Flap actuation system and related methods

Abstract

The present invention relates to flap actuation systems and related methods. Exemplary flap actuation systems and related methods are disclosed herein. An exemplary flap actuation system includes a first actuator, a second actuator, a first drive arm coupled to the first actuator and a flap, a second drive arm coupled to the second actuator and the flap, a first cam, and a first output shaft. The first cam is coupled to the first drive to enable the first actuator to actuate the flap via the first drive arm. The exemplary flap actuation system includes a second cam and a second output shaft. In response to a failure of the first actuator, the first cam is to decouple from the first drive arm. In response to the failure of the first actuator, the second actuator is to actuate the flap via the first drive arm and the second drive arm.

Description

Technical Field

[0001] This disclosure generally relates to airflow control surfaces of aircraft, and more specifically to flap actuation systems and related methods. Background Technology

[0002] Aircraft such as fixed-wing aircraft include control surfaces attached to the aircraft's wings, which are selectively actuated to influence the aircraft's behavior during takeoff, flight, and / or landing. For example, flaps can extend during takeoff or landing to increase wing lift, and retract, for example, when the aircraft reaches cruising altitude to reduce drag. Control surfaces such as flaps are attached to the wings via support structures. Summary of the Invention

[0003] An exemplary flap actuation system includes a first actuator, a second actuator, a first drive arm coupled to the first actuator and a flap, a second drive arm coupled to the second actuator and a flap, a first cam, and a first output shaft. During operation of the first actuator, the first cam is coupled to the first drive arm via the first output shaft to enable the first actuator to actuate the flap via the first drive arm. The exemplary flap actuation system also includes a second cam and a second output shaft. During operation of the second actuator, the second cam is coupled to the second drive arm via the second output shaft to enable the second actuator to actuate the flap via the second drive arm. In response to a failure of the first actuator, the first cam disengages from the first drive arm. In response to a failure of the first actuator, the second actuator actuates the flap via both the first and second drive arms.

[0004] An exemplary aircraft includes a flap, a first actuator, a second actuator, a first drive arm coupled to the flap, a second drive arm coupled to the flap, a first connector for selectively connecting the first actuator to the flap via the first drive arm, and a second connector for selectively connecting the second actuator to the flap via the second drive arm.

[0005] An exemplary system includes a first actuator, a second actuator, a drive arm coupled to a flap of an aircraft, and a connector disposed between the first actuator and the drive arm. The connector includes a cam. The cam selectively engages with the drive arm to operatively connect the first actuator to the drive arm. The exemplary system includes a controller to control the connection of the first actuator to the drive arm via the connector. When the cam is disengaged from the drive arm, the controller instructs the second actuator to drive movement of the flap. Attached Figure Description

[0006] Figure 1 An exemplary aircraft in which the examples disclosed herein may be implemented is shown.

[0007] Figure 2An exemplary flap actuation system according to the teachings of this disclosure is shown, which includes a first dual-drive system, a second dual-drive system, and a control surface controller.

[0008] Figure 3 and Figure 4 yes Figure 2 An exploded view of the first drive subsystem of the first dual-drive system.

[0009] Figure 5 and Figure 6 yes Figure 3 and Figure 4 An exploded view of the connector of an exemplary first drive subsystem.

[0010] Figure 7 It is in the first position. Figure 5 and Figure 6 A partial view of an exemplary connector.

[0011] Figure 8 It is in the second position. Figure 5-7 A partial view of an exemplary connector.

[0012] Figure 9 and Figure 10 It is along Figure 4 The AA line intercept includes Figure 5-8 connector Figures 3-4 A cross-sectional view of an exemplary first drive subsystem, wherein the first drive subsystem is in Figure 9 The first operating state is shown in the middle, while Figure 10 The second operating state is shown in the middle.

[0013] Figures 11-15 Shown in operation Figure 2 The first drive subsystem of the first dual drive system and Figure 2 An exemplary state of the second drive subsystem of the first dual-drive system.

[0014] Figure 16 yes Figure 2 A block diagram of an example implementation of a control surface controller.

[0015] Figure 17 This is a flowchart illustrating an exemplary method for assembling a control surface-driven system in accordance with the teachings of this disclosure.

[0016] Figure 18 This is a flowchart illustrating exemplary machine-readable instructions that can be executed to implement Figure 2 and / or Figure 16 An exemplary control surface controller.

[0017] Figure 19 This is a block diagram of an exemplary processing platform configured to perform... Figure 18 Instructions to be implemented Figure 2 and / or Figure 16 An exemplary control surface controller.

[0018] The accompanying drawings are not to scale. Instead, the thickness of layers or areas may be enlarged in the drawings. Generally, the same reference numerals will be used throughout all (one or more) the drawings and the accompanying written description to refer to the same or similar parts. Unless otherwise stated, connection references (e.g., attachment, joint, connection, and joining) will be interpreted broadly and may include intermediate members between sets of elements as well as relative movement between elements. Thus, connection references do not necessarily imply that two elements are directly connected and fixed to each other.

[0019] When identifying multiple elements or components that can be individually mentioned, the descriptors “first,” “second,” “third,” etc., are used herein. Unless otherwise specified or understood based on the context of the purpose, such descriptors are not intended to assign any meaning of priority, physical order, or arrangement in a list or chronological order, but are merely labels for separately referencing multiple elements or components to facilitate understanding of the disclosed examples. In some examples, the descriptor “first” may be used to refer to an element in the detailed description, while the same element may be referred to in the claims using different descriptors such as “second” or “third.” In such cases, it should be understood that such descriptors are used solely for ease of referencing multiple elements or components. Detailed Implementation

[0020] Some aircraft, such as aircraft, include airflow control surfaces, such as flaps attached to the aircraft's wings. Flaps can be selectively actuated to influence the aircraft's behavior during one or more phases of flight, such as takeoff and / or landing. For example, flaps can extend during takeoff or landing to increase wing lift. When the aircraft is in the cruise phase, flaps can retract to reduce drag. The movement of the flaps can be controlled by a drive system including one or more actuators (e.g., one or more electric motors) that moves the flaps between extended and retracted positions via mechanical support linkages operably coupling the actuators to the flaps.

[0021] For example, asymmetry in the flap drive system due to the performance of one or more actuators can exert torsional forces on one or more of the flap's support linkages. Flap skew can disrupt the airflow control provided by the flaps. For instance, misalignment between the angles of two support linkages of the flap due to skew can cause asymmetry between the different parts of the flap when it is deployed. Some known aircraft include one or more sensors to detect skew at the flaps by monitoring, for example, misalignment between support linkages. If skew is detected based on sensor data, the flaps may not deploy. Although avoiding flap deployment prevents skew, the aircraft's behavior can be affected. For example, the aircraft might land at a higher speed because the flaps are not extended to maintain lift and increase drag to slow the aircraft.

[0022] This document discloses an exemplary dual-drive system for actuating control surfaces such as flaps of an aircraft, which reduces skew conditions and is capable of actuating the control surface in the event of a failure of one of the actuators in the drive system. The examples disclosed herein include a first dual-drive system controlling a first support linkage of the flap and a second dual-drive system controlling a second support linkage of the flap. The exemplary dual-drive system disclosed herein includes a first drive subsystem including a first actuator and a second drive subsystem including a second actuator. In the event of a failure of the actuator in one of the drive subsystems, the actuator of the other drive subsystem can be used to control the movement of the flap via the support linkage. Therefore, in the examples disclosed herein, the dual-drive system associated with each flap support linkage reduces skew if one linkage fails to provide flap movement due to an actuator failure in the linkage.

[0023] In the examples disclosed herein, each drive subsystem of the dual-drive system includes a coupler that provides a selectively operable connection between an actuator and a corresponding support linkage of the flap. An exemplary coupler disclosed herein includes a toothed cam and an output shaft with corresponding teeth. The output shaft is operatively coupled to one of the flap support linkages via the drive linkage. During operation of the actuator of, for example, the first drive subsystem of the dual-drive system, a drive ring engages the teeth of the cam with the teeth of the output shaft. The coupling of the cam to the output shaft operatively couples the actuator to the drive linkage, thereby coupling it to the flap support linkage. The actuator of the first drive subsystem can be used to control the movement of the flap via the drive linkage and the support linkage coupled to the drive linkage.

[0024] In the event of a failure, for example, in the actuator of the first drive subsystem, the drive ring of the connector is no longer driven by the failed actuator. As a result, the teeth of the connector's cam do not engage with the teeth of the output shaft. Therefore, the exemplary connector disclosed herein prevents operative connection between the failed actuator of the first drive subsystem and the drive linkage of the first drive subsystem connected to the flap support linkage. In such examples, the actuator of the second drive subsystem of the dual drive system can be used to control the movement of the flap via the support linkage without being affected by the failed actuator of the first drive subsystem. In particular, the drive linkage associated with the first drive subsystem can be controlled by the actuator of the second drive subsystem because the drive linkage is no longer operatively connected to the failed actuator. Thus, asymmetry relative to the drive linkage is reduced in the dual drive system including the failed actuator. Furthermore, in the examples disclosed herein, because the actuator of the second drive subsystem can control the movement of the flap via the corresponding support linkage, skewing at the flap is prevented, as each support linkage of the flap continues to be controlled via the actuator. Therefore, the example disclosed herein isolates the effects of a faulty actuator by providing a dual-drive system that provides continuous control over flap movement.

[0025] Figure 1 An exemplary aircraft 100 in which examples disclosed herein may be implemented is shown. In the illustrated example, aircraft 100 includes a stabilizer 102 and a wing 104 coupled to a fuselage 106. The wing 104 defines an upper surface 103 and a lower surface 105 (e.g., upper and lower sides, upper and lower aerodynamic surfaces, etc.). The wing 104 of aircraft 100 has control surfaces 108 positioned along the leading and / or trailing edges of the wing 104. The control surfaces 108 can be displaced or adjusted (e.g., angled, etc.) to provide lift during takeoff, landing, and / or maneuvering flight. In some examples, the control surfaces 108 are operated (i.e., displaced) independently of each other. The control surfaces 108 include leading-edge flaps 110, leading-edge slats 112, upper spoilers 114 (e.g., flight spoilers, ground spoilers, upper surface spoilers, etc.), and trailing-edge flaps (e.g., rotatable flaps) 116. The control surface 108 shown in the example also includes ailerons 118 and flaperons 120. In this example, the stabilizer 102 includes elevator 122 and rudder 124.

[0026] To control the flight of aircraft 100, the upper surface spoiler 114 in the illustrated example alters the lift and drag of aircraft 100. Flaps 116 alter the lift of aircraft 100. Ailerons 118 and flaperon 120 in the illustrated example alter the roll / hook of the aircraft. In this example, leading-edge slats 112 alter the lift of aircraft 100. Control surfaces 108 in the illustrated example also function in controlling the speed of aircraft 100. For example, the upper surface spoiler 114 can be used to brake aircraft 100. Any of the control surfaces 108 in the illustrated example can move independently (e.g., deflect) to control the distribution of loads in different directions on the respective wing 104, thereby guiding the motion of aircraft 100.

[0027] The examples described herein can be applied to control surfaces associated with any of the stabilizers 102, wings 104, and / or any other external or outboard structures of aircraft 100 (e.g., horizontal stabilizers, wing struts, engine struts, canard stabilizers, slats). Specifically, wings 104 and / or stabilizers 102 may have control surfaces 108 that can be adjusted to, for example, maneuver aircraft 100 and / or control the speed of aircraft 100. Additionally or alternatively, in some examples, the fuselage 106 has deflectable control surfaces to alter flight handling characteristics during cruise and / or takeoff of aircraft 100. Therefore, the discussion of examples disclosed herein in conjunction with flaps is for illustrative purposes only and does not limit the examples used with flaps.

[0028] Figure 2 An exemplary flap actuation system 200 according to the teachings of this disclosure is shown. The exemplary flap actuation system 200 controls flaps 202 for increasing the wing including flaps 202 (e.g., Figure 1 The wing (104) moves between a lift-generating extended position and a drag-reducing retracted position. An exemplary flap actuation system 200 includes a first dual-drive system 204 and a second dual-drive system 206. The first dual-drive system 204 is operatively coupled to the flap 202 via a first flap support linkage 208. The second dual-drive system 206 is operatively coupled to the flap 202 via a second flap support linkage 210. In addition... Figure 2 In addition to the example shown, the example flap actuation system 200 may include one or more additional support linkage devices and one or more corresponding dual drive systems. Furthermore, the spacing between the flap support linkage devices 208 and 210 may be [missing information]. Figure 2 The examples shown are different.

[0029] Figure 2The first dual-drive system 204 includes a first drive subsystem 205 and a second drive subsystem 207. The first drive subsystem 205 includes a first actuator 212 (e.g., a servo motor). The first actuator 212 is operatively coupled to a first flap support linkage 208 via a first cycloidal driver 216, a first connector 218, and a first drive linkage or arm 219. The second drive subsystem 207 includes a second actuator 220 (e.g., a servo motor). The second actuator 220 is operatively coupled to the first flap support linkage 208 via a second cycloidal driver 222, a second connector 224, and a second drive arm 225.

[0030] Similarly, Figure 2 The second dual-drive system 206 includes a third drive subsystem 209 and a fourth drive subsystem 213. The third drive subsystem 209 includes a third actuator 226 (e.g., a servo motor). The third actuator 226 is operatively coupled to the second flap support linkage 210 via a third cycloidal driver 228, a third connector 230, and a third drive arm 231. The fourth drive subsystem 213 includes a fourth actuator 232 (e.g., a servo motor). The fourth actuator 232 is operatively coupled to the second flap support linkage 210 via a fourth cycloidal driver 234, a fourth connector 236, and a fourth drive arm 237.

[0031] In operation, the power generated by one or more actuators 212, 220, 226, 232 drives the movement of the drive arms 219, 225, 231, 237 of each drive subsystem 205, 207, 209, 213, which in turn causes movement of the corresponding flap support linkages 208, 210 and thus the flaps 202. Figure 2 In the example, the operation of one or more actuators 212, 220, 226, 232, and thus the movement of flap 202, is controlled by a control surface controller 238. The exemplary control surface controller 238 is communicatively coupled to the respective actuators 212, 220, 226, 232 via one or more wired or wireless communication protocols. As disclosed herein, the control surface controller 238 generates one or more instructions that are transmitted to one or more actuators 212, 220, 226, 232 to control the movement of flap 202 from a retracted position to an extended or drooping position. In some examples, the instructions generated by the control surface controller 238 control the speed of movement of flap 202, the duration for which flap 202 is in a particular position, etc.

[0032] Figure 2The exemplary flap actuation system 200 provides redundancy in controlling the movement of the flap 202 because each flap support linkage 208, 210 is controlled by one of the dual drive systems 204, 206. As disclosed herein, if one actuator of one or more actuators of a particular drive subsystem 205, 207, 209, 213 fails, the connectors 218, 224, 230, 236 of the respective drive subsystems 205, 207, 209, 213 of each dual drive system 204, 206 can operatively isolate or disengage the corresponding actuators 212, 220, 226, 232 from the flap 202. For example, in the event of a failure of the first actuator 212 of the first drive subsystem 205, the first connector 218 prevents operative connection between the first drive arm 219 of the first drive subsystem 205 and the failed first actuator 212. In this example, the movement of flap 202 via the first flap support linkage 208 is controlled by the second actuator 220 of the second drive subsystem 207. Because the first drive arm 219 is not operatively coupled to the faulty first actuator 212, the first drive arm 219 can move in response to the movement of the second drive arm 225 by the second actuator 212 (i.e., due to the coupling of each drive arm 219, 225 to the first flap support linkage 208). Therefore, the first drive arm 219 and the second drive arm 225 can be used to control the movement of the first flap support linkage 208 and asymmetry within the first dual drive system 204 is prevented or greatly reduced. Furthermore, even with the failure of the first actuator 212, flap skew is prevented or substantially reduced because, due to the redundancy of the actuators 212, 220 at the first dual drive system 204, the first flap support linkage 208 and the second flap support linkage 210 can continue to be used to move the flap 202.

[0033] Figure 3 and Figure 4 yes Figure 2 An exploded view of the first drive subsystem 205 of the exemplary first dual drive system 204. Although combined with... Figure 2 Discussion of the exemplary first driving subsystem 205 Figure 3 and Figure 4 ,but Figure 2 The second drive subsystem 207 of the first dual drive system 204 includes components that are the same as or substantially the same as those of the first drive subsystem 205 (e.g., wherein one or more components of the second drive subsystem are arranged as a mirror image of the components of the first drive subsystem 205). Additionally, the third drive subsystem 209 and the fourth drive subsystem 213 of the second dual drive system 206 may include components similar to those of the first drive subsystem 205. Figure 3 and 4The first drive subsystem 205 shown has the same or substantially the same components (one or more).

[0034] like Figure 3 and 4 As shown, the output shaft 300 of the actuator 212 of the first drive subsystem 205 is connected to the cycloidal driver 216. The output shaft 302 of the cycloidal driver 216 is received by the first connector 218 to operatively connect the actuator 212 to the first connector 218. Figure 3 and 4 In the example, compared to the case using another gear type (e.g., planetary gears), the generally flat profile of the cycloidal actuator 216 helps reduce the shape factor of the first drive subsystem 205, and thus helps reduce the shape factor of the first dual drive system 204. The reduced shape factor of the first drive subsystem 205 helps to offset the shape factor of each flap support linkage 208, 210 ( Figure 2 The additional volume consumed by using dual actuators at this location. In other examples, planetary gears can be used instead of cycloidal drives to provide otherwise controlled operation. Figure 2 The cycloidal actuator 216 provides gear reduction. Alternatively, in other examples, an actuator with increased power can be used to directly drive the first connector 218 without the means of gear reduction.

[0035] like Figure 3 As shown, the output shaft 304 of the first connector 218 extends through an opening 306 defined in the rib 308 to allow the output shaft 304 to be coupled to the first drive arm 219. In exemplary aircraft (such as...) Figure 1 In the aircraft 100, rib 308 is one of a plurality of ribs, which defines the flap 202 ( Figure 2 ) wings (e.g., Figure 1 The trailing edge of the wing (104). One or more ribs 308 support the trailing edge components of the wing, such as... Figure 2-4 flap 202 and flap actuation system 200

[0036] exist Figures 3-4 In the example, the first drive arm 219 includes a brake 310. As disclosed herein, the brake 310 is operated by... Figure 2The control surface controller 238 controls the brake 310. The brake 310 can be enabled to, for example, lock the first drive arm 219 and thus the flap 202 in a specific position (e.g., when the flap 202 is extended). As disclosed herein, in some examples, in the event of a failure of the first actuator 212, the brake 310 is enabled to stiffen the first drive arm 219, and movement relative to the first drive arm 219 is transmitted via the second actuator 220 of the second drive subsystem 207. Figure 2 It provides a certain degree of resistance or control.

[0037] Figure 5 and Figure 6 yes Figure 2-4 An exploded view of the first connector 218 of the first drive subsystem 205 of the exemplary first dual drive system 204. Although in Figure 5 and Figure 6 The first connector 218 of the first drive subsystem 205 is shown, however, Figure 2 The corresponding second drive subsystem 207, third drive subsystem 209, and fourth drive subsystem 213 include second connectors 224, third connectors 230, and fourth connectors 236 that are connected to... Figure 5 and Figure 6 The components shown in the first connector 218 are the same or substantially the same.

[0038] Figure 5 and Figure 6 An exemplary first coupling 218 may include a housing 500, a bearing 502, a drive ring 504, a cam 506, a spring 507, and an output shaft 304. The housing 500 defines an opening 508 to receive the output shaft 302 of a cycloidal actuator 216. The output shaft 302 of the cycloidal actuator 216 extends through the opening 508 in the housing 500 and engages the drive ring 504. Figure 5 and Figure 6 In the example, the teeth 510 of the output shaft 302 of the cycloidal actuator 216 engage with the corresponding teeth 512 of the drive ring 504 to allow rotational motion to be transmitted from the cycloidal actuator 216 to the drive ring 504. The bearing 502 reduces friction between the drive ring 504 and the housing 500 during rotation of the drive ring 504.

[0039] exist Figure 5 and Figure 6 In the example, cam 506 is positioned between drive ring 504 and output shaft 304. For example... Figure 5 and Figure 6As shown, the drive ring 504 includes a first protrusion 515 and a second protrusion 517 extending from the body of the drive ring 504. As disclosed herein, the protrusions 515, 517 of the drive ring 504 contact the cam 506 to transmit motion from the drive ring 504 to the cam 506. Compared to Figure 5 and Figure 6 The example protrusions 515 and 517 shown, the drive ring 504 may include additional or fewer protrusions and / or protrusions with different shapes and / or sizes.

[0040] like Figure 5 As shown, the cam 506 includes a set of teeth 514, while the output shaft 304 includes a set of teeth 516. (As...) Figure 6 As shown, housing 500 includes a set of teeth 600 defined within the interior of housing 500. In operation, cam 506 selectively moves between a first position in which the teeth 514 of cam 506 engage with the teeth 600 of housing 500 and a second position in which the teeth 514 of cam 506 engage with the teeth 516 of output shaft 304. Specifically, and as disclosed herein, rotational movement of drive ring 504 translates cam 506 from the first position in which the teeth 514 of cam 506 engage with the teeth 600 of housing 500 to the second position in which the teeth 514 of cam 506 engage with the teeth 516 of output shaft 304.

[0041] like Figure 5 and Figure 6 As shown, spring 507 is disposed between cam 506 and output shaft 304. When cam 506 is in a first position in which the tooth 514 of cam 506 engages with the tooth 600 of housing 500, spring 507 is in an extended position. In the extended position, spring 507 helps to maintain the position of cam 506 within housing 500, and thus maintains the engagement between the tooth 600 of housing 500 and the tooth 514 of cam 506. When cam 506 moves to a second position in which the tooth 514 of cam 506 engages with the tooth 516 of output shaft 304, spring 507 is compressed due to the translation of cam 506.

[0042] Figure 7 and Figure 8 Show Figure 5 and Figure 6 The relationship between the drive ring 504, cam 506, and output shaft 304 of the exemplary first connector 218. For clarity, in Figure 7 and Figure 8 The housing 500 is not shown in the diagram.

[0043] exist Figure 7 In the middle, cam 506 is located where tooth 514 and tooth 600 of housing 500 are located. Figure 6 The first position of engagement. (e.g.) Figure 7 and Figure 8 As shown, cam 506 includes one or more inclined surfaces 702, or partially inclined surfaces(s) defined by the body of cam 506. During rotation of drive ring 504, as Figure 7 The middle arrow 704 indicates one or more protrusions of the drive ring 504, such as in Figure 7 and Figure 8 The first protrusion 515 shown moves along the inclined surface 702 of the cam 506. The movement of the protrusion 515 of the drive ring 504 along the inclined surface 702 of the cam 506 causes a translational movement of the cam 506 relative to the output shaft 304, as shown. Figure 8 As indicated by arrow 800. Due to the rotational motion of the drive ring 504 and the corresponding translation of the cam 506, the cam 506 will move from a first position where the tooth 514 of the cam 506 engages with the tooth 600 of the housing 500 to a second position where the tooth 514 of the cam 506 engages with the tooth 516 of the output shaft 304. Figure 5 and Figure 6 ).

[0044] like Figure 7 and Figure 8 As shown, cam 506 includes one or more protrusions or stops 706 near the inclined surface 702. When the protrusion 515 of drive ring 504 (and / or Figure 5 and Figure 6 When the protrusion 517 shown engages with one of the stops 706 of the cam 506, the rotational motion of the drive ring 504 is transmitted to the output shaft 304 via the connection between the drive ring 504, the cam 506, and the output shaft 304. The engagement of one or more protrusions 515, 517 of the drive ring 504 with one or more stops 706 of the cam 506 helps maintain the engagement of the cam 506 with the output shaft 304 and enables the rotational motion to be transmitted between the drive ring 504 and the output shaft 304. The rotation of the output shaft 304 causes the connection to the output shaft 304 to... Figure 2-4 The first drive arm 219 of the drive subsystem 205 is moved (e.g., pivoted). Therefore, the connection between the drive ring 504, the cam 506, and the output shaft 304 enables the actuator 212 of the first drive subsystem 205 to control the movement of the first drive arm 219 connected to the output shaft 304. Figure 2-6 ).

[0045] Figure 9 and 10 It is along Figure 4 A cross-sectional view of an exemplary first drive subsystem 205 taken by line AA. Figure 9 In the first operating state, the first drive subsystem 205 is in the first operating state, wherein the tooth 514 of the cam 506 engages with the tooth 600 of the housing 500. For example... Figure 9 As shown, the spring 507 is in an uncompressed or unextended position to help maintain engagement between the teeth 514 of the cam 506 and the teeth 600 of the housing 500.

[0046] Figure 10 An exemplary first drive subsystem 205 is shown in a second operating state, in which the teeth 514 of the cam 506 engage with the teeth 516 of the output shaft 304. As described above, via the operation of the first actuator 212, the teeth 514 of the cam 506 move to engage with the teeth 516 of the output shaft 304, which causes rotation of the cycloidal actuator 216, rotation of the drive ring 504, and corresponding translation of the cam 506. Figure 10 As shown, when the tooth 514 of the cam 506 engages with the tooth 516 of the output shaft 304, the spring 507 is in a compressed position due to the translational movement of the cam 506.

[0047] General reference Figures 2-10 ,when Figures 2-10 When the teeth 514 of the cam 506 of the exemplary first drive subsystem 205 engage with the teeth 516 of the output shaft 304, the first actuator 212 is operatively coupled to the first drive arm 219, and thus to the first flap support linkage 208 of the flap 202. The first actuator 212 controls the movement of the first flap support linkage 208 via rotation of the drive ring 504, which causes a corresponding rotation of the output shaft 304 due to the connection between the drive ring 504, the cam 506, and the output shaft 304. The rotation of the output shaft 304 drives the movement of the first drive arm 219. Furthermore, the second actuator 220 of the second drive subsystem 207 of the dual drive system 204 is operatively coupled to the second drive arm 225 in essentially the same manner as discussed in conjunction with the first drive subsystem. Actuators 212 and 220 drive the movement of the first flap support linkage 208 via drive arms 219 and 225 to raise or lower the flap 202 (i.e., associated with the movement of the second flap support linkage 210 controlled by the second dual drive system 206).

[0048] When flap 202 is in the retracted position, actuators 212, 220, 226, and 232 do not generate power to move flap 202 (e.g., based on commands from controller 238). Thus, for example, the drive ring 504 of the first coupling 218 of the first drive subsystem 205 is no longer driven by the first actuator 212. Because the drive ring 504 does not rotate, the engagement between the teeth 514 of the cam 506 and the teeth 516 of the output shaft 304 is no longer maintained. As a result, the spring 507 extends and pushes against the cam 506, causing the teeth 514 of the cam 506 to disengage from the teeth 516 of the output shaft 304 and re-engage with the teeth 600 of the housing 500. Consequently, the first actuator 212 is no longer operatively coupled to the first drive arm 219, and therefore no longer operatively coupled to the first flap support linkage 208 of the flap 202.

[0049] In the event of a failure of the first actuator 212 or the first cycloidal driver 216 of the first drive subsystem 205, selective engagement between the cam 506 and the output shaft 304 can be used. Specifically, when the first actuator 212 and / or the first cycloidal driver 216 is in a faulty state, the control surface controller 238 instructs the first actuator 212 to avoid generating power. As a result, the first actuator 212 does not generate power that would otherwise otherwise cause the drive ring 504 to facilitate engagement between the teeth 514 of the cam 506 and the teeth 516 of the output shaft 304. In such an example, because the teeth 514 of the cam 506 do not engage with the teeth 516 of the output shaft 304, the first drive arm 219 is not operatively engaged with the first actuator 212. Therefore, the first drive arm 219 is free to be... Figure 2 The second actuator 220 of the second drive subsystem 207 controls the pivoting of the first drive arm 219 and the second drive arm 225. Specifically, the pivoting of the first drive arm 219 is related to the pivoting of the second drive arm 225, and the pivoting of the second drive arm 225 is controlled by the second actuator 220 of the second drive subsystem 207 (i.e., due to the connection of the two drive arms 219, 225 with the first flap support linkage device 208).

[0050] Therefore, in the event of a failure of the first actuator 212 and / or the first cycloidal driver 216, the actuator 212 of the first drive subsystem 205 is operatively isolated or disengaged from the first drive arm 219 and does not interfere with the movement of the first flap support linkage 208. The asymmetry in the first drive subsystem 205 caused by the failed actuator 212 and / or the failed cycloidal driver 216 is minimized because the failed actuator 212 does not prevent the movement of the first drive arm 219. Instead, the first drive arm 219 is not operatively connected to the failed actuator 212 because the tooth 514 of the cam 506 of the first coupler 218 does not engage with the tooth 516 of the output shaft 304. In some examples, the brake 310 (FIG. 3) of the first drive subsystem 205 can be activated in the event of a failure of the first actuator 212 (e.g., in response to an instruction from the control surface controller 238) to provide a degree of resistance and improve control of the movement of the first drive arm 219 via the corresponding movement of the second drive arm 225 of the second drive subsystem 207.

[0051] Furthermore, because the first flap support linkage 208 can be controlled by the second actuator 220 of the second drive subsystem 207 in the event of a failure of the first actuator 212 and / or the first cycloidal driver 216 of the first drive subsystem 205, skewing at the flap 202 is prevented or substantially reduced compared to the case where only one actuator controls the first flap support linkage 208. In such a case, if a single actuator fails, the first flap support linkage 208 will not be actuated, and skewing will occur between the portion of the flap 202 connected to the first flap support linkage 208 and the portion of the flap 202 connected to the second flap support linkage 210, actuated by one or more operable or malfunctioning actuators. However, in the example disclosed herein, due to the redundancy of actuators 212, 220, 226, 232 in the respective dual drive systems 204, 206, in the event of a failure of one of the actuators 212, 220 in the first dual drive system 204 and / or one of the actuators 226, 232 in the second dual drive system 206, both flap support linkages 208, 210 are movable.

[0052] Figures 11-15 The first actuator 212 shown in the first drive subsystem 205 ( Figure 2 ) and the second actuator 220 of the second drive subsystem 207 Figure 2 An exemplary operational relationship between the first drive subsystem 205 and the second drive subsystem 207 during operation of the first dual drive system 204 is discussed. Figures 11-15 However, the operational relationship between the third drive subsystem 209 and the fourth drive subsystem 213 can be basically the same as the relationship between the first drive subsystem 205 and the second drive subsystem 207 of the first dual drive system 204.

[0053] Additionally, for illustrative purposes, in Figures 11-15 Only the drive ring 504 and cam 506 of the first drive subsystem 205 are shown. Additionally, for illustrative purposes, [the remaining text is incomplete and likely refers to a different component]. Figures 11-15 Only the drive ring 1100 and cam 1102 of the second drive subsystem 207 are shown. Figures 11-15 In the example, the drive ring 1110 and cam 1102 of the second drive subsystem 207 are substantially the same as the drive ring 504 and cam 506 of the first drive subsystem 205.

[0054] Figure 11 Showing the position Figure 9 The first drive subsystem 205 and the second drive subsystem 207 are shown in the first operating state. In the disengaged state, the teeth of the corresponding cams 506 and 1102 of the drive subsystems 205 and 207 (e.g., Figures 5-10 The teeth 514 of the cam 506 do not mesh with the teeth of the output shafts of each drive subsystem 205, 207 (e.g., Figures 5-6 The output shaft 304 is engaged with teeth 516. Instead, the first drive subsystem 205 and the second drive subsystem 207 are in... Figure 9 The example shows the first operating state (e.g., the tooth 514 of the cam 506 engages with the tooth 600 of the housing 500 and the spring 507 is in the extended position).

[0055] Figure 12 Showing the position Figure 10 Each of the exemplary first drive subsystem 205 and second drive subsystem 207 in the second operating state is shown. In this state, as Figure 10 As shown, the teeth of the cams 506 and 1102 of each drive subsystem 205 and 207 engage with the teeth of the output shaft of each drive subsystem 205 and 207 (e.g., the spring 507 is in the compressed position).

[0056] Figure 13 Shown in the flaps (e.g., Figure 2 The flaps 202) are extended during the operation of the first and second drive subsystems. The flaps can extend, for example, during takeoff or landing. During operation, the respective drive rings 504, 1100 are activated by the cycloidal actuators 216, 222 of each drive subsystem 205, 207. Figure 2There may be a lag time between the actuation of the flaps and the engagement of the corresponding drive subsystem's cams 506 and 1102 with the corresponding output shaft 304. During operation, the flaps (e.g., Figure 2 The air load on the flap 202 can pull the flap back to the retracted position. Due to the lag time relative to the movement of the cam, if the actuators 212, 220 of the first dual drive system 204 are in the same rotational position during operation, the air load on the flap will cause the flap to move on its own. To prevent this effect, the corresponding actuators 212, 220 of the first drive subsystem 205 and the second drive subsystem 207 operate with alternating excitation / antagonist action. For example, during flap extension, the first actuator 212 is used to drive the first flap support linkage 208 ( Figure 2 The movement of the flaps is thus used as an excitation or prime mover to drive the movement of the flaps. In this example, the second actuator 220 of the second drive subsystem acts as an antagonist by providing an opposing torque that helps control the movement of the flaps via the first flap support linkage 208. Because of the opposing rotational arrangement of the actuators 212 and 220, any tendency of the flaps to move on their own due to air load is eliminated or substantially eliminated due to the generation of opposing torques. In other examples, the second actuator 220 of the second drive subsystem acts as an excitation or prime mover during flap extension.

[0057] Figure 14 The operation of the first and second drive subsystems during flap retraction is illustrated. To reduce fatigue load on the first actuator 212 of the first drive subsystem 205, the second actuator 220 of the second drive subsystem 207 acts as a prime mover or excitation to drive the movement of the first flap support linkage 208 to move the flap from the extended position to the retracted position. In this example, the first actuator 212 of the first drive subsystem 205 acts as an antagonist by providing a counter-torque that controls the movement of the first flap support linkage 208 as described above. In other examples, the first actuator 212 of the first drive subsystem 205 acts as an excitation or prime mover during flap retraction.

[0058] Figure 15 The diagram shows a first drive subsystem 205 and a second drive subsystem 207 in a disengaged state, wherein the teeth of cams 506 and 1102 are not engaged with the teeth of the corresponding output shafts of the first drive subsystem 205 and the second drive subsystem 207. The first drive subsystem 205 and the second drive subsystem 207 return to... Figure 9The example shows the first operating state (i.e., the tooth 514 of cam 506 engages with the tooth 600 of housing 500 and spring 507 is in the extended position). The first drive subsystem 205 and the second drive subsystem 207 can return to the first operating state, for example, during the cruise phase of the aircraft.

[0059] As disclosed herein, in the event of, for example, a failure of the first actuator 212 of the first drive subsystem 205, the first actuator 212 ceases to generate power. Therefore, the cam 506 of the first drive subsystem 205 does not engage with the output shaft 304 of the first drive subsystem 205. In such examples, the second actuator 220 of the second drive subsystem 207 controls the operation of the flaps during their extension and / or retraction. Thus, in Figures 11-15 In the example, the first drive subsystem 205 will remain Figure 11 The first operating state. The second drive subsystem 207 will move to... Figure 12-14 The second operating state shown is used to extend and retract the flaps via an operable connection between the second actuator 220 and the second drive arm 225 of the second drive subsystem 207.

[0060] In contrast, in the event of a failure of the second actuator 220 in the second drive subsystem 207, the second actuator 220 no longer generates power. Thus, the cam 1102 of the second drive subsystem 207 does not engage with the output shaft of the second drive subsystem 207, and the second drive subsystem 207 will remain in a state of flux. Figure 11 The first operating state. In this example, the first actuator 212 of the first drive subsystem 205 controls the operation of the flap during its extension and / or retraction. The first drive subsystem 205 will move to the second operating state shown in Figures 12-14 to extend and retract the flap via an operable connection between the actuator 212 of the second drive subsystem 207 and the second drive arm 225.

[0061] Although combined Figure 2 The exemplary first drive subsystem 205 will be discussed in the main discussion. Figure 3-15 However, the examples disclosed herein can be applied to any of the second drive subsystem 207, the third drive subsystem 209, and / or the fourth drive subsystem 213 of the first dual drive system 204 and / or the second dual drive system 206.

[0062] Figure 16 yes Figure 2 A block diagram of an example embodiment of the control surface controller 238. As described above, the control surface controller 238 is configured to generate one or more instructions that are transmitted to... Figure 2The exemplary dual-drive systems 204, 206, and their drive subsystems 205, 207, 209, 213, and their actuators 212, 220, 226, 232, control the movement of the flap 202. Figure 16 In the example, the control surface controller 238 is implemented by one or more processors (e.g., one or more processors on an aircraft including flap 202) and / or one or more cloud-based devices (e.g., one or more servers, one or more processors, and / or one or more virtual machines).

[0063] An exemplary control surface controller 238 includes an actuator controller 1600. Figure 16 The actuator controller 1600 provides for controlling Figures 2-15 The exemplary dual-drive systems 204, 206 employ means of operating the drive subsystems 205, 207, 209, 213, and one or more actuators 212, 220, 226, 232. For example, actuator controller 1600 provides instructions to the actuators to generate power for driving the flap 202 between a retracted and extended position. In some examples, actuator controller 1600 instructs actuators 212, 220, 226, 232 to generate power based on user input received at one or more flight control systems communicating with control surface controller 238. The user input may include instructions to move the flap 202 to a specific position. In some examples, when, for example, the flap 202 is in the retracted position, actuator controller 1600 instructs actuators 212, 220, 226, 232 not to generate power. In some examples, Figure 16 The actuator controller 1600 controls which one or more of the actuators 212, 220, 226, 232 in a particular drive subsystem 205, 207, 209, 213 operate as a prime mover during the movement of the flap 202, and which one or more of the actuators 212, 220, 226, 232 are used as antagonists to control the operation of one or more of the actuators 212, 220, 226, 232.

[0064] Based on actuator (one or more) operating rule 1602, Figure 16The actuator controller 1600 of the exemplary control surface controller 238 controls the operation of one or more actuators 212, 220, 226, 232. The actuator operation rules 1602 can be defined by one or more user inputs and stored in a database 1604. In some examples, the exemplary control surface controller 238 includes a database 1604. In other examples, the database 1604 is located outside the control surface controller 238 in a location accessible to the controller, such as... Figure 16 As shown.

[0065] Figure 16 An exemplary control surface controller 238 includes an actuator fault detector 1606. The actuator fault detector 1606 detects fault conditions at corresponding actuators among the actuators 212, 220, 226, 232 based on data generated, for example, by one or more sensors of the actuators 212, 220, 226, 232. For example, if the sensor output of a particular actuator 212, 220, 226, 232 does not meet a threshold, or if the sensor output value does not change within a threshold time period, the actuator fault detector 1606 detects a fault condition at that actuator 212, 220, 226, 232. The actuator fault detector 1606 may determine that the actuators 212, 220, 226, 232 are in a fault state based on actuator operating rules 1602 stored in a database 1604. One or more actuator operation rules 1602 may define one or more expected outputs for one or more actuators 212, 220, 226, 232, which are used by actuator fault detector 1606 to determine whether one or more actuators 212, 220, 226, 232 are in a fault state (e.g., based on a comparison of one or more actual outputs of one or more actuators 212, 220, 226, 232 with one or more expected outputs).

[0066] exist Figure 16In the example, if actuator fault detector 1606 detects a fault in one or more of actuators 212, 220, 226, 232, then actuator fault detector 1606 transmits the fault status of actuator(s) 212, 220, 226, 232 to actuator controller 1600. In response, actuator controller 1600 prevents actuator(s) 212, 220, 226, 232 from generating power (e.g., by instructing actuator(s) 212, 220, 226, 232 to disconnect power, or by avoiding activation of actuator(s) 212, 220, 226, 232 if power has been disconnected). As a result, because one or more of the faulty actuators 212, 220, 226, 232 do not generate power, the cam 506 of the first connector 218 of the corresponding drive subsystems 205, 207, 209, 213 does not engage with the corresponding output shaft 304 of the drive subsystems 205, 207, 209, 213. Therefore, the first drive arm 219 of the corresponding drive subsystems 205, 207, 209, 213, including the faulty actuators 212, 220, 226, 232, is freely actuated via another (non-faulty) actuator 212, 220, 226, 232 of the corresponding dual drive systems 204, 206, as disclosed herein.

[0067] Figure 16 An exemplary control surface controller 238 includes a cycloidal actuator fault detector 1607. Based on one or more cycloidal actuator operating rules 1609 stored, for example, in a database 1604, and data generated by one or more sensors associated with (one or more) cycloidal actuators 216, 222, 228, 234 and / or by one or more sensors associated with (one or more) corresponding actuators 212, 220, 226, 232, the cycloidal actuator fault detector 1607 detects fault conditions at one or more of the cycloidal actuators 216, 222, 228, 234. The cycloidal actuator operating rules 1609 may be defined by (one or more) user input and include the expected speed and / or position of the cycloidal actuators 216, 222, 228, 234 during operation.

[0068] exist Figure 16In the example, if the cycloidal actuator fault detector 1607 detects a fault in one or more of the cycloidal actuators 216, 222, 228, 234, the cycloidal actuator fault detector 1607 transmits the fault status of the cycloidal actuators 216, 222, 228, 234 to the actuator controller 1600. In response, the actuator controller 1600 prevents the actuators 212, 220, 226, 232 associated with the faulty cycloidal actuators 216, 222, 228, 234 from generating power (e.g., by instructing the actuators 212, 220, 226, 232 to disconnect power, thus preventing the actuators 212, 220, 226, 232 from being activated). As a result, because one or more actuators 212, 220, 226, 232 do not generate power, the faulty cycloidal actuators 216, 222, 228, 234 do not rotate and therefore do not drive the movement of the drive ring 504. Consequently, the cam 506 of the first coupling 218 of the respective drive subsystems 205, 207, 209, 213 does not engage with the output shaft 304 of the drive subsystems 205, 207, 209, 213. Therefore, the first drive arm 219 of the respective drive subsystems 205, 207, 209, 213, including the faulty cycloidal actuators 216, 222, 228, 234, can be freely actuated via another actuator 212, 220, 226, 232 of the corresponding dual drive systems 204, 206, as disclosed herein.

[0069] Figure 16 An exemplary control surface controller 238 includes a brake enabler 1608. The brake enabler 1608 provides means for controlling the activation or release of brakes 310 in the respective drive subsystems 205, 207, 209, 213. In some examples, the brake enabler 1608 generates a command that causes the brake 310 to move from a released position to an activated position to support the first drive arm 219 when the flap 202 is in, for example, an raised position, and to lock the first drive arm 219 and thus the flap 202 in a specific position. In some examples, the brake enabler 1608 generates a command that causes the brake 310 to move from the activated position to the released position, for example, during the movement of the flap from an raised position to a retracted or folded position. The brake enabler 1608 controls the brake 310 based on one or more brake enable rules 1610 defined by user input and stored in a database 1604.

[0070] In some examples, when actuator fault detector 1606 detects a fault in one of actuators 212, 220, 226, 232 of drive subsystems 205, 207, 209, 213 and / or when cycloidal drive fault detector 1607 detects a fault in one of cycloidal drives 216, 222, 228, 234, brake enabler 1608 instructs the brake 310 of a particular drive subsystem 205, 207, 209, 213 to move from the release position to the enable position. In such examples, when the first drive arm 219 is actuated via another actuator 212, 220, 226, 232 of the dual drive systems 204, 206, the brakes 310 of the drive subsystems 205, 207, 209, 213, including the faulty actuators 212, 220, 226, 232 and / or the faulty cycloidal drivers 216, 222, 228, 234, provide a degree of resistance and control over the first drive arm 219 of the drive subsystems 205, 207, 209, 213.

[0071] Although implemented Figure 2 Example of the control surface controller 238 in Figure 16 As shown in, but in Figure 16 One or more of the elements, processes, and / or devices shown may be combined, divided, rearranged, omitted, eliminated, and / or implemented in any other way. Furthermore, exemplary actuator controller 1600, exemplary database 1604, exemplary actuator fault detector 1606, exemplary cycloidal drive fault detector 1607, exemplary brake enabler 1608, and / or more generally... Figure 16The exemplary control surface controller 238 can be implemented by hardware, software, firmware, and / or any combination of hardware, software, and / or firmware. Thus, for example, any of the exemplary actuator controller 1600, exemplary database 1604, exemplary actuator fault detector 1606, exemplary cycloidal drive fault detector 1607, exemplary brake enabler 1608, and / or more generally, the exemplary control surface controller 238 can be implemented by: (one or more) analog or digital circuitry, logic circuitry, (one or more) programmable processors, (one or more) programmable controllers, (one or more) graphics processing units (GPUs), (one or more) digital signal processors (DSPs), (one or more) application-specific integrated circuits (ASICs), (one or more) programmable logic devices (PLDs), and / or (one or more) field-programmable logic devices (FPLDs). When reading any of the device or system claims of this patent covering purely software and / or firmware implementations, at least one of the exemplary actuator controller 1600, exemplary database 1604, exemplary actuator fault detector 1606, exemplary cycloidal actuator fault detector 1607, and / or exemplary brake enabler 1608 is thus explicitly defined as including a non-transitory computer-readable storage device or storage disk, such as a memory, digital versatile disk (DVD), optical disc (CD), Blu-ray disk, etc., including software and / or firmware. Furthermore, in addition to or replacing Figure 16 In addition to those shown, Figure 16 The exemplary control surface controller 238 may include one or more elements, processes, and / or devices, and / or may include any or more of the elements, processes, and devices shown. As used herein, the phrase “in communication” (including variations thereof) covers direct communication and / or indirect communication via one or more intermediate components, and does not require direct physical (e.g., wired) communication and / or constant communication, but additionally includes selective communication at regular intervals, planned intervals, non-periodic intervals, and / or one-off events.

[0072] Figure 17 It is a control surface for driving an aircraft (e.g., according to the teachings of this disclosure) Figure 2 The flap 202) is used for assembling a dual-drive system (e.g., Figure 2 The drive subsystem of the dual drive system 204, 206) (e.g., Figure 2 The flowchart illustrates an exemplary method for the drive subsystems 205, 207, 209, and 213. Exemplary method 1700 begins by coupling an actuator to a cycloidal driver (block 1702). For example, Figures 2-5 The actuator 212 can be connected to the cycloidal driver 216 via the output shaft 300 of the actuator 212.

[0073] Exemplary method 1700 includes coupling means for operatively coupling an actuator to a drive arm of a drive subsystem to a cycloidal actuator (block 1704). For example, Figures 2-10 The first connector 218 can be coupled to the cycloidal driver 216 via the output shaft 302 of the cycloidal driver 216. In this example, the output shaft 302 of the cycloidal driver 216 extends through an opening 508 in the housing 500 of the first connector 218. The output shaft 302 of the cycloidal driver 216 is coupled to the drive ring 504 of the first connector 218. Specifically, the teeth of the output shaft 302 of the cycloidal driver 216 engage with the teeth 512 of the drive ring 504 to operatively couple the actuator 212 to the first connector 218.

[0074] Exemplary method 1700 includes coupling an output shaft of a device for operative coupling to a drive arm of a drive subsystem (block 1706). For example, the output shaft 304 of a first coupler 218 is coupled to... Figure 2 The exemplary drive subsystem 205 has a first drive arm 219. In some examples, the output shaft 304 extends through an opening 306 in the rib 308 of the first drive subsystem 205 to engage with the first drive arm 219.

[0075] Exemplary method 1700 includes coupling a brake to a drive arm (block 1708). For example, Figure 3 The brake 310 of 4 is connected to the first drive arm 219 to lock the first drive arm 219 in a specific position.

[0076] Although reference Figure 17 The flowchart shown illustrates exemplary method 1700; however, many other methods for assembling the drive subsystem of a dual-drive system can be used alternatively. For example, the execution order of the blocks can be changed, and / or some of the described blocks can be changed, eliminated, or combined. Similarly, in Figure 17 Additional operations can be included before, between, or after the boxes shown. Figure 17 In the exemplary method.

[0077] Indicates for implementation Figure 2 The exemplary hardware logic, machine-readable instructions, hardware-implemented state machine, and / or any combination of flowcharts of the control surface controller 238 of 17 are shown in [the provided text]. Figure 18 As shown in the diagram. Machine-readable instructions can be one or more executable programs or parts thereof, to be executed by a computer processor such as in combination with... Figure 19The program is executed by the processor 1912 shown in the exemplary processor platform 1900 discussed below. The program may be embodied in software stored on a non-transitory computer-readable storage medium (such as a CD-ROM, floppy disk, hard disk, DVD, Blu-ray disc, or memory associated with the processor 1912), but the entire program and / or portions thereof may alternatively be executed by a device other than the processor 1912 and / or embodied in firmware or dedicated hardware. Furthermore, although the exemplary program is described with reference to the flowchart shown in FIG19, many other methods of implementing the exemplary control surface controller 238 may be used alternatively. For example, the execution order of the blocks may be changed, and / or some of the blocks described may be altered, eliminated, or combined. Additionally or alternatively, any or all of the blocks may be implemented by one or more hardware circuits (e.g., discrete and / or integrated analog and / or digital circuits, FPGAs (Field Programmable Gate Arrays), ASICs, comparators, operational amplifiers (op-amps), logic circuits, etc.) configured to perform the corresponding operation without executing software or firmware.

[0078] The machine-readable instructions described herein can be stored in one or more of the following formats: compressed format, encrypted format, segmented format, compiled format, executable format, packaged format, etc. As described herein, machine-readable instructions can be stored as data (e.g., a portion of an instruction, code, a representation of code, etc.) that can be used to create, manufacture, and / or produce machine-executable instructions. For example, machine-readable instructions can be segmented and stored on one or more storage devices and / or computing devices (e.g., servers). Machine-readable instructions may require one or more of the following to be installed, modified, adapted, updated, merged, supplemented, configured, decrypted, decompressed, unpacked, distributed, redistributed, compiled, etc., so that they can be directly read, interpreted, and / or executed by computing devices and / or other machines. For example, machine-readable instructions can be stored in multiple parts, which are separately compressed, encrypted, and stored on separate computing devices, wherein these parts, after decryption, decompression, and combination, form a set of executable instructions that implement a program (such as the program described herein).

[0079] In another example, machine-readable instructions may be stored in a state where they can be read by a computer, but libraries (e.g., dynamic link libraries (DLLs)), software development kits (SDKs), application programming interfaces (APIs), etc., need to be added to execute the instructions on a specific computing device or other device. In yet another example, the machine-readable instructions (e.g., storage settings, data input, recorded network addresses, etc.) may need to be configured before the machine-readable instructions and / or (one or more) corresponding programs can be executed in whole or in part. Therefore, the disclosed machine-readable instructions and / or (one or more) corresponding programs are intended to cover such machine-readable instructions and / or (one or more) programs, regardless of the specific format or state in which the machine-readable instructions and / or (one or more) programs are stored or otherwise placed or transported.

[0080] The machine-readable instructions described in this article can be represented using any past, present, or future instruction language, scripting language, programming language, etc. For example, machine-readable instructions can be represented using any of the following languages: C, C++, Java, C#, Perl, Python, JavaScript, Hypertext Markup Language (HTML), Structured Query Language (SQL), Swift, etc.

[0081] As mentioned above, Figure 19 The example process can be implemented using executable instructions (e.g., computer and / or machine-readable instructions) stored on a non-transitory computer and / or machine-readable medium (such as hard disk drives, flash memory, read-only memory, optical discs, digital versatile disks, caches, random access memory, and / or any other storage device or storage disk) in which information is stored for any duration (e.g., extended time periods, permanent, transient situations, temporary buffering, and / or caching of information). As used herein, the term "non-transitory computer-readable medium" is explicitly defined to include any type of computer-readable storage device and / or storage disk and excludes propagation signals and transmission media.

[0082] "Comprising" and "including" (and all their forms and tenses) are used herein as open-ended terms. Therefore, whenever a claim uses any form of "comprising" or "including" (e.g., includes / comprising, includes / including, having, etc.) in the preamble or in any kind of claim statement, it should be understood that other elements, terms, etc., may be present without exceeding the scope of the corresponding claim or statement. As used herein, the phrase "at least" is open-ended when used, for example, in the preamble of a claim as a transitional term, in the same way that the terms "comprising" and "including" are open-ended. When used, for example, in the form of A, B, and / or C, the term "and / or" refers to a subset or any combination of A, B, C, such as (1) only A, (2) only B, (3) only C, (4) A and B, (5) A and C, (6) B and C, and (7) A and B and C. As used herein in the context of describing structures, components, items, objects, and / or things, the phrase "at least one of A and B" is intended to refer to an implementation that includes any of the following: (1) at least one A, (2) at least one B, and (3) at least one A and at least one B. Similarly, as used herein in the context of describing structures, components, items, objects, and / or things, the phrase "at least one of A or B" is intended to refer to an implementation that includes any of the following: (1) at least one A, (2) at least one B, and (3) at least one A and at least one B. As used herein in the context of describing the performance or execution of processes, instructions, actions, activities, and / or steps, the phrase "at least one of A and B" is intended to refer to an implementation that includes any of the following: (1) at least one A, (2) at least one B, and (3) at least one A and at least one B. Similarly, as used in the context of describing the conduct or execution of processes, instructions, actions, activities and / or steps herein, the phrase “at least one of A or B” is intended to refer to an implementation that includes any of the following: (1) at least one A, (2) at least one B and (3) at least one A and at least one B.

[0083] As used herein, singular references (e.g., “a,” “an,” “first,” “second,” etc.) do not exclude multiple entities. As used herein, the term “a” or “an” refers to one or more of that entity. The terms “a” (or “a”), “one or more,” and “at least one” are used interchangeably herein. Furthermore, although listed separately, multiple means, elements, or method operations may be implemented by, for example, a single unit or processor. Additionally, although corresponding features may be included in different examples or claims, these features may be combined, and their inclusion in different examples or claims does not imply that the combination of features is infeasible and / or disadvantageous.

[0084] Figure 18 This is a flowchart of an exemplary method 1800 for controlling a dual-drive system (e.g., Figure 2 The actuators of the dual drive systems 204, 206) (e.g., Figure 2 Actuators 212, 220, 226, 232) to the corresponding drive arms (e.g., Figure 2 Selectively operable couplings of drive arms 219, 225, 231, 237 are used to control the actuation of control surfaces (e.g., flaps 202) of an aircraft. Exemplary method 1800 can be achieved by... Figure 2 and / or Figure 16 An exemplary control surface controller 238 is implemented.

[0085] The exemplary method 1800 begins by identifying that the first actuator and associated first cycloidal driver of the dual-drive system, as well as the second actuator and associated second cycloidal driver of the dual-drive system, are operational and free from fault conditions (block 1802). For example, based on data received from actuator(s) 212, 220(s) (e.g., sensor data) and actuator(s) operating rules 1602(s) stored in database 1604, the actuator fault detector 1606 of the control surface controller 238 confirms that both the first actuator 212 and the second actuator 220 of the first drive subsystem 205 are operational. Based on data received from one or more cycloidal drivers 216, 222 and / or one or more actuators 212, 220 and cycloidal drive operation rules 1609 stored in database 1604, the cycloidal driver fault detector 1607 of the control surface controller 238 confirms that both the first cycloidal driver 216 associated with the first actuator 212 and the second cycloidal driver 222 associated with the second actuator 220 are operable.

[0086] When both the actuators and corresponding cycloidal actuators of the dual-drive system are operational, the actuators are used to actuate the control surfaces of the aircraft via the corresponding drive arms (block 1804). For example, based on actuator operation rule 1602(one or more), the actuator controller 1600 of the control surface controller 238 instructs the actuators 212, 220 of the first dual-drive subsystem 205 to generate power to move the drive arms 219, 225, thereby moving the flaps 202. When the first actuator 212 is operational, the power from the first actuator 212 drives the cam 506 of the first coupling 218 of the first drive subsystem 205 from a first position in which the teeth 514 of the cam 506 engage with the teeth 600 of the housing 500 to a second position in which the teeth 514 of the cam 506 engage with the teeth 516 of the output shaft 304 (e.g., via the movement of the cycloidal actuator 216 and the drive ring 504). Due to the engagement of tooth 514 of cam 506 with tooth 516 of output shaft 304, the first actuator 212 is operatively coupled to the first drive arm 219. Similarly, the power generated by the second actuator 220 is used to drive the cam of coupling 224 of the second drive subsystem 207 to engage with the output shaft of the second drive subsystem 207, thereby operatively coupling the second actuator 220 to the second drive arm 225. In some examples, actuator operation rules 1602 determine which actuators 212, 220 act as prime movers during flap 202 movement, and which actuators 212, 220 act as antagonists during flap 202 movement.

[0087] In some examples, brake enabler 1608 activates the corresponding brake (e.g., brake 310) associated with drive arms 219, 225 to lock drive arms 219, 225, and thus lock flap 202 in a specific position.

[0088] In some examples of method 1800, a fault condition is detected at (a) the first actuator or first cycloidal driver of the first drive subsystem of the dual-drive system or (b) the second actuator or second cycloidal driver of the drive subsystem of the dual-drive system (block 1806). For example, Figure 16 The actuator fault detector 1606 of the exemplary control surface controller 238 can determine that the first actuator 212 of the first drive subsystem 205 or the second actuator 220 of the second drive subsystem 207 is in a fault state (e.g., based on output received from the respective actuator(s)). In other examples, Figure 16The cycloidal driver fault detector 1607 of the exemplary control surface controller 238 can determine that the first cycloidal driver 216 of the first drive subsystem 205 or the second cycloidal driver 222 of the second drive subsystem 207 is in a fault state (e.g., based on sensor data generated for the respective cycloidal drivers 216, 222).

[0089] If a fault condition is detected at block 1806, exemplary method 1800 includes preventing operative engagement between the actuator of the drive subsystem associated with the fault condition and the corresponding drive arm associated with the drive subsystem. For example, if the fault condition is associated with a first actuator or a first cycloidal driver of a first drive subsystem, exemplary method 1800 includes preventing the first actuator from generating power to prevent operative engagement between the first actuator and the first drive arm (block 1808). For example, actuator controller 1600 of control surface controller 238 prevents the first actuator 212 from generating power. Therefore, cycloidal driver 216 does not drive drive ring 504 of first connector 218. Therefore, cam 506 is held in a first position in which the teeth 514 of cam 506 engage with the teeth 600 of housing 500 and is not driven by drive ring 504 to engage with teeth 516 of output shaft 304. Therefore, first actuator 212 is not operatively engaged with first drive arm 219.

[0090] In such an example, method 1800 includes actuating a first drive arm (block 1810) via a second actuator of a second drive subsystem. For example, the second actuator 220 drives movement of a second drive arm 225 coupled to a first flap support linkage 208. Because the first drive arm 219 is not operatively coupled to the first actuator 212, the first drive arm 219 also moves due to the movement of the second drive arm 225 and the first drive arm 219's coupling to the first flap support linkage 208.

[0091] In some of these examples, method 1800 includes applying a brake associated with the first drive arm (block 1812). For example, brake enabler 1608 activates brake 310 of the first drive arm 219 to facilitate control of movement of the first drive arm 219 via second actuator 220.

[0092] exist Figure 18In one example, if a fault is detected at the second actuator or second cycloidal driver of the second drive subsystem (block 1806), exemplary method 1800 includes preventing the second actuator from generating power to prevent operable coupling between the second actuator and the second drive arm. For example, actuator controller 1600 prevents the second actuator 220 from generating power, and thereby prevents the second actuator 220 from being operably coupled to the second drive arm 225 via the second cycloidal driver 222 and the first coupler 218 of the second drive subsystem 207 (block 1814).

[0093] In such examples, method 1800 includes actuating a second drive arm via a first actuator of a first drive subsystem (block 1816). For example, the second drive arm 225 pivots during the resulting movement of the first drive arm 219 actuated by the first actuator 212 and the first flap support linkage 208. In some such examples, method 1800 includes applying a brake associated with the second drive arm (block 1818). For example, brake enabler 1608 activates brake 310 of the second drive arm 225 to facilitate control of movement of the second drive arm 225 via the first actuator 212.

[0094] When the control surface returns to its retracted position Figure 18 The exemplary method 1800 ends (box 1820).

[0095] Figure 19 This is a block diagram of an exemplary processor platform 1900, which is configured to execute... Figure 19 Instructions to apply Figure 2 and / or Figure 16 The control surface controller 238. The processor platform 1900 can be, for example, a server, personal computer, workstation, self-learning machine (e.g., neural network), mobile device (e.g., mobile phone, smartphone, tablet computer such as iPad). TM Personal digital assistants (PDAs), internet devices, or any other type of computing device.

[0096] The processor platform 1900 shown in the example includes a processor 1912. The processor 1912 shown in the example is hardware. For example, the processor 1912 can be implemented by an integrated circuit, logic circuit, microprocessor, GPU, DSP, or controller from any desired family or manufacturer. The hardware processor can be a semiconductor-based (e.g., silicon-based) device. In this example, the processor implements an exemplary actuator controller 1600, an exemplary actuator fault detector 1606, an exemplary cycloidal driver fault detector 1607, and an exemplary brake enabler 1608.

[0097] The processor 1912 shown in the example includes local memory 1913 (e.g., cache). The processor 1912 shown in the example communicates via bus 1918 with main memory, which includes volatile memory 1914 and non-volatile memory 1916. The volatile memory 1914 may be implemented using: Synchronous Dynamic Random Access Memory (SDRAM), Dynamic Random Access Memory (DRAM), etc. Dynamic Random Access Memory (DRAM) ) and / or any other type of random access memory device. The non-volatile memory 1916 can be implemented by flash memory and / or any other desired type of memory device. Access to the main memory 1914, 1916 is controlled by the memory controller.

[0098] The processor platform 1900 shown in the example also includes interface circuitry 1920. Interface circuitry 1920 can be implemented using any type of interface standard, such as an Ethernet interface, Universal Serial Bus (USB), etc. Interfaces, Near Field Communication (NFC) interfaces and / or PCI (Peripheral Component Interconnect) quick interfaces.

[0099] In the example shown, one or more input devices 1922 are connected to interface circuitry 1920. The input devices 1922 allow the user to input data and / or commands into processor 1912. For example, the input devices 1922 may be implemented using an audio sensor, microphone, camera (still or video), keyboard, buttons, mouse, touchscreen, touchpad, trackball, isopoint, and / or voice recognition system.

[0100] One or more output devices 1924 are also connected to the interface circuit 1920 of the illustrated example. The output devices 1924 may be implemented, for example, by a display device (e.g., a light-emitting diode (LED), an organic light-emitting diode (OLED), a liquid crystal display (LCD), a cathode ray tube display (CRT), a local switch (IPS) display, a touchscreen, etc.), a haptic output device, a printer, and / or a speaker. Therefore, the interface circuit 1920 of the illustrated example typically includes a graphics driver card, a graphics driver chip, and / or a graphics driver processor.

[0101] The interface circuit 1920 of the example shown also includes communication devices such as a transmitter, receiver, transceiver, modem, residential gateway, wireless access point, and / or network interface to facilitate the exchange of data with external machines (e.g., any kind of computing device) via network 1926. Communication can be via, for example, Ethernet connections, digital subscriber line (DSL) connections, telephone line connections, coaxial cable systems, satellite systems, fieldline wireless systems, cellular telephone systems, etc.

[0102] The processor platform 1900 shown in the example also includes one or more mass storage devices 1928 for storing software and / or data. Examples of such mass storage devices 1928 include floppy disk drives, hard disk drives, optical disk drives, Blu-ray disk drives, redundant array of independent disks (RAID) systems, and digital multifunction disk (DVD) drives.

[0103] Figure 19 The encoded instructions 1932 are stored in a mass storage device 1928, in volatile memory 1914, in non-volatile memory 1916, and / or on a removable, non-transitory computer-readable storage medium (such as a CD or DVD).

[0104] Based on the foregoing, it will be understood that exemplary methods, apparatus, and articles of manufacture have been disclosed that provide selective operable coupling between actuators in a dual-drive system and mechanical linkages for actuating control surfaces of an aircraft. The exemplary dual-drive system disclosed herein provides redundancy in the event of a failure in one of the actuators in the drive system, enabling actuation of the control surface and minimizing skew at the control surface even in a failure condition. Examples disclosed herein include a coupling that selectively couples the actuators of the dual-drive system to a corresponding drive arm of the dual-drive system. In the event of an actuator failure, the coupling prevents operable coupling between the actuator and the corresponding drive arm. Therefore, the drive arm can be actuated via the other actuator in the dual-drive system. Thus, the examples disclosed herein prevent or substantially reduce asymmetry in the dual-drive system in the event of a dual-drive system failure.

[0105] The following paragraphs provide various examples of the examples disclosed in this article.

[0106] Example 1 includes a flap actuation system comprising a first actuator, a second actuator, a first drive arm coupled to the first actuator and the flap, a second drive arm coupled to the second actuator and the flap, a first cam, and a first output shaft. The first cam is coupled to the first drive arm via the first output shaft during operation of the first actuator, enabling the first actuator to actuate the flap via the first drive arm. The exemplary flap actuation system includes a second cam and a second output shaft. The second cam is coupled to the second drive arm via the second output shaft during operation of the second actuator, enabling the second actuator to actuate the flap via the second drive arm. In response to a failure of the first actuator, the first cam disengages from the first drive arm. In response to a failure of the first actuator, the second actuator actuates the flap via both the first and second drive arms.

[0107] Example 2 includes the flap actuation system according to Example 1, and further includes a cycloidal driver disposed between the first actuator and the first cam, the cycloidal driver rotating to enable the first cam to engage with the first drive arm.

[0108] Example 3 includes a flap actuation system according to Example 2, wherein the first cam includes a first set of teeth, the first output shaft includes a second set of teeth, and further includes a housing having a third set of teeth, the first cam being disposed between the housing and the first output shaft, the first cam being moved via the first actuator from a first position in which the first set of teeth of the first cam engages with the third set of teeth of the housing to a second position in which the first set of teeth of the first cam engages with the second set of teeth of the first output shaft.

[0109] Example 4 includes the flap actuation system according to Example 3, further comprising a drive ring coupled to a shaft of the cycloidal driver, the drive ring rotating to cause the first cam to translate between the first position and the second position.

[0110] Example 5 includes a flap actuation system according to any one of Examples 1-4, wherein the first drive arm includes a brake that is activated in response to the failure of the first actuator.

[0111] Example 6 includes a flap actuation system according to Example 1, wherein during operation of the first actuator and the second actuator, the first actuator actuates the flap from a first position to a second position, and the second actuator actuates the flap from the second position to the first position, wherein when the first actuator actuates the flap and when the second actuator actuates the flap, the first cam is coupled to the first drive arm and the second cam is coupled to the second drive arm.

[0112] Example 7 includes the flap actuation system according to Example 6, wherein the first position includes an extended position and the second position includes a retracted position.

[0113] Example 8 includes an aircraft comprising a flap, a first actuator, a second actuator, a first drive arm coupled to the flap, a second drive arm coupled to the flap, a first connector selectively connecting the first actuator to the flap via the first drive arm, and a second connector selectively connecting the second actuator to the flap via the second drive arm.

[0114] Example 9 includes the aircraft according to Example 8, which further includes a cycloidal actuator disposed between the first actuator and the first coupler.

[0115] Example 10 includes an aircraft according to Example 9, wherein the first actuator causes the cycloidal driver to rotate so that the first coupler can be coupled to the first drive arm.

[0116] Example 11 includes an aircraft according to Example 10, wherein the first coupling includes a spring that moves between an extended position and a compressed position in response to the first coupling selectively coupling the first actuator to the flap via the first drive arm.

[0117] Example 12 includes an aircraft according to any one of Examples 8-11, wherein the first coupling includes a housing; a cam disposed in the housing; and an output shaft coupled to the first drive arm, the cam moving between a first position in which the teeth of the cam engage with the teeth of the housing and a second position in which the teeth of the cam engage with the teeth of the output shaft to selectively couple the first actuator to the flap.

[0118] Example 13 includes an aircraft according to any one of Examples 8-11, wherein the first drive arm and the second drive arm are coupled to the first flap support, and further includes: a third actuator; a fourth actuator; a third drive arm coupled to the flap; a fourth drive arm coupled to the flap; a third connector for selectively coupling the third actuator to the flap via the third drive arm; and a fourth connector for selectively coupling the fourth actuator to the flap via the fourth drive arm.

[0119] Example 14 includes the aircraft according to Example 13, which further includes a controller to instruct (a) one of the first actuator or the second actuator to move the flap between an extended position and a retracted position, and (b) to instruct one of the third actuator or the fourth actuator to move the flap between the extended position and the retracted position.

[0120] Example 15 includes a system comprising a first actuator, a second actuator, a drive arm coupled to a flap of an aircraft, and a coupling disposed between the first actuator and the drive arm. The coupling includes a cam. The cam selectively engages with the drive arm to operatively engage the first actuator to the drive arm. The exemplary system includes a controller to control the operative engagement of the first actuator with the drive arm via the coupling. When the cam is disengaged from the drive arm, the controller commands the second actuator to drive movement of the flap.

[0121] Example 16 includes the system according to Example 15, wherein the controller commands the second actuator to drive the movement of the flap in response to a failure of the first actuator.

[0122] Example 17 includes the system described in Example 15 or 16, further comprising a cycloidal actuator, wherein the cam is coupled to the drive arm in response to rotation of the cycloidal actuator.

[0123] Example 18 includes the system according to Example 17, wherein the cam includes a first set of teeth, and the connector further includes: a housing including a second set of teeth; and an output shaft including a third set of teeth, the cam moving from a first position in which the first set of teeth of the cam engages with the second set of teeth of the housing to a second position in which the first set of teeth of the cam engages with the third set of teeth of the output shaft.

[0124] Example 19 includes the system according to Example 18, wherein the shaft of the cycloidal actuator extends through the housing.

[0125] Example 20 includes a system according to any one of Examples 15-19, further comprising a brake coupled to the drive arm, the controller activating the brake in response to a failure of the first actuator.

[0126] Although certain exemplary methods, apparatuses, and articles have been disclosed herein, the scope of this patent is not limited thereto. Rather, this patent covers all methods, apparatuses, and articles made therein that fall fully within the scope of the claims of this patent.

[0127] The appended claims are incorporated herein by reference, wherein each claim is an independent example of this disclosure.

Claims

1. A flap actuation system (200) comprising: a first actuator (212); a second actuator (220); a first drive arm (219) coupled to the first actuator and a flap (202); a second drive arm (225) coupled to the second actuator and the flap; a first cam; a first output shaft (304), the first cam coupled to the first drive arm via the first output shaft during operation of the first actuator to enable the first actuator to actuate the flap via the first drive arm; a second cam; a second output shaft (304), the second cam coupled to the second drive arm via the second output shaft during operation of the second actuator to enable the second actuator to actuate the flap via the second drive arm, the first cam decoupled from the first drive arm in response to a failure of the first actuator, the second actuator actuating the flap via the first drive arm and the second drive arm in response to the failure of the first actuator, the first cam to be coupled to the first drive arm and the second cam to be coupled to the second drive arm when the first actuator actuates the flap and when the second actuator actuates the flap.

2. The flap actuation system of claim 1, further comprising a cycloidal drive (216, 222, 228, 234) disposed between the first actuator and the first cam, the cycloidal drive rotating to enable the first cam to be coupled to the first drive arm.

3. The flap actuation system of claim 2, wherein, the first cam including a first set of teeth (514), the first output shaft including a second set of teeth (516), and further comprising: a housing (500) including a third set of teeth (600), the first cam disposed between the housing and the first output shaft, the first cam moved from a first position in which the first set of teeth of the first cam engages the third set of teeth of the housing to a second position in which the first set of teeth of the first cam engages the second set of teeth of the first output shaft via the first actuator.

4. The flap actuation system of claim 3, further comprising a drive ring coupled to a shaft (302) of the cycloidal drive, the drive ring rotating to cause the first cam to translate between the first position and the second position.

5. The flap actuation system according to any one of claims 1 to 4, wherein, the first drive arm including a brake (310) that is activated in response to the failure of the first actuator.

6. The flap actuation system of claim 1, wherein, during operation of the first actuator and the second actuator, the first actuator actuating the flap from a first position to a second position and the second actuator actuating the flap from the second position to the first position.

7. An aircraft (100) comprising: a flap (202); a first actuator (212); a second actuator (220); a first drive arm (219) coupled to the flap; a second drive arm (225) coupled to the flap; a first coupler (218) for selectively coupling the first actuator to the flap (202) via the first drive arm; a second coupler (224) for selectively coupling the second actuator to the flap via the second drive arm; wherein the first coupler is coupled to the first drive arm when the first actuator moves the flap and the second coupler is coupled to the second drive arm when the second actuator moves the flap.

8. The aircraft of claim 7, further comprising a cycloidal drive disposed between the first actuator and the first coupler.

9. The aircraft of claim 8, wherein, The first actuator is to rotate the cycloidal drive to enable the first coupler to couple with the first drive arm.

10. The aircraft of claim 9, wherein, The first coupler includes a spring (507) to move between an extended position and a compressed position in response to the first coupler selectively coupling the first actuator to the flap via the first drive arm.

11. The aircraft of any one of claims 7 to 10, wherein, The first coupler includes: a housing; a cam disposed in the housing; and an output shaft coupled to the first drive arm, the cam moving between a first position in which teeth of the cam are engaged with teeth of the housing and a second position in which the teeth of the cam are engaged with teeth of the output shaft to selectively couple the first actuator to the flap.

12. The aircraft of any one of claims 7 to 10, wherein, The first drive arm and the second drive arm are coupled to a first flap support and further include: a third actuator; a fourth actuator; a third drive arm (231) coupled to the flap; a fourth drive arm (237) coupled to the flap; a third coupler (230) for selectively coupling the third actuator to the flap via the third drive arm; and a fourth coupler (236) for selectively coupling the fourth actuator to the flap via the fourth drive arm.

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