Method and apparatus for controlling a component in a moving system via multiple actuators

Abstract

The present application relates to a method and apparatus for controlling a component in a moving system by multiple actuators. A method and apparatus for controlling a component in a moving system by multiple actuators. An operating actuation command for moving the component is received. For each actuator in the multiple actuators, the operating actuation command is used to generate a feedforward equalization command for the actuator, the feedforward equalization command for the actuator is combined with the operating actuation command to provide an equalized actuation command for the actuator, and the equalized actuation command is used to control the actuator to move the component.

Description

Technical Field

[0001] The present disclosure generally relates to actuation systems, such as actuation systems for moving flight control surfaces on an aircraft. More particularly, the present disclosure relates to systems and methods for controlling multiple actuators operating simultaneously in an active-active redundant actuation system to move flight control surfaces or other components. Background Art

[0002] An actuator is a part of a system that is controlled to move another component of the system in a desired manner. Various different types of actuators are known and can be used in a variety of different suitable applications. Hydraulic actuators and electric motors are examples of different types of actuators, but are not limited thereto.

[0003] Using actuators to move flight control surfaces on an aircraft is an example of one application of actuators. A flight control surface is an aerodynamic device that allows an operator to adjust and control the flight of an aircraft. Ailerons, elevators, rudders, spoilers, flaps, slats, and air brakes are examples of, but not limited to, flight control surfaces for an aircraft.

[0004] On current aircraft, such as current commercial airliners, the movement of flight control surfaces on the aircraft is controlled by a flight control computer. The flight control computer generates commands for controlling the flight control surfaces designed to achieve a desired flight path specified by a human pilot or an autopilot. Typically, the commands generated by the flight control computer are electronically transmitted to an actuator controller unit, which commands actuator movement, thereby driving the associated flight control surface to the commanded position to achieve the desired flight path.

[0005] Aircraft flight control systems may be designed to enhance the reliability of the aircraft during flight. For example, but not limited to, by using a redundant system in which a single flight control surface is associated with more than one actuator, the reliability of the aircraft may be improved. In this case, if one of the more than one actuators fails to operate as desired, another of the more than one actuators may be used to move the associated flight control surface in a desired manner.

[0006] In an active redundant system, a backup actuator may be automatically used to move a flight control surface in response to undesired operation of another actuator associated with the flight control surface. In an active-active redundant system, multiple actuators may be used simultaneously to move a flight control surface. It is desirable to control each of the multiple actuators in an active-active redundant system in a suitable manner to operate simultaneously with other actuators in the system to move the flight control surface in a desired manner in response to commands from a flight control computer. It is desirable for each of the multiple actuators in an active-active redundant system to respond to commands in substantially the same manner.

[0007] Therefore, there is a need for a method and apparatus that takes into account at least some of the issues discussed above, as well as other possible issues. Summary of the invention

[0008] The exemplary embodiment provides a method for controlling a component in a moving system by a plurality of actuators. An operating actuation command for moving the component is received. For each actuator in the plurality of actuators, the operating actuation command is used to generate a feedforward equalization command for the actuator, the feedforward equalization command for the actuator is combined with the operating actuation command to provide an equalized actuation command for the actuator, and the equalized actuation command is used to control the actuator to move the component.

[0009] The exemplary embodiment also provides a method for controlling a component in a system that moves through multiple actuators, the method comprising a calibration mode and an operating mode. In the calibration mode, a mapping table for each of the multiple actuators is calibrated. For each of the multiple calibration actuation commands, the calibration actuation command is used to control the multiple actuator moving components. For each of the multiple actuators, a feedback signal is received from the multiple actuators, the feedback signal is used to generate a feedforward equalization command for the actuator for the calibration actuation command, and the feedforward equalization command for the actuator is mapped to an actuation command corresponding to the calibration actuation command in a mapping table. In the operating mode, the actuator moving component is controlled using the feedforward equalization command for the actuator generated from the mapping table of each of the multiple actuators.

[0010] The exemplary embodiment also provides a device for controlling a component in a system moved by multiple actuators. The device includes: a system controller, multiple balancing controllers, and multiple actuator controllers. The system controller is configured to generate an operation actuation command for moving the component. The multiple balancing controllers include a balancing controller for each of the multiple actuators. The balancing controller for each of the multiple actuators is configured to use the operation actuation command to generate a feedforward balancing command for the actuator, and combine the feedforward balancing command for the actuator with the operation actuation command to provide a balanced actuation command for the actuator. The multiple actuator controllers include an actuator controller for each of the multiple actuators. The actuator controller for each of the multiple actuators is configured to control the actuator to move the component using the balanced actuation command for the actuator.

[0011] The features and functions can be achieved independently in various embodiments of the present disclosure or may be combined in yet other embodiments further details of which can be seen with reference to the following description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The novel features believed characteristic of the exemplary embodiments are set forth in the appended claims. However, the exemplary embodiments, together with the preferred modes of use, further objects and features thereof, will be best understood by reference to the following detailed description of exemplary embodiments of the present disclosure when read in conjunction with the accompanying drawings, wherein:

[0013] Figure 1 is an example block diagram of a system for controlling a moving component via a plurality of actuators using feedforward equalization control according to an example embodiment;

[0014] Figure 2 is an example block diagram of a system controller including feed-forward equalization of actuator control in an operational mode according to an example embodiment;

[0015] Figure 3 is an example block diagram of a system controller including feed-forward equalization of actuator control in a calibration mode according to an example implementation;

[0016] Figure 4 is an example diagram of a mapping table of a feedforward equalization controller according to an exemplary embodiment;

[0017] Figure 5 is an example flow chart of a process for controlling a plurality of actuator moving assemblies using feed-forward equalization control according to an example embodiment;

[0018] Figure 6 is an example flow chart of a process for generating feed-forward equalization commands using a mapping table according to an example embodiment;

[0019] Figure 7 is an exemplary flow chart of a process for calibrating a mapping table of a feedforward equalization controller according to an exemplary embodiment;

[0020] Figure 8 is an illustration of an actuation command signal and observed force fight in a simulation of a system that controls multiple actuators moving control surfaces using feedback equalization control but not feedforward equalization control, according to an exemplary embodiment;

[0021] Fig. 9 is an example graph of actuation command signals and observed force contention in a simulation of a system that controls a plurality of actuators moving a control surface using feedback equalization control and using feedforward equalization control according to an example embodiment;

[0022] Fig.10 is an example graph of a feedforward control response in a simulation of a system controlling a plurality of actuator moving control surfaces using feedback equalization control without a lag filter to model actuator system response delays according to an example embodiment;

[0023] Fig.11 is an illustration of a feedforward control response in a simulation of a system controlling multiple actuator moving control surfaces using feedback equalization control with a lag filter to model actuator system response delays according to an exemplary embodiment; and

[0024] Fig.12 is an illustrative block diagram of a data processing system in accordance with an illustrative embodiment. DETAILED DESCRIPTION

[0025] The illustrative embodiments recognize and take into account different considerations. For example, the illustrative embodiments recognize and take into account that in an active-active redundant system that moves a flight control surface, slight differences in the positions of multiple actuators used to move the flight control surface may also produce force-dispute fatigue in the flight control surface. Force-dispute fatigue may cause metal fatigue damage or premature aging of the flight control surface or its components.

[0026] The illustrative embodiments also recognize and take into account that force contention fatigue in an active-active redundant system controlling flight control surfaces can be reduced by using feedback equalization control. Feedback equalization control can be provided by a feedback equalization controller associated with each of the actuators in the active-active redundant system that are associated with the flight control surface. Each feedback equalization controller receives feedback from each actuator in the system and generates an equalization command that is used to control the actuator associated with the feedback equalization controller to equalize the actuator forces on the flight control surface.

[0027] The illustrative embodiments also recognize and take into account that fatigue damage may occur immediately. Therefore, it is beneficial to manage force conflicts by using a predictive controller rather than a reactive controller.

[0028] Exemplary embodiments provide feedforward equalization control to control movement of flight control surfaces and other components through multiple actuators in an active-active redundant actuation system. Exemplary embodiments extend feedback equalization control across multiple redundant actuators. According to exemplary embodiments, use of a feedforward equalization controller during normal operation enables the feedback equalization controller to respond only to changes in the actuation system that occur after the feedforward equalization controller has been calibrated in a calibration mode.

[0029] According to an exemplary embodiment, there are two modes associated with feedforward equalization: an operational mode and a calibration mode. In the operational mode, the feedforward equalization controller provides a correction command via a mapping table based on the current actuation command and the associated previously determined calibration correction. The correction command is added to the feedback equalization command from the feedback equalization controller to generate a total compensation for the current system input actuation command. The unique equalized command is then used to control each actuator on the same flight control surface or other component. In the calibration mode, the mapping table used by the feedforward equalization controller is updated or adjusted to account for any actuation parameter drift due to tolerances or aging that may occur over time.

[0030] A feedforward equalization controller according to an exemplary embodiment may enable an actuator control system to correct for an expected force dispute.A feedforward equalization controller according to an exemplary embodiment may be used to manage any actuator control system parameter, such as a system force dispute.

[0031] According to an exemplary embodiment, the combined use of a feedforward equalization controller and a feedback equalization controller reduces the required feedback control bandwidth. The advantage of a low bandwidth controller is reflected in the increased controller stability. Therefore, the use of a feedforward equalization controller combined with the use of a less aggressive feedback equalization controller can provide a high performance and stable parameter equalization technique for parameter drift over time and operating environment changes.

[0032] Go to Figure 1 , Figure 1 is an exemplary block diagram of a system for controlling movement of a component by a plurality of actuators using feed-forward equalization control according to an exemplary embodiment. According to an exemplary embodiment, a component 102 of a system 100 is moved by a plurality of actuators 104 .

[0033] System 100 may include any suitable machine or other system. Component 102 may include any suitable component of system 100. For example, without limitation, system 100 may include aircraft 106. Component 102 may include flight control surface 108 of aircraft 106.

[0034] Aircraft 106 may be any suitable type of aircraft that may be configured to perform any suitable operation or mission. For example, without limitation, aircraft 106 may be a commercial airliner, a cargo aircraft, a military aircraft, a private aircraft, or any other suitable type of aircraft. Aircraft 106 may be a fixed-wing aircraft, a rotary-wing aircraft, or a lighter-than-air aircraft. Aircraft 106 may be a manned aircraft or an unmanned aircraft.

[0035] Flight control surfaces 108 may be any suitable flight control surfaces of aircraft 106. For example, without limitation, flight control surfaces 108 may be ailerons, elevators, rudders, spoilers, flaps, slats, air brakes, or any other suitable flight control surfaces.

[0036] The actuator 104 may include any suitable type of actuator for moving the component 102. The type and other characteristics of the actuator 104 for any particular application may be selected based on the characteristics of the component 102 to be moved and the manner in which the component 102 is to be moved by the system 100. For example, but not limitation, the actuator 104 may include a hydraulic actuator, an electric motor, or any other suitable type of actuator.

[0037] The plurality of actuators 104 may be configured and coupled to the assembly 102 in a suitable manner to provide active-active redundant control of the movement of the assembly 102. In other words, the plurality of actuators 104 may be operated simultaneously to move the assembly 102.

[0038] In this example, actuators 104 include actuators 110, actuators 112, and actuators 114. However, the exemplary embodiments are not limited to systems having three actuators. The exemplary embodiments may be used in systems that use any suitable number of multiple actuators 104 to move component 102. For example, the exemplary embodiments may include a system having two actuators or having more than three actuators to control component 102.

[0039] The actuators 104 are controlled to move the assembly 102 according to the actuation commands 116. The actuation commands 116 may specify any desired and suitable movement of the assembly 102. For example, but not limited to, the actuation commands 116 may include position commands 118. The position commands 118 may specify a desired commanded position 120 of the assembly 102. In this example, the actuators 104 are controlled to operate simultaneously to move the assembly 102 to the commanded position 120 specified by the position commands 118.

[0040] The actuation commands 116 may be generated by the system controller 122. For example, the actuation commands 116 may be generated by the system controller 122 in response to input from an operator 124. The operator 124 may be any suitable operator of the system 100. The operator 124 may be a human operator, a machine operator, or a human operator in conjunction with a machine. Alternatively, or in addition, the actuation commands 116 may be generated automatically by the system controller 122.

[0041] For situations where system 100 is aircraft 106, system controller 122 may be a flight control computer 126. Flight control computer 126 may be configured to generate actuation commands 116 to control flight control surfaces 108 to achieve a desired flight path for aircraft 106. Flight control computer 126 may generate actuation commands 116 in response to input from operator 124. In this example, operator 124 may be a human pilot or an autopilot.

[0042] According to an exemplary embodiment, the actuation command 116 is provided to a balancing controller 128. The balancing controller 128 may be implemented in any suitable manner to implement the functionality of the balancing controller 128 as described herein. For example, the balancing controller 128 may be implemented as part of the system controller 122, or may be separate from the system controller 122 in whole or in part.

[0043] The balancing controller 128 includes a balancing controller for each of the plurality of actuators 104 to be controlled. In this example, the balancing controller 130 is used to control the actuator 110, the balancing controller 132 is used to control the actuator 112, and the balancing controller 134 is used to control the actuator 114. Exemplary embodiments may include less than or more than three balancing controllers 128. Exemplary embodiments may include any suitable number of balancing controllers 128 depending on the number of actuators 104 to be controlled.

[0044] According to an exemplary embodiment, each of the equalization controllers 128 may include a feedforward equalization controller 136, a feedback equalization controller 138, and a combiner 140. Figure 1Only these components are shown for the equalization controller 134, but both the equalization controller 130 and the equalization controller 132 may also include a feedforward equalization controller, a feedback equalization controller, and a combiner, as described above.

[0045] The feedforward equalization controller 134 is configured to receive the actuation command 116 and use the actuation command 116 to generate a feedforward equalization command 142. The feedback equalization controller 138 is configured to receive feedback from the actuator 104. For example, the feedback equalization controller 138 may receive feedback 144 from the actuator 110, feedback 146 from the actuator 112, and feedback 148 from the actuator 114. The feedback equalization controller 138 is configured to generate a feedback equalization command 150 using the feedback received from the actuator 104. The combiner 140 is configured to combine the feedforward equalization command 142 with the feedback equalization command 150 and the received actuation command 116 to generate an equalized actuation command 152 for controlling the actuator 114. The balancing controller 130 generates a balanced actuation command 154 that controls the actuator 110 , and the balancing controller 132 generates a balanced actuation command 156 that controls the actuator 112 in a similar manner.

[0046] The balanced actuation commands 152, 154, and 156 are provided to an actuator controller 158 for use in controlling the actuators 104. The actuator controller 158 includes an actuator controller for each of the actuators 104 to be controlled. The actuator controller 158 may be implemented in any suitable manner to control the actuators 104.

[0047] For example, the balanced actuation command 154 is provided to an actuator controller 160 of the actuator 110. The actuator controller 160 is configured to control the actuator 110 based on the received balanced actuation command 154 using feedback 144 from the actuator 110. The balanced actuation command 156 is provided to an actuator controller 162 of the actuator 112. The actuator controller 162 is configured to control the actuator 112 based on the received balanced actuation command 156 using feedback 146 from the actuator 112. The balanced actuation command 152 is provided to an actuator controller 164 of the actuator 114. The actuator controller 164 is configured to control the actuator 114 based on the received balanced actuation command 152 using feedback 148 from the actuator 114.

[0048] Next, the control of the actuator 114 using the balancing controller 134 according to an exemplary embodiment is described in more detail. Figure 2, the control of the actuator 114 using the balancing controller 134 in the operating mode 166 is described in more detail. Figure 3 , describing in more detail the control of the actuator 114 using the equalization controller 134 in the calibration mode 168.

[0049] Figure 1 The system 100 illustrated in the drawings is not meant to imply physical or structural limitations on the manner in which the illustrative embodiments may be implemented. Other components may be used in addition to or in place of the components shown. Some components may be optional. Moreover, the blocks are presented to illustrate some functional components. When implemented in the illustrative embodiments, one or more of the blocks in these blocks may be combined, divided, or combined and divided into different blocks.

[0050] Go to Figure 2 , an exemplary block diagram of a system controller including feed-forward equalization of actuator control in an operational mode is depicted according to an exemplary embodiment. The actuation commands generated by the system controller 122 in the operational mode 166 may be referred to as operational actuation commands 200. The operational actuation commands 200 are provided to the equalization controller 134 of the actuator 114 and to other equalization controllers 202 of other actuators 204 in the plurality of actuators 104 for use in moving the assembly 102.

[0051] In the equalization controller 134, the operational actuation command 200 is received by the feedforward equalization controller 136. The feedforward equalization controller 136 includes a feedforward equalization command generator 206. The feedforward equalization command generator 206 is configured to generate the feedforward equalization command 142 for the actuator 114 according to the operational actuation command 200.

[0052] The feedforward equalization command generator 206 may be configured to generate the feedforward equalization command 142 using the operational actuation command 200 using a mapping table 208. The mapping table 208 may include a mapping of feedforward equalization commands to various actuation commands for the actuator 114. Thus, the feedforward equalization command generator 206 may generate the feedforward equalization command 142 by identifying the feedforward equalization command mapped to the actuation command corresponding to the operational actuation command 200 in the mapping table.

[0053] If the operational actuation command 200 does not correspond to an actuation command in the mapping table 208, the feedforward equalization command 142 may be generated by interpolating from a feedforward equalization command that is mapped to an actuation command that is close to the operational actuation command 200 in the mapping table 208. Any suitable type of interpolation method 210 may be used. The type of interpolation method 210 used in any particular case may be selected based on the relationship of the feedforward equalization command to the actuation command in the mapping table 208. For example, the interpolation method 210 may include a linear interpolation method 212, a polynomial fit method 214, or other 216 suitable forms of interpolation method 210.

[0054] The feedforward equalization command 142 is provided to the combiner 140 to be combined with the operational actuation command 200 and the feedback equalization command 150 to form an equalized actuation command 152 for the actuator 114. The feedforward control is preemptive by design. Therefore, the actuator system response delay effect can be considered to obtain a smooth feedforward control response. A delay 218 can be set in the feedforward equalization controller 136 to delay the combination of the feedforward equalization command 142 into the equalized actuation command 152. For example, but not limited to, the delay 218 can be implemented by a lag filter 220 when the operational actuation command 200 is input to the feedforward equalization controller 136. The delay 218 can be based on an actuator system response delay model 222.

[0055] The feedback equalization controller 138 may include a feedback equalization command generator 224. The feedback equalization command generator 224 may be configured to generate the feedback equalization command 150 based on a feedback signal 226 from the actuator 114 and feedback signals 228 from the other actuators 204. The feedback signal 226 may be provided by a suitable sensor 230 associated with the actuator 114. For example, the feedback signal 226 may indicate an actual position 232 of the actuator 114, a pressure 234 associated with the actuator 114, both the position 232 and the pressure 234, or other suitable feedback or feedback combination provided by a suitable sensor 230. The feedback signal 228 may be provided from the other actuators 204 in the same manner using suitable sensors.

[0056] The feedback equalization command generator 224 may be configured to generate the feedback equalization command 150 from the feedback signals 226 and 228 in any suitable manner. For example, but not limited to, the feedback equalization command 150 for the actuator 114, combined with the feedback equalization commands for the other actuators 204, may be configured to provide force equalization for the actuators 104 that move the assembly 102. For example, the feedback equalization command 150 may be a corrective position command to reduce the difference between the sensed forces in the actuators 104.

[0057] For example, but not limited to, the feedback equalization command generator 224 can be configured to generate the feedback equalization command 150 using the method described in U.S. Patent No. 8,245,967, Actuator Force Equalization Controller. In this example, a plurality of position sensors coupled to the actuator provide a rate feedback signal that is proportional to the actuator velocity. A plurality of force sensors coupled to the actuator provide a delta pressure signal. The feedback control loop is configured to receive the rate feedback signal and the delta pressure signal and calculate the difference in actual actuator velocity, which is then summed with the calculated difference in actuator force to generate an actuator positioning command that equalizes the actuator force across the control surface.

[0058] The characteristics 236 of the feedback equalization controller 138 in the operating mode 166 may provide greater stability 238 , less authority 240 , or both, compared to the characteristics 236 of the feedback equalization controller 138 in the calibration mode 168 .

[0059] The feedback equalization command 150 is combined with the feedforward equalization command 142 and the operational actuation command 200 by the combiner 140 to provide an equalized actuation command 152 for the actuator 114. The equalized actuation command 152 is provided to an actuator controller 164 of the actuator 114. The actuator controller 164 may determine a difference 242 between the equalized actuation command 152 and an actual position or other condition of the actuator 114, as indicated by the feedback signal 226. The actuator controller 164 may include a suitable controller 244 to generate a suitable control signal 246 to control the actuator 114 to minimize the difference 242 between the equalized actuation command 152 and the feedback signal 226 in any suitable manner.

[0060] In a similar manner, the other balancing controllers 202 may generate other balancing commands 248 for the other actuators 204. The other actuator controllers 250 may use the other balancing commands 248 to generate appropriate control signals 252 for controlling the other actuators 204 in a similar manner.

[0061] Go to Figure 3 , an exemplary block diagram of a system controller including feedforward equalization for actuator control in calibration mode is depicted, according to an exemplary embodiment. The calibration mode 168 is used to update a mapping table 208 that is used to generate feedforward equalization commands for the actuator 114 in the operating mode 166 .

[0062] The calibration mode 168 may be manually initiated 300 or automatically initiated 302. For example, but not limitation, the calibration mode 168 may be manually initiated 300 by maintenance personnel as part of a maintenance schedule.

[0063] In the case where component 102 is a flight control surface, calibration mode 168 may be automatically initiated 302 when the pilot performs a control check. A control check may be performed prior to flight and typically results in the control surface being scanned end-to-end. Calibration mode 168 may be automatically initiated 302 during the control check process and executed to update mapping table 208.

[0064] The actuation command generated by the system controller 122 in the calibration mode 168 may be referred to as a calibration actuation command 304. The calibration actuation command 304 may be predetermined 306.

[0065] Each of the calibration actuation commands 304 is combined with the feedback equalization command 150 to generate an equalized actuation command 308 for the actuator 114. In the calibration mode 168, the equalization command 308 does not include a feedforward equalization command component. The equalized actuation command 308 is provided to the actuator controller 164 to control the actuator 114 in the manner described above. Other equalization controllers 202 can generate other equalized actuation commands 310 for other actuators 204 in a similar manner.

[0066] Feedback equalization commands 150 may be generated in the manner described above by feedback equalization controller 138. However, in calibration mode 168, characteristics 236 of feedback equalization controller 138 may be altered to provide faster settling 312, more authority 314, or both, compared to in operating mode 166.

[0067] For each of the calibrated actuation commands 304 used to control the actuator 114, after the feedback equalization controller 138 has stabilized, the resulting feedback equalization command 150 is mapped as a feedforward equalization command 316 to an actuation command 318 corresponding to the calibrated command in the mapping table 208. This updating of the mapping table 208 may be performed by a mapping table updater 320.

[0068] Go to Figure 4 , according to an exemplary embodiment, depicts an example diagram of a mapping table of a feedforward equalization controller. The mapping table 400 is Figure 2 and Figure 3 An example of an implementation of the mapping table 208 in FIG.

[0069] Mapping table 400 includes a mapping of feedforward equalization commands 402 to corresponding actuation commands 404. For example, feedforward equalization command 406 is mapped to actuation command 408. Feedforward equalization command 410 is mapped to actuation command 412. Feedforward equalization command 414 is mapped to actuation command 416.

[0070] The actuator commands 404 may be ordered 418 in any suitable manner in the mapping table 400. For example, but not limited to, the actuator commands 404 may be ordered 418 by value in the mapping table to make it easier to identify actuator commands 404 in the mapping table 400 that match an operational actuation command, or actuator commands 404 in the mapping table 400 that are close to an operational actuation command.

[0071] Go to Figure 5 , according to an exemplary embodiment, depicts an exemplary flow chart of a process for controlling a plurality of actuator moving assemblies using feedforward balancing. Process 500 may be performed by Figure 2 The equalization controller 134 is executed in the operating mode 166.

[0072] Process 500 may begin by receiving an operator actuation command (operation 502). A delay based on an actuator system response delay model may be provided (operation 504). After the delay of operation 504, the operator actuation command may be used to generate a feedforward equalization command (operation 506).

[0073] Feedback signals may also be received from the plurality of actuators (operation 508). The feedback signals may be used to generate feedback equalization commands (operation 510).

[0074] The feedforward equalization command may be combined with the feedback equalization command and the operational actuation command to generate an equalized actuation command (operation 512). The equalized actuation command is then used to control the actuator (operation 514), with the process terminating thereafter.

[0075] Go to Figure 6 , according to an exemplary embodiment, depicts an exemplary flow chart of a process for generating feed-forward equalization commands using a mapping table. Process 600 is Figure 5 An example of one implementation of operation 506 in process 500 of .

[0076] The process 600 may begin by determining whether an operation actuation command corresponds to an actuation command in a mapping table (operation 602). In response to determining that the operation actuation command corresponds to an actuation command in a mapping table, a feedforward equalization command mapped to an actuation command corresponding to the operation actuation command in the mapping table is used as a feedforward equalization command for an actuator (operation 604), after which the process terminates.

[0077] In response to determining at operation 602 that the operational actuation command does not correspond to an actuation command in the mapping table, an actuation command in the mapping table whose value is closest to the operational actuation command value is identified (operation 606). A feedforward equalization command for the actuator is then generated by interpolating from the feedforward equalization command mapped in the mapping table to the identified actuation command that is closest to the operational actuation command (operation 608), with the process terminating thereafter.

[0078] Go to Figure 7 , an example flow chart of a process for calibrating a mapping table of a feedforward equalization controller is depicted, according to an example embodiment.

[0079] Process 700 begins by disabling feedforward equalization control (operation 702). The characteristics of the feedback equalization controller are changed to provide faster settling and more authority (operation 704). Then, a calibration actuation command is selected from a list of predetermined calibration actuation commands (operation 706).

[0080] The selected calibrated actuation command is used to control the actuator (operation 708). A feedback signal is received from the actuator (operation 710) and used to generate a feedback equalization command (operation 712). The feedback equalization command is combined with the calibrated actuation command to control the actuator (operation 714).

[0081] Then, it is determined whether the feedback equalization controller is stable (operation 716). When the output of the feedback equalization controller changes only by a relatively small amount, the feedback equalization controller can be considered to be stable. When the feedback equalization controller is stable, a feedforward equalization command is generated according to the feedback equalization command generated by the feedback equalization controller (operation 718). In a mapping table, the feedforward equalization command is mapped to an actuation command corresponding to the calibration actuation command (operation 720).

[0082] Then, it is determined whether there are any more calibration actuation commands to be used (operation 722). If there are more calibration actuation commands to be used, the next calibration actuation command is selected from the list (operation 724), and the process returns to operation 708. If there are no more calibration actuation commands to be used, the characteristics of the feedback equalization controller are changed to provide greater stability and less authority (operation 726). Feedforward equalization control can then be enabled (operation 728), after which the process terminates.

[0083] Go to Figure 8, according to an exemplary embodiment, depicts an example graph of actuation command signals and observed force disputes in the following simulation: A simulation of a system that controls multiple actuators to move a control surface using feedback equalization control but not feedforward equalization control. This simulation example is for a force equalization controller system on a multi-actuator control surface. A single actuator is subjected to position gain errors to induce force disputes in the system. The control surface is then scanned end-to-end to observe controller compensation performance.

[0084] Input command 802, feedback command 804, feedforward command 806, and observed force dispute 808 (as a percentage of the stall force for the simulation) are shown. In this example, no feedforward equalization control is provided, and therefore, the feedforward command 806 is zero throughout the simulation. Note that the relatively large spikes in force dispute 808 observed at 810 and 812 correspond to changes in input command 802. In this example, when the force equalization controller consists of only feedback control, the maximum force dispute observed is approximately 20% of the stall force.

[0085] Go to Fig. 9 , according to an exemplary embodiment, depicts an example diagram of an actuation command signal and observed force disputes in a simulation of a system that controls multiple actuators to move a control surface using feedback equalization control and using feedforward equalization control. Figure 8 As in the simulation described in

[15] , this simulation example is for a force balancing controller system on a multi-actuator control surface. A single actuator is subjected to position gain errors to induce force contention in the system. The control surface is then scanned end-to-end to observe the controller compensation performance.

[0086] An input command 902, a feedback command 904, a feedforward command 906, and an observed force dispute 908 (as a percentage of the simulated stall force) are shown. In this example, feedback equalization control and feedforward equalization control are active. Note that the relatively small force disputes 908 observed at 910 and 912 correspond to changes in the input command 902. In this example, when the force equalization controller system includes both feedback control and feedforward control, the maximum force dispute observed is approximately 3% of the stall force.

[0087] Go to Fig.10 , according to an exemplary embodiment, depicts an example graph of a feedforward control response 1000 in a simulation of a system that controls a control surface moved by multiple actuators using feedback equalization control without a lag filter to model actuator system response delays.

[0088] Go to Fig.11, according to an exemplary embodiment, depicts an example graph of a feedforward control response 1100 in a simulation of a system controlling multiple actuator moving control surfaces using feedback equalization control with a lag filter to model actuator system response delays.

[0089] Go to Fig.12 , depicts an example block diagram of a data processing system according to an exemplary embodiment. The data processing system 1200 is used to perform Figure 1 An example of a data processing system that may implement the functionality of system controller 122 in system 100. For example, but not limited to, data processing system 1200 is a system for implementing Figure 1 An example of one possible implementation of a data processing system for flight control computer 126 in aircraft 106 is shown.

[0090] In this illustrative example, data processing system 1200 includes communications fabric 1202. Communications fabric 1202 provides communications between processor unit 1204, memory 1206, persistent storage 1208, communications unit 1210, input / output (I / O) unit 1212, and display 1214. Memory 1206, persistent storage 1208, communications unit 1210, input / output (I / O) unit 1212, and display 1214 are examples of resources that may be accessed by processor unit 1204 via communications fabric 1202.

[0091] Processor unit 1204 is used to run instructions for software that may be loaded into memory 1206. Processor unit 1204 may be a number of processors, a multi-processor core, or some other type of processor, depending on the particular implementation. In addition, processor unit 1204 may be implemented using a number of heterogeneous processor systems in which a main processor is present with secondary processors on a single chip. As another illustrative example, processing unit 1204 may be a symmetric multi-processor system containing multiple processors of the same type.

[0092] Memory 1206 and persistent storage 1208 are examples of storage 1216. A storage device is any hardware capable of storing information (such as, but not limited to, data, program code in functional form, and other suitable information) on a temporary basis and / or on a permanent basis. In these examples, storage 1216 may also be referred to as a computer-readable storage device. In these examples, memory 1206 may be, for example, a random access memory or any other suitable volatile or non-volatile storage device. Depending on the specific implementation, persistent storage 1208 may take various forms.

[0093] For example, persistent storage 1208 may include one or more components or devices. For example, persistent storage 1208 may be: a hard disk, a flash memory, a rewritable optical disk, a rewritable magnetic tape, or a combination thereof. The media used by persistent storage 1208 may also be removable. For example, a removable hard disk drive may be used for persistent storage 1208.

[0094] Communications unit 1210, in these examples, provides communications to other data processing systems or devices. Communications unit 1210, in these examples, is a network interface card. Communications unit 1210 may provide communications through the use of either or both physical and wireless communications links.

[0095] Input / output (I / O) unit 1212 allows for input and output of data using other devices that may be connected to data processing system 1200. For example, input / output (I / O) unit 1212 may provide a connection for user input through a keyboard, a mouse, and / or some other suitable input device. Additionally, input / output (I / O) unit 1212 may send output to a printer. Display 1214 provides a mechanism for displaying information to a user.

[0096] Instructions for the operating system, applications, and / or programs may be located on storage devices 1216, which are in communication with processor unit 1204 via communications fabric 1202. In these illustrative examples, the instructions are in functional form on persistent storage 1208. The instructions may be loaded into memory 1206 for execution by processor unit 1204. The processes of the different embodiments may be performed by processor unit 1204 using computer implemented instructions, which may be located in a memory such as memory 1206.

[0097] These instructions are referred to as program instructions, program code, computer usable program code, or computer readable program code, which can be read and executed by a processor in processor unit 1204. The program code in different embodiments may be embodied in different physical or computer readable storage media, such as memory 1206 or persistent storage 1208.

[0098] Program code 1218 is located in functional form on a selectively removable computer readable medium 1220 and can be loaded or transferred to data processing system 1200 for execution by processor unit 1204. In these examples, program code 1218 and computer readable medium 1220 form computer program product 1222. In one example, computer readable medium 1220 may be computer readable storage medium 1224 or computer readable signal medium 1226.

[0099] Computer-readable storage media 1224 may include, for example, an optical or magnetic disk that is inserted or placed into a drive, or other device that is part of persistent storage 1208, to be transferred to a storage device (such as a hard disk) that is part of persistent storage 1208. Computer-readable storage media 1224 may also take the form of a persistent storage device, such as a hard disk, a thumb drive, or flash memory, that is connected to data processing system 1200. In some cases, computer-readable storage media 1224 may not be removable from data processing system 1200.

[0100] In these examples, computer-readable storage media 1224 is a physical or tangible storage device used to store program code 1218, rather than a medium that propagates or transmits program code 1218. Computer-readable storage media 1224 is also referred to as a computer-readable tangible storage device or a computer-readable physical storage device. In other words, computer-readable storage media 1224 is a medium that can be touched by a person.

[0101] Alternatively, program code 1218 may be transferred to data processing system 1200 using computer readable signal media 1226. Computer readable signal media 1226 may be, for example, a propagated data signal containing program code 1218. For example, computer readable signal media 1226 may be an electromagnetic signal, an optical signal, and / or any other suitable type of signal. These signals may be transmitted via a communication link such as a wireless communication link, an optical cable, a coaxial cable, a wire, and / or any other suitable type of communication link. In other words, in the illustrative examples, the communication link and / or connection may be physical or wireless.

[0102] In some exemplary embodiments, program code 1218 may be downloaded to persistent storage 1208 from another device or data processing system via computer readable signal media 1226 over a network for use within data processing system 1200. For example, program code stored in a computer readable storage medium in a server data processing system may be downloaded from the server over a network to data processing system 1200. The data processing system providing program code 1218 may be a server computer, a client computer, or some other device capable of storing and transmitting program code 1218.

[0103] The different components illustrated for data processing system 1200 are not meant to provide architectural limitations to the manner in which different embodiments may be implemented. The different illustrative embodiments may be implemented in a data processing system including other components in addition to or in place of those illustrated for data processing system 1200. Fig.12The other components shown may be changed according to the illustrative examples shown. The different embodiments may be implemented using any hardware device or system capable of running program code. As an example, data processing system 1200 may include organic components integrated with inorganic components, and / or may be composed entirely of organic components other than humans. For example, the storage device may be composed of organic semiconductors.

[0104] In another illustrative example, the processor unit 1204 may take the form of a hardware unit having circuits manufactured or configured for a specific purpose. This type of hardware can perform operations without configuring the program code to be loaded from the storage device into the memory to perform the operation.

[0105] For example, when processor unit 1204 takes the form of a hardware unit, processor unit 1204 can be a circuit system, an application specific integrated circuit (ASIC), a programmable logic device, or some other suitable type of hardware configured to perform many operations. In the case of a programmable logic device, the device can be configured to perform many operations. The device can be reconfigured at a later time, or can be permanently configured to perform many operations. Examples of programmable logic devices include, for example, programmable logic arrays, programmable array logic, field programmable logic arrays, field programmable gate arrays, and other suitable hardware devices. With this type of implementation, program code 1218 can be omitted because processing for different implementations is implemented in the hardware unit.

[0106] In still another example, processor unit 1204 may be implemented using a combination of processors found in computers and hardware units. Processor unit 1204 may have a number of hardware units and a number of processors configured to run program code 1218. In this depicted example, some of the processing described may be implemented in a number of hardware units, while other processing may be implemented in a number of processors.

[0107] In another example, a bus system can be used to implement the communication architecture 1202 and can be composed of one or more buses such as a system bus or an input / output bus. Of course, the bus system can be implemented using any suitable type of architecture that provides data transfer between different components or devices attached to the bus system.

[0108] In addition, the communication unit 1210 may include a number of devices that transmit data, receive data, or both transmit and receive data. The communication unit 1210 may be, for example, a modem or a network adapter, two network adapters, or some combination thereof. In addition, the memory may be, for example, the memory 1206 or a cache memory, such as found in an interface and memory controller hub that may be present in the communication architecture 1202.

[0109] The flowcharts and block diagrams described herein illustrate the possible implementation architectures, functions, and operations of the systems, methods, and computer program products according to various illustrative embodiments. In this regard, each box in the flowchart or block diagram may represent a portion of a module, segment, or code, which includes one or more executable instructions for implementing one or more specified logical functions. It should also be noted that in some alternative implementations, the functions mentioned in the box may appear outside the order mentioned in the figure. For example, depending on the functions involved, the functions of the two boxes shown in succession may be performed approximately simultaneously, or the functions of the boxes may sometimes be performed in reverse order.

[0110] Descriptions of different illustrative embodiments have been presented for purposes of illustration and description, and are not intended to be exclusive or limited to these embodiments in the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. In addition, different illustrative embodiments may provide different features compared to other desired embodiments. Selected embodiments are selected and described to best illustrate the principles of these embodiments, practical applications, and to enable those of ordinary skill in the art to understand the present disclosure for various embodiments with various modifications as suitable for the intended specific use.

[0111] The following paragraphs describe further aspects of the disclosure.

[0112] A1. A method of controlling a component (102) in a moving system (100) by a plurality of actuators (104), the method comprising the following steps:

[0113] In a calibration mode (168), for each calibration actuation command in a plurality of calibration actuation commands (304), a mapping table (208) for each actuator in the plurality of actuators (114) is calibrated by the following steps:

[0114] using the calibrated actuation commands (304) to control the plurality of actuators (104) to move the assembly (102), and

[0115] For each actuator in the plurality of actuators (104):

[0116] receiving feedback signals (226) from the plurality of actuators (114),

[0117] using the feedback signal (226) to generate a feed-forward equalization command (316) for the actuator (114) for the calibrated actuation command (304), and

[0118] mapping the feed-forward equalization command (306) for the actuator (114) to an actuation command (318) in the mapping table (208) that corresponds to the calibrated actuation command (304); and

[0119] The feedforward equalization command (142) for the actuator (114) generated from the mapping table (208) for each actuator in the plurality of actuators (104) is used to control the actuator (114) to move the component (102) in an operating mode (166).

[0120] A2. The method of paragraph A1, wherein the step of controlling each of the plurality of actuators (104) to move the component (102) in the operating mode (166) comprises:

[0121] receiving an operational actuation command (200) for moving the component (102); and

[0122] For each actuator in the plurality of actuators (104):

[0123] generating the feedforward equalization command (142) for the actuator (114) using the operational actuation command (200) using the mapping table (208) for the actuator (114),

[0124] combining (140) the feedforward equalization command (142) for the actuator (114) with the operational actuation command (200) to provide an equalized actuation command (152) for the actuator (114), and

[0125] The balanced actuation command (152) is used to control the actuator (114) to move the component (102).

[0126] A3. The method of paragraph A2, wherein the step of using the operational actuation command (200) to generate the feedforward equalization command (142) for the actuator (114) using the mapping table (208) of the actuator (114) comprises:

[0127] determining whether the operational actuation command (200) corresponds to an actuation command (408) in the mapping table (208) for the actuator (114);

[0128] In response to determining that the operational actuation command (200) corresponds to an actuation command (408) in the mapping table (208) of the actuator (114), using a feedforward equalization command (406) for the actuator (114) as a feedforward equalization command (142) for the actuator (114): the feedforward equalization command (406) being mapped in the mapping table (208) of the actuator (114) to the actuation command (408) corresponding to the operational actuation command (200); and

[0129] In response to determining that the operational actuation command (200) does not correspond to an actuation command (408) in the mapping table (208) for the actuator (114), the feedforward equalization command (406) for the actuator (114) is generated by interpolating (210) from a feedforward equalization command (406) for the actuator (114) that is mapped to the actuation command (408) in the mapping table (208) for the actuator (114).

[0130] A4. The method of paragraph A2, wherein the step of controlling each of the plurality of actuators (104) to move the component (102) in the operating mode (166) further comprises:

[0131] receiving the feedback signal (226) from the plurality of actuators (104);

[0132] using the feedback command (226) to generate a feedback equalization command (150) for the actuator (114); and

[0133] The feedback equalization command (150) for the actuator (114) is combined (140) with the feedforward equalization command (142) for the actuator (114) and the operational actuation command (200) to provide the equalized actuation command (152) for the actuator (114).

[0134] A5. According to the method described in paragraph A2, the method also includes the following steps: based on an actuator system response delay model (222), delaying the combination (140) of the feedforward equalization command (142) for the actuator (114) and the operating actuation command (200) to provide the equalized actuation command (152) for the actuator (114).

[0135] A6. The method of paragraph A1, wherein the system (100) is an aircraft (106) and the component (102) is a flight control surface (108) of the aircraft (106).

Claims

1. A method of controlling a component in a moving system by a plurality of actuators, the method comprising the steps of: receiving an operating actuation command for moving the component; as well as For each actuator in the plurality of actuators: generating a feed-forward equalization command for the actuator using the operational actuation command, combining the feedforward equalizing command for the actuator with the operational actuation command to provide an equalized actuation command for the actuator, and The actuator is controlled to move the component using the balanced actuation command, and the method further comprises the following steps: based on an actuator system response delay model, delaying combining the feedforward balanced command for the actuator with the operating actuation command to provide the balanced actuation command for the actuator.

2. The method according to claim 1, further comprising the steps of: For each actuator in the plurality of actuators: receiving feedback signals from the plurality of actuators; generating a feedback equalization command for the actuator using the feedback signal; and The feedback equalized command for the actuator is combined with the feedforward equalized command for the actuator and the operational actuation command to provide the equalized actuation command for the actuator.

3. The method according to claim 1, wherein: The step of using the operational actuation command to generate the feedforward equalization command for the actuator includes: using a mapping table of the actuator to generate the feedforward equalization command for the actuator using the operational actuation command, the mapping table including a mapping of the feedforward equalization command for the actuator and an actuation command.

4. The method according to claim 3, wherein: The step of using the operational actuation command to generate the feedforward equalization command for the actuator using the mapping table of the actuator comprises: determining whether the operational actuation command corresponds to an actuation command in the mapping table for the actuator; In response to determining that the operational actuation command corresponds to an actuation command in the mapping table for the actuator, using a feedforward equalization command for the actuator that is mapped in the mapping table for the actuator to the actuation command corresponding to the operational actuation command as the feedforward equalization command for the actuator; and In response to determining that the operational actuation command does not correspond to an actuation command in the mapping table for the actuator, a feedforward equalization command for the actuator is generated by interpolating from a feedforward equalization command for the actuator that is mapped to the actuation command in the mapping table for the actuator.

5. The method according to claim 3, further comprising the steps of: For each calibration actuation command in a plurality of calibration actuation commands, a mapping table of each actuator in the plurality of actuators is calibrated by the following steps: controlling the plurality of actuators to move the assembly using the calibrated actuation commands; as well as For each actuator in the plurality of actuators: receiving feedback signals from the plurality of actuators, using the feedback signal to generate a feed-forward equalizing command for the actuator to the calibrated actuation command, and The feed-forward equalization command for the actuator is mapped in the mapping table to the actuation command corresponding to the calibrated actuation command.

6. The method according to claim 1, wherein: The system is an aircraft and the components are flight control surfaces of the aircraft.

7. A device for controlling a component in a moving system by means of a plurality of actuators, the device comprising: a system controller configured to generate an operational actuation command for moving the component; a plurality of balancing controllers, the plurality of balancing controllers including a balancing controller for each of the plurality of actuators, wherein the balancing controller for each of the plurality of actuators is configured to generate a feedforward balancing command for the actuator using the operational actuation command and to combine the feedforward balancing command for the actuator with the operational actuation command to provide a balanced actuation command for the actuator; and a plurality of actuator controllers, the plurality of actuator controllers comprising an actuator controller for each of the plurality of actuators, wherein the actuator controller for each of the plurality of actuators is configured to control the actuator to move the component using the balanced actuation commands to the actuator, Wherein, the balancing controller for each actuator among the plurality of actuators is configured to delay combining the feedforward balancing command for the actuator with the operating actuation command based on an actuator system response delay model to provide the balanced actuation command for the actuator.

8. The device according to claim 7, wherein: The balancing controller for each actuator of the plurality of actuators is further configured to: receiving feedback signals from the plurality of actuators; generating a feedback equalization command for the actuator using the feedback signal; as well as The feedback equalized command for the actuator is combined with the feedforward equalized command for the actuator and the operational actuation command to provide the equalized actuation command for the actuator.

9. The device according to claim 7, wherein: The equalization controller for each of the plurality of actuators is configured to generate the feedforward equalization command for the actuator using the operational actuation command using a mapping table for the actuator, the mapping table including a mapping of feedforward equalization commands and actuation commands for the actuator.

10. The device according to claim 9, wherein: The balancing controller for each actuator of the plurality of actuators is configured to: determining whether the operational actuation command corresponds to an actuation command in the mapping table for the actuator; In response to determining that the operational actuation command corresponds to an actuation command in the mapping table for the actuator, using a feedforward equalization command for the actuator that is mapped in the mapping table for the actuator to the actuation command corresponding to the operational actuation command as the feedforward equalization command for the actuator; as well as In response to determining that the operational actuation command does not correspond to an actuation command in the mapping table for the actuator, a feedforward equalization command for the actuator is generated by interpolating from a feedforward equalization command for the actuator that is mapped to the actuation command in the mapping table for the actuator.

11. The device according to claim 9, wherein: The system controller is configured to calibrate the mapping table for each actuator of the plurality of actuators by: generating a plurality of calibration actuation commands; as well as For each calibration actuation command in the plurality of calibration actuation commands: providing the calibrated actuation commands to the plurality of actuator controllers to control the plurality of actuators to move the assembly using the calibrated actuation commands, and For each actuator in the plurality of actuators: receiving feedback signals from the plurality of actuators, using the feedback signals to generate the feed-forward equalization commands for the actuators for the calibrated actuation commands, and The feed-forward equalization command for the actuator is mapped in the mapping table to the actuation command corresponding to the calibrated actuation command.

12. The device according to claim 7, wherein: The system is an aircraft and the components are flight control surfaces of the aircraft.

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