Jam tolerant electromechanical actuation systems and methods of operation
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B64C-013/34
B64C-013/00
출원번호
US-0920107
(2004-08-17)
발명자
/ 주소
Flatt,James E.
출원인 / 주소
Parker Hannifin Corporation
인용정보
피인용 횟수 :
15인용 특허 :
20
초록▼
In a vehicle, having a fixed supporting structure and a load movable relative thereto, a jam tolerant actuating system, a method for controlling this system including: Locating a physical coupling/decoupling mechanism between the load and an actuator assembly as close a practicable to the load; cons
In a vehicle, having a fixed supporting structure and a load movable relative thereto, a jam tolerant actuating system, a method for controlling this system including: Locating a physical coupling/decoupling mechanism between the load and an actuator assembly as close a practicable to the load; constructing the coupling/uncoupling mechanism to be reversible, and hence testable; and controlling the connection/disconnection via decision making electronics which will detect any system failure by monitoring, at a minimum: actuator main motor load and speed, and actuator output load. Also set forth are specific embodiments of pivotable rotary geared actuators as well as linear ball screw type actuators embodying the coupling/uncoupling mechanisms of this invention.
대표청구항▼
What is claimed is: 1. In an aircraft, having a fixed supporting structure and a control surface movable relative thereto, a jam tolerant actuating system including a computer, control means and at least two electromechanical actuator assemblies, each of said actuator assemblies being fixedly mount
What is claimed is: 1. In an aircraft, having a fixed supporting structure and a control surface movable relative thereto, a jam tolerant actuating system including a computer, control means and at least two electromechanical actuator assemblies, each of said actuator assemblies being fixedly mounted on said aircraft structure and further including a main motor for providing motion force therefore; a load sensor and a position sensor on said actuator assembly; a coupling/decoupling mechanism, positioned at the output member of said actuator assembly, for severing the load path between said actuator assembly and said movable surface; and a disconnect actuator for providing motive force for said coupling/decoupling mechanism, a method for controlling said actuating system, comprising the steps of: a. operating said movable control surface by said actuator assembly via said main motor, as directed by said computer via Command and Power inputs through said control means; b. relaying, from said control means to said computer, a plurality of the following inputs; i. main motor speed from a main motor commutator; ii. main motor current; iii. actuator assembly output load from said load sensor; and iv. actuator assembly output position, processed to determine speed, from said position sensor; and c. completely severing, via decoupling, the load path between said actuator assembly and said movable surface, via driving said coupling/decoupling mechanism in one direction, upon the detection of a malfunction, as determined by said control means, based on at least three of the above i., ii., iii., and iv. inputs. 2. The method for controlling of claim 1, further including the step of: d. reversing the previous decoupling step, at any time, thereby reestablishing the load path, between said actuator assembly and said movable control surface, by driving said coupling/decoupling mechanism in a reverse direction. 3. The method for controlling of claim 2, further including the steps of: e. indirectly measuring, via said load sensor, the load present or occurring at the output member of said actuator assembly; f. indirectly measuring, the actuator assembly input load; and g. comparing said input and output loads to detect if a jam or other type of failure has occurred within said actuator assembly or said control system. 4. The method for controlling of claim 3, wherein said comparing of input and output loads is limited to one of said actuating assemblies. 5. The method for controlling of claim 3, wherein said comparing of input and output loads is used in conjunction with similar readings from additional, redundant, actuator assemblies. 6. The method for controlling of claim 1, further including the steps of: d. measuring one of directly and indirectly, via said load sensor, the load present or occurring at the output member of said actuator assembly; e. measuring one of directly and indirectly, the actuator assembly input load and; f. comparing said input and output loads to detect if a jam or other type of failure has occurred within said actuator assembly or said control system. 7. The method for controlling of claim 6, wherein said comparing of input and output loads is limited to one of said actuating assemblies. 8. The method for controlling of claim 6, wherein said comparing of input and output loads is used in conjunction with similar readings from additional, redundant, actuator assemblies. 9. The method for controlling of claim 1, wherein said actuator assemblies include rotary actuators. 10. The method for controlling of claim 9, wherein said rotary actuators are comprised of geared rotary actuators. 11. The geared rotary actuators of claim 10, with each of said actuators including a compound planetary gear set, wherein a central internal ring gear, having laterally-spaced first edge engagement members, is operatively interconnected, in one operating position, to an output member attached to said movable surface, via laterally-spaced and laterally movable opposed lock plates, said lock plates having laterally-spaced second edge engagement members and radially-extending pins, said second edge engagement members, in one operative position, being adapted to operatively interact with their respective first edge engagement members; an engagement/disengagement collar having a plurality of peripheral cam slots, with said pins entering said cam slots; a sector gear located on a peripheral portion of said collar, said sector gear being in operative engagement with said disconnect actuator, the latter, depending upon the direction of rotation, coupling/uncoupling said output member with said rotary-geared actuator via rotation of said collar, which in turn results, via movement of said pins, in the lateral movement of said lock plates and in one of the engagement and disengagement of said first and second engagement members. 12. The method for controlling of claim 1, wherein said actuator assemblies include linear actuators. 13. The method for controlling of claim 12, wherein said linear actuators are comprised of ball screw actuators. 14. The ball screw actuators of claim 13, with each of said actuators including a bidirectionally rotatable power driven ball screw; a reciprocable ball nut having peripherally-spaced outward first surface engagement portions, driven by said ball screw, said ball nut being operatively interconnected in one operating position, to an output member attached to said movable surface, via laterally adjacent and oppositely rotationally movable front and rear locking plates, said locking plates having respective peripherally-spaced inward second surface engagement portions and respective radially extending sector gear portions, said second surface engagement portions, in one operative position, being adapted to operatively interact with said first surface engagement portions; said sector gear portions being in operative engagement with opposite sides of a face gear of said disconnect actuator, the latter, depending upon the direction of rotation, coupling/uncoupling said output member with said ball screw actuator via rotation of said sector gear portions, which in turn results, via movement of said sector gears, in the peripheral movement of said locking plates and in one of the engagement and disengagement of said first and second engagement portions. 15. The method for controlling of claim 1, wherein said control surface is a primary control surface of said aircraft. 16. The method for controlling of claim 1, wherein said control surface is a secondary control surface of said aircraft. 17. In a vehicle, having a fixed supporting structure and a load movable relative thereto, a jam tolerant actuating system including the following operatively interconnected components: a computer, an electronic decision-making controller and at least two actuator assemblies, each of said actuator assemblies being fixedly mounted on said vehicle structure and further including a main mechanical power source for providing motion force therefore; a load sensor and a position sensor on said actuator assembly; a coupling/decoupling mechanism, positioned at the output member of said actuator assembly, for completing/severing the load path between said actuator assembly and said load; and a disconnect mechanical power source for providing motive force for said coupling/decoupling mechanism, a method of controlling said jam-tolerant actuating system, comprising the steps of: a. actuating said load via said actuator assembly as directed by said computer via Command and Power inputs through said controller; b. relaying, from said controller to said computer, at least three of the following inputs: i. speed of the main mechanical power source; ii. main mechanical power source load; iii. actuator assembly output load from said load sensor; and iv. actuator assembly output position, processed to determine speed, from said position sensor; and c. decoupling, via completely severing, the load path between said actuator assembly and said load, via driving said coupling/decoupling mechanism in one direction, upon the detection of a malfunction, as determined by said controller, based on multiples of the inputs from step b. 18. The method of controlling of claim 17, further including the step of: d. reversing the previous decoupling step, at any time, thereby reestablishing the load path, between said actuator assembly and said load, by driving said coupling/decoupling mechanism in a direction opposite to said one direction. 19. The method of controlling of claim 18, further including the steps of: i. measuring, via said load sensor, one of the load present and occurring at an output member of said actuator assembly; j. measuring said actuator assembly input load; and k. comparing said input and output loads to detect if one of a jam and other type of failure has occurred within one of said actuator assembly and said control system. 20. The method of controlling of claim 19, wherein said comparing of input and output loads is limited to the input and output loads of the same actuating assembly. 21. The method of controlling of claim 19, wherein said comparing of input and output loads is used in conjunction with similar readings from additional, redundant actuator assemblies. 22. The method of controlling of claim 17, further including the steps of: d. measuring one of directly and indirectly, via said load sensor, one of the load present and occurring at the output member of said actuator assembly; e. measuring one of directly and indirectly, said actuator assembly input load; and f. comparing said input and output loads to detect if a jam has occurred within one of said actuator assembly and said control system. 23. The method of controlling of claim 22, wherein said comparing of input and output loads is limited to the input and output loads of the same actuating assembly. 24. The method of controlling of claim 22, wherein said comparing of input and output loads is used in conjunction with similar readings from additional, redundant, actuator assemblies. 25. The method of controlling of claim 17, wherein said actuator assemblies are comprised of rotary actuators. 26. The method for controlling of claim 25, wherein said rotary actuators are comprised of electromechanical, geared rotary actuators. 27. The method for controlling of claim 17, wherein said actuator assemblies are comprised of linear actuators. 28. The method for controlling of claim 27, wherein said linear actuator assemblies are comprised of electromechanical ball screw-type actuators. 29. The method for controlling of claim 26, wherein said rotary geared actuator assembly further includes: a. a compound planetary gear set, wherein a central ring gear, having opposing, laterally-spaced, first edge engagement members, is operatively interconnected, in one operating position, to said output member attached to said movable load; via b. laterally-spaced and laterally movable opposed lock plates, said lock plates having laterally-spaced second edge members and radially extending pins, said second edge engagement members, in one operative position, being adapted to operatively interact with respective adjacent ones of said first engagement members; c. an engagementldisengagement collar having a plurality of peripherally extending cam slots, with said pins entering said cam slots; and d. a sector gear located on a peripheral portion of said collar, said sector gear being in operative engagement with said disconnect mechanical power source, the latter, depending upon the direction of movement, coupling/uncoupling said output member with said rotary geared actuator assembly via rotation of said collar, which in turn, via movement of said pins, in the lateral movement of said lock plates and in one of the engagement and disengagement of said first and second engagement members.
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