanically actuate flaps on the wings of aircraft.
    The game S referred to here is a mechanical game corresponding to the distance or the angle that must traverse a PI piece of a mechanical system before being able to transmit a movement or a force to another piece P2 of said system (see Figure 1). This phenomenon is common in mechanical coupling components, such as gearboxes, spindles, satellite roller bearings, etc. In general, the game is felt when reversing the direction of operation of the actuator.
    Knowledge of this game is needed to improve fault detection, and to establish diagnostics and prognostics, as used in "Prognosis and Health Monitoring (PHM)" methods.
    In particular, we seek to know the amplitude of the game, which is a constant and does not depend on the value at a given moment of the game of the actuator.
    STATE OF THE ART
    Several publications have proposed models and implementations of this game.
    A common approach is to consider the game as a dead zone. Other approaches consider the part concerned elastic, so that the game is included in this elasticity.
    In 2007, Lagerberg [REF NL-EKF] developed a non-linear estimator for the amplitude and state of the game using the Kalman filter formalism, in which the estimator considers the system as alternating between a two linear modes, called "contact mode" and "game mode" in an absolute repository. But the process is expensive in terms of resources.
    There is thus no quick and effective method for evaluating this data.
    PRESENTATION OF THE INVENTION The invention proposes a method for characterizing the amplitude of a mechanical clearance of an electromechanical actuator, the electromechanical actuator comprising an electric motor and a movable element able to be set in motion by the motor, said clearance being defined as a distance or an angle that must travel one of the motor and the movable element before being able to transmit a movement or a force to the other, the actuator comprising an own upstream sensor to measure a position of the motor and a downstream sensor adapted to measure a position of the movable element, as well as a force sensor capable of measuring a load applied to the movable element, the method comprising steps of: - (El) Measurement of the position of the motor, the position of the movable element and the load applied to the movable element by means of the three sensors, - (E2) From a computer modeling of the actuator and of the the position mesu motor, the measured position of the movable element and the load applied to the measured movable element, estimation of a mechanical game value using a state observer, considering the game as a component of the state, - (E3) Determination of the amplitude of the game from a set of values of the dynamic variable obtained in the previous step for different instants. The invention may include the following features, taken alone or in combination: the set S (t) is modeled as:
    where s is the set, b is a random white noise of known spectral density, and t is time. one of the components of the state observer state is a 5X (t) difference between the measured position of the moving element X2 (t) and the measured position of the motor Xl (t), so that the vector of state x is expressed in the following form:
    and the measured output quantity of the state observer is expressed in the following form:
    the state observer is modeled in the following form:
    w and v being respectively disturbances and measurement noise, u (t) being the control, with u (t) being equal to the load applied to the movable element, measured by the force sensor, with
    where K is a stiffness of the actuator, f a damping coefficient, ms a mass of the moving element, - the state observer is a Kalman observer, - the Kalman estimator is discretized, - in noting x (kTs) = x (/ c) where Ts is a sampling period, the Kalman observer is defined by the discrete state equations:
    or
    where ln is the identity matrix. the amplitude of the game is calculated as a difference between an average of the maximum values of the estimated game and an average of the minimum values of the estimated game from the set of game values, - the amplitude of the game AS is calculated as follows: where
    the actuator is mounted on an aircraft and in which the measurement step (E1) is performed in flight with an operational profile. The invention also relates to a monitoring unit for characterizing the amplitude of a set of an electromechanical actuator, the electromechanical actuator comprising an electric motor and a movable element able to be set in motion by the motor. , said clearance being defined as a distance or an angle that must traverse one of the motor and the movable element before being able to transmit a movement or a force to the other, the actuator comprising an upstream sensor able to measure a position of the motor and a clean downstream sensor to measure a position of the movable element, and a force sensor adapted to measure a load applied to the movable element, the unit being configured for: - From a computer model of the actuator and the measured position of the motor, the measured position of the movable element and the load applied to the measured movable element, estimate a value of the game with the aid of an observer of state considering the game as a component of the state of the system, - Determine an amplitude of the game from a set of game values obtained in the previous step for different times. The invention also relates to an electromechanical actuator and associated monitoring unit, the monitoring unit being in accordance with what is described above.
    PRESENTATION OF THE FIGURES Other characteristics, objects and advantages of the invention will emerge from the description which follows, which is purely illustrative and nonlimiting, and which should be read with reference to the appended drawings, in which: FIG. FIG. 2 schematically represents an electromechanical actuator that can be characterized in the context of the invention. FIG. in parallel, according to a non-limiting embodiment, - Figure 4 schematically shows a model of the actuator, - Figure 5 shows positions (normalized) of different elements of the actuator as a function of time (normalized) FIG. 6 shows a load applied to the actuator (normalized) as a function of time; FIG. 7 represents the relative position; e (normalized) between two elements of the actuator as a function of time, - FIG. 8 represents the value of the estimated (normalized) clearance as a function of time, - FIG. 9 represents the estimated clearance and the speed of the actuator. time function, - Figure 10 shows the estimated play and load of the actuator as a function of time.
    DETAILED DESCRIPTION
    A method of characterizing the amplitude AS of a set S (t) of an electromechanical actuator 10 will be described.
    An example of an electromechanical actuator is illustrated in FIG. 2. The actuator 10 shown is a linear displacement actuator. The actuator 10 comprises a housing, a motor 11 and a moving part in the form of a movable rod 12. The motor 11 comprises a stator 14 fixedly mounted relative to the housing and a rotor 13 rotatable relative to the stator 14 The movable rod 12 is movable in translation relative to the stator 14 of the motor 11, in a direction of displacement parallel to the axis of rotation of the rotor 13. The actuator 10 further comprises a plurality of satellite rollers 16 arranged between the rotor 13 of the motor and the movable rod 12. A rotation of the rotor 13 relative to the stator 14 causes a displacement of the rod 12 in translation relative to the stator 14. For this purpose, the rotor 13 comprises a threaded inner surface and the rod 14 comprises a threaded outer surface. The rollers 16 have an outer threaded surface with the same thread pitch as that of the rod 14, but this pitch is inverted relative to that of the rod 14. The threaded outer surface of the rod 14 adapted to cooperate with the inner surface threaded rotor 13 through the rollers 16 to convert a rotational movement of the rotor 13 into a translational movement of the rod 12.
    The document WO201007932 describes such an actuator.
    Another example of an actuator relates to rotary displacement actuators, in which the moving part is movable in translation, and the rotor of the motor drives the moving part in rotation with respect to the stator.
    FIG. 3 shows an actuating assembly of a flight control rudder, comprising two electromechanical actuators 10 and 20 identical to the actuator of FIG. 2. In the present case, the two electromechanical actuators 10, 20 are arranged in parallel between a frame 100 and a rudder 200. The interest of such a configuration will be explained later. In a particular embodiment, the frame 100 is an aircraft wing and the rudder 200 is a fin for controlling the roll movement of the aircraft: the actuators allow the wing to pivot relative to the wing the aircraft according to the phase of flight (take-off, landing, etc.).
    The connection between the frame 100 is each actuator 10, 20 is typically made using a fixed ball and the connection between the rod 11 of the actuator 10, 20 and the fin 200 is typically performed using a mobile ball.
    Each actuator comprises: an upstream sensor 41, able to measure a position X 1 (t) of the motor 10, with respect to a fixed reference (for example the motor stator), the position of the motor XI more precisely in the position of the rotor 13 (in radian), - a downstream sensor 42, able to measure a position X2 (t) of the moving part 12, with respect to a fixed reference (for example the motor stator), - a force sensor 43 , able to measure a charge Fl applied to the movable element.
    This information is collected by a processing unit 30. The processing unit 30 comprises a calculation unit 31 and a memory 32 for storing the information. There will also be mentioned a monitoring unit 30 for designating a processing unit 30 configured to implement certain steps of the method. The processing unit 30 may comprise a computer on board the aircraft, or a computer on the ground to which the data has been transmitted. The actuator 10 is computer modeled using a model Μ. It is necessary to establish an equivalent dynamic model: The rotor system coupled to a screw can be considered as a transmission chain between two inertias or two masses. In the example of the actuator in FIG. 2, the first inertia is the motor 11 and the second inertia is the transformation of the mass of the moving part 12 along the axis of the motor, using the pitch or the ratio reduction r. It is thus possible to establish a linear position Xl (t) to the rotor as a function of its angular position 01 (t):
    The linear position is therefore an equivalent theoretical position calculated from the angular position.
    This equivalence can be implemented on the moving part in the case of a rotary actuator.
    Hence, the model is illustrated in Figure 4, where X is the position in the absolute reference (m), f is the damping coefficient (N / (m / s)), K is the stiffness (N / m), S (t) is the set, rnm is the inertia of the motor (in translation) (Kg), ms is the mass of the moving part (kg), Fi is the aerodynamic load (N), Ff is the friction (N ). The translational inertia is given by the following transformation:
    Where Jm is the moment of inertia.
    The force sensor 43 measures the load F ,, but the set of forces applied comprises the load and the friction:
    A model given by Karam [REF-KARAM] models the friction according to the following equation:
    Where X is the position in the absolute reference, Ff the global friction (N), Fv the viscous friction parameter (N / (m / s)), Fdry the dry friction and η the mechanical efficiency.
    The friction includes friction of the motor and those of the screw.
    Considering the friction Ff as negligible in front of the load F1, we obtain:
    The method for characterizing the amplitude AS of the state of the actuator 10 comprises the following steps E1 to E6.
    In a first step E1, the angular position of the motor 01 (t) of the motor is measured by the upstream sensor 41. As indicated above, at this angular position 01 (t) is assigned an equivalent linear position Xl (t). In this same step, the position of the movable element X2 (t) is measured by the downstream sensor 42, and the applied load F1 (t) to the movable element is measured by the upstream sensor 41.
    These data are then retrieved by the processing unit 30 to be processed.
    Figure 5 illustrates XI in solid line and X2 in dashed line (normalized values). On the first graph of Figure 5, the positions XI and X2 appear as confounded because of the scale: indeed, the relative difference in XI and X2 is low compared to the absolute values. However, by magnifying the scale, as shown in the second graph of Figure 5, there is a difference between XI and X2.
    Figure 6 illustrates the load F, (normalized values).
    To implement the second step E2, the variable considered is no longer defined in the absolute reference, but in a relative reference relative to the inertia of the engine. We define as follows:
    The fundamental principle of the dynamics applied to the inertia of the moving part gives:
    Where AKetAf are respectively uncertainties of stiffness and damping, SX0 is the initial deviation, which can be chosen as zero.
    The game identification scheme is based on a Kalman filter using the previous equation. The main hypothesis consists in considering that the dynamic variable S (t) is modeled as an integral state polluted with a white noise which is in turn considered as external disturbance, in the following form:
    where s is the set, b is a random white noise of known spectral density and unbiased, and t is time.
    The equation of the Kalman filter is based on a state observer, the state of which is expressed as follows:
    and the measured output quantity is:
    y = SX The observer is modeled according to the following equations:
    w and v being respectively disturbances and measurement noise, u (t) being the control, with u (t) being equal to the applied load Fext = Fi to the moving element, measured by the force sensor 43, with
    where K is a stiffness of the actuator, f a damping coefficient, ms a mass of the movable element.
    Once the model is established and equated, the Kalman filter must be implemented. The estimator is discretized according to a period of time Ts. The measurements are therefore sampled at Ts.
    Noting:
    the discrete equations are given by
    These matrices are approximated starting from general solutions of the continuous system given by the equation (5), and, by integrating between the instants t0 = kTs and t = (k + l) Ts, where
    where ln is the identity matrix.
    The Kalman filter is defined by two steps: the prediction step and the update step. The prediction step is described by the following equations:
    The update step is described by the following equations:
    in which Wd and Vd are, respectively, processing and measurement noise covariance matrices, with known spectral densities,
    and
    are predictions and covariance state estimates.
    and
    are the prediction and covariance errors of the estimation error.
    FIG. 7 illustrates the relative position δΧ estimated, on the basis of the data of positions XI, X2 and load F, presented in FIGS. 5 and 6. Step E2 is typically implemented using the unit of FIG. treatment 30. At the end of step E2, the dynamic variable forming the set S (t) is estimated. For each time value kTs, we therefore have a value of the set S (t).
    The estimated set S (t) oscillates between a maximum value and a minimum value, as illustrated in FIG. 8 (normalized values between -1 and 1). The variations observed at the extremal values are due to the load measured by the force sensor 43, which in fact corresponds to the load Fi and the friction Ff.
    The aerodynamic load defines a positive charge, which tends to move the game towards the upper limit, while the dry friction, being either added or subtracted according to the sign (see equation (1)) oscillates the game around a given value. Figures 9 and 10 illustrate these situations by comparing the estimated game with the speed on the one hand and the game with the load on the other hand. Note in Figure 9 that the variations (around the maximum value) depend on the sign of the speed and it is noted in Figure 10 that the value of the game S (t) reverses with the load F ,.
    It is noted that the fluctuations of the set S (t) are negligible compared to its values, which tends to show that the approximation that the friction Ff are negligible compared to the load Fi is valid.
    Finally, from the estimates of the set S (t), in a third step E3, the amplitude AS of the set S (t) is determined from a set of values estimated in step E2.
    This set preferably includes only a portion of the estimated values.
    For example, a method of determining the amplitude may be to take the average value of the maximum values of the estimated game and the average value of the minimum values of the estimated game, and then subtract the two averages. It is then an amplitude of the type "peak to peak" averaged.
    This method is formalized as follows: where
    This method has the advantage of being applicable regardless of the wedging of the upstream and downstream position sensors. Indeed, because of the offset error of these sensors, the point 0 of the mechanical clearance is never located at middle of the beach of the game
    The purpose of step E3 is to obtain a constant data relating to the set S (t), which makes it possible to characterize the actuator. In practice, with aging and wear of the actuator, the amplitude AS tends to increase. Nevertheless, on the time scale relating to the implementation of the method, the amplitude can be considered as a constant value representative of the state of the system over this duration of implementation. Step E3 is typically implemented by processing unit 30. The value obtained from amplitude AS is then stored in memory 32.
    The value of the amplitude AS obtained by the method described can then be used in methods for monitoring the state of an actuator, as a component of a signature specific to the actuator under test and which must be classified among a set of signatures from a database. A high value of the amplitude AS can be a sign of fatigue and / or aging of the actuator. By coupling this data with other data characterizing the actuator, such as stiffness coefficients of the rod, damping, or values related to the displacements of the rod, it is possible to establish classes of values relating to actuators according to different states: good state, damaged state, fault state, for example.
    The method described requires the acquisition of data (see step El). This acquisition can be performed during a flight with an operational profile, that is to say during times when the actuator is requested by the aircraft for its flight (pitch, roll, takeoff, etc.). The method can then be implemented without requiring special provision of the aircraft, which optimizes costs and human time. When the acquisition is made in flight, the method can be implemented with the use of a single actuator, since the load is applied directly by the physical effects of the flight.
    Alternatively, the tests can be done on the ground, on the tarmac or in a shed, during a control. In this case, the embodiment of the actuators as shown in FIG. 3 is advantageous, insofar as the actuator 20 can be biased to exert a load on the surface 200 while the actuator 10 is in the process of being tested.
    In the case of an onboard processing unit, steps E2 and E3 are performed either in flight or a posteriori. In the case of a ground processing unit, steps E2 and E3 are carried out after recovering data from step E1. References [NL-EKF]: Lagerberg, A. and Egardt, B. (2007). Backlash Estimate With Application to Automotive Powertrains. IEEE Transactions On Control System, Vol. 15, No. 3, May 2007.
    [KARAM]: Karam, W. High-power static and dynamic force generators in electromagnetic technology. Ph.D. dissertation, University of Toulouse, 2007.
    权利要求:
    Claims (11)
    [1" id="c-fr-0001]
    claims
    1. A method for characterizing the amplitude (AS) of a set (S (t) of an electromechanical actuator (10), the electromechanical actuator comprising an electric motor (11) and a movable element ( 1) adapted to be set in motion by the motor, said clearance (S) being defined as a distance or an angle (m, rad) that must traverse one of the motor (11) and the movable element (12) before being able to transmit a movement or a force to the other, the actuator (10) comprising an upstream sensor (41) capable of measuring a position of the motor (Xl (t)) and a downstream sensor (42) able to measure a position of the movable element (X2 (t)), and a force sensor (43) adapted to measure a load applied to the movable element (F1 (t)), the method comprising steps of: - (El) Measurement of the position of the motor (Xl (t)), the position of the movable element (X2 (t)) and the applied load (Fl (t)) to the movable element to the using the three sensors, - (E2) From a model the actuator and the measured position of the motor (Xl (t)), the measured position of the movable element (X2 (t)) and the applied load (Fl (t)) to the element measured mobile, estimation of a mechanical play value (S (t)) using a state observer by considering the game (S (t)) as a component of the state, - (E3) Determination of the amplitude of the game (AS) from a set of values of the dynamic variable obtained in the previous step for different times (t).
    [2" id="c-fr-0002]
    The method of claim 1, wherein the set S (t) is modeled as:

    where S is the set, b is a random white noise of known spectral density, and t is time.
    [3" id="c-fr-0003]
    The method of claim 2, wherein one of the state observer state components is a 5X (t) difference between the measured position of the movable member X2 (t) and the measured engine position. Xl (t), so that the state vector x is expressed in the following form

    where δΧ = Χ2-X1, and the measured output quantity of the state observer is expressed as:


    [4" id="c-fr-0004]
    The method of claim 3, wherein the state observer is modeled in the following form:

    w and v being respectively disturbances and measurement noise, u (t) being the control, with u (t) being equal to the load applied to the movable element (12), measured by the force sensor (43). ), with

    where K is a stiffness of the actuator, f a damping coefficient, ms a mass of the movable element.
    [5" id="c-fr-0005]
    5. Method according to one of claims 1 to 4, wherein the state observer is a Kalman observer.
    [6" id="c-fr-0006]
    The method of claim 5, wherein the Kalman estimator is discretized.
    [7" id="c-fr-0007]
    A method according to any one of the preceding claims, wherein the amplitude of the game (AS) is calculated as a difference between an average of the maximum values of the estimated game (S) and an average of the minimum values of the estimated game (S ) from the set of values of the game.
    [8" id="c-fr-0008]
    The method according to claims 6 and 7 in combination, wherein the amplitude of the clearance (AS) is calculated as follows: where


    [9" id="c-fr-0009]
    9. Method according to any one of the preceding claims, wherein the actuator is mounted on an aircraft and wherein the measuring step (El) is performed in flight with an operational profile.
    [10" id="c-fr-0010]
    10. Monitoring unit (30) for characterizing the amplitude (AS) of a set (S (t)) of an electromechanical actuator, the electromechanical actuator comprising an electric motor and a movable element adapted to be set in motion by the engine, said set being defined as a distance or an angle (m, rad) that must travel between one of the motor and the moving element before being able to transmit a movement or an effort to the other, the actuator (10) comprising an upstream sensor (41) capable of measuring a position of the motor (X1 (t)) and a downstream sensor (42) able to measure a position of the movable element (X2 (t)), and a force sensor (43) adapted to measure a load applied to the movable element (Fl (t)), the unit (30) being configured for: - From a computer modeling of the actuator and the measured position of the motor (Xl (t)), the measured position of the movable element (X2 (t)) and the applied load (Fl (t)) to the movable element measured, estimate a game value (S (t)) using a state observer by considering the set (S (t)) as a component of the state of the system, and - determine an amplitude of the game (AS) from a set of game values obtained in the previous step for different times (t).
    [11" id="c-fr-0011]
    Electro-mechanical actuator and associated monitoring unit (30), the monitoring unit according to claim 10.
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1653497|2016-04-20|
    FR1653497A|FR3050523B1|2016-04-20|2016-04-20|METHOD OF ESTIMATING THE PLAY OF AN ELECTRO-MECHANICAL ACTUATOR|FR1653497A| FR3050523B1|2016-04-20|2016-04-20|METHOD OF ESTIMATING THE PLAY OF AN ELECTRO-MECHANICAL ACTUATOR|
    EP17718904.0A| EP3446067B1|2016-04-20|2017-04-20|Method for estimating the play of an electromechanical actuator|
    CN201780028436.3A| CN109073374B|2016-04-20|2017-04-20|Method for estimating play in an electromechanical actuator|
    PCT/EP2017/059447| WO2017182593A1|2016-04-20|2017-04-20|Method for estimating the play in an electromechanical actuator|
    US16/095,194| US10597171B2|2016-04-20|2017-04-20|Method for estimating the play in an electromechanical actuator|
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