Actuator force equalization controller
IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0323090
(2008-11-25)
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등록번호 |
US-8245967
(2012-08-21)
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발명자
/ 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 |
피인용 횟수 :
7 인용 특허 :
9 |
초록
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An actuation system including a plurality of actuators; a plurality of position sensors coupled to the actuators, the plurality of position sensors providing rate feedback signals proportional to an actuator rate; a plurality of force sensors coupled to the actuators, the plurality of force sensors
An actuation system including a plurality of actuators; a plurality of position sensors coupled to the actuators, the plurality of position sensors providing rate feedback signals proportional to an actuator rate; a plurality of force sensors coupled to the actuators, the plurality of force sensors providing delta pressure signals; and a feedback control loop configured to receive the rate feedback signals and delta pressure signals and compute a difference in actual actuator rates and sum the difference with a computed difference in actuator forces to generate actuator positioning commands that equalize the actuator forces on a control surface.
대표청구항
▼
1. A method for controlling the forces between actuators in a multi-actuator actuation system comprising: determining a first force fight component substantially equal to an amount of a position offset that contributes to a force fight on a control surface;determining a second force fight component
1. A method for controlling the forces between actuators in a multi-actuator actuation system comprising: determining a first force fight component substantially equal to an amount of a position offset that contributes to a force fight on a control surface;determining a second force fight component substantially equal to an amount of a force that contributes to the force fight on the control surface;multiplying the first force fight component by a lead-lag factor to generate a factored first force fight component, the lead-lag factor being substantially equal to Kest/Aest and wherein the lead-lag factor accounts for an estimated force fight loop stiffness and for corrective gain factors;summing the factored first force fight component and the second force fight component to generate a predicted force fight; andgenerating a force equalization command as a function of the predicted force fight to cause a compensating change to the actuator position. 2. The method of claim 1, wherein determining the first force fight component comprises receiving a position signal from a plurality of position sensors. 3. The method of claim 2, wherein the position signal comprises an electro-hydraulic servo valve position signal. 4. The method of claim 2, wherein the position signal comprises a position signal proportional to an actuator rate. 5. The method of claim 1, wherein determining the second force fight component comprises receiving a force signal from a plurality of force sensors proportional to an actuator ram force. 6. The method of claim 1, further comprising applying to the predicted force fight a signal limiter and compensation for limit cycles that may result due to actuator friction and digital controller quantization. 7. The method of claim 1, further comprising multiplying the predicted force fight by a conversion factor to relate the predicted force fight to an actuator ram position. 8. The method of claim 1, further comprising multiplying the predicted force fight by a gain factor that improves the performance of the equalization. 9. The method of claim 1, further comprising filtering the predicted force fight through a low pass filter to limit the creation of limit cycles when an actuator ram hits its endstop. 10. The method of claim 1, wherein generating the force equalization command comprises summing the force equalization command with a pilot or autopilot command, to command the actuator to cause the compensating change to the actuator position. 11. The method of claim 1, wherein the control surfaces comprise ailerons, flaperons, rudders, elevators, elevons, canards and ruddervators. 12. The method of claim 1, further comprising applying a force equalization limiter to the predicted force fight signal. 13. The method of claim 1, further comprising applying a friction compensator signal to the predicted force fight signal. 14. The method of claim 1, further comprising applying a gain to the predicted force fight signal. 15. The method of claim 1, further comprising applying a low pass filter to the predicted force fight signal. 16. A method for controlling the forces between actuators in a multi-actuator actuation system comprising: receiving from a plurality of position sensors a signal proportional to an actuator rate;receiving from a plurality of force sensors a signal proportional to an actuator ram force;determining a force fight component on the actuator system;multiplying the force fight component by a lead-lag factor substantially equal to Kest/Aest and wherein the lead-lag factor accounts for an estimated force fight loop stiffness and for corrective gain factors; andcomputing a difference in actual actuator rates and summing the difference with a computed difference in actuator forces to generate an actuator positioning command that equalizes the actuator forces on a control surface. 17. The method of claim 16, wherein said plurality of force sensors sense actuator ram forces. 18. The method of claim 16, wherein the control surface comprises ailerons, flaperons, rudders, elevators, elevons, canards and ruddervators. 19. The method of claim 16, further comprising summing the actuator positioning command with a pilot or autopilot command, to command an actuator to cause a compensating change to the actuator position.
이 특허에 인용된 특허 (9)
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Maqueira Benigno (Atlanta GA), Adaptive friction compensator.
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Ma Carlton Y. (Montebello CA), Auto rigging for servo actuator system.
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Boldrin Clete M. (Renton WA) McCorkle Richard D. (Seattle WA) Rice Jimmy W. (Seattle WA) Rustik James J. (Kent WA), Control surface dual redundant servomechanism.
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Cartmell,Daniel H.; Coleman,Edward E., Control system and method with multiple linked inputs.
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Hidenobu Ako (Ogaki JPX), Electro-hydraulic servo actuator with function for adjusting rigidity.
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Ako Hidenobu (Redmond WA), Electro-hydraulic servo mechanism.
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Elbert Ralph P. ; Hafner Michael A., Fault tolerant actuation system for flight control actuators.
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Sheng Shih Y. (Santa Anna CA), Hydraulic actuator synchronization apparatus and system.
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Anderson Glenn A. (St. Charles County MO) Linerode James D. (Will County IL), Method and apparatus for controllably positioning a hydraulic actuator.
이 특허를 인용한 특허 (7)
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Kirkland, Douglas B., Actuator force equalization controller.
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Rechsiek, Martin; Ellmers, Wilfried; Winkelmann, Christoph, Adjustment system of an aeroplane with an adjustable flap.
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Recksiek, Martin; Greif, Stefan; Schwinn, Robert, Flap adjusting system of an aircraft with a regulating flap.
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Soronda, Vojislav, Flight control surface actuation force fight mitigation system and method.
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Matsui, Gen, Flow-gain based hydraulic actuator leakage test.
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Cotton, Bryan S.; Harrigan, Matthew; Winslow, Christopher L., Fly by wire servos with internal loop closure.
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Cotton, Bryan S.; Harrigan, Matthew; Winslow, Christopher L., Fly by wire servos with internal loop closure.
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