An impact mitigation device and method for an electric horizontal stabilizer actuator

Abstract

The present invention discloses an impact mitigation device and method for an electric horizontal stabilizer actuator. In the device, a pawl angle sensor is coaxially mounted on each pawl to monitor the pawl's angle in real time. A load sensor is mounted on the axial load-bearing structure of the electric horizontal stabilizer actuator to detect the load signal applied to the actuator during operation. A controller is connected to the load sensor and each pawl angle sensor, respectively, and is configured to perform an impact mitigation operation after the reverse drive of the electric horizontal stabilizer actuator stops, based on signals collected from the load sensor and the pawl angle sensor, to prevent the pawl mounting seat from bearing the load of the corresponding pawl. Embodiments of the present invention mitigate the impact between the ratchet and pawl when the reverse drive of the horizontal stabilizer actuator stops.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, the field of test equipment and technology, and in particular to an impact mitigation device and method for an electric horizontal stabilizer actuator. Background Art

[0002] The horizontal stabilizer actuator is typically mounted vertically on the tail of the aircraft, driving its rotation to achieve longitudinal aerodynamic moment trim. The anti-reversal mechanism, with the ratchet and pawl as key components, is located within the actuator housing.

[0003] The horizontal stabilizer actuator is subject to both tensile and compressive loads, and its lower universal joint can move downward or upward. When the load direction is the same as the lower universal joint's movement, it's called forward-load operation; when the load direction is opposite to the lower universal joint's movement, it's called reverse-load operation.

[0004] The horizontal stabilizer actuator's screw has a screw flange with two ratchets above and below it. Each ratchet engages a pair of pawls spaced 180 degrees apart. The design ensures that only one of the two pawls can engage at any one time.

[0005] When the horizontal stabilizer actuator is in reverse load operation, one of the ratchets on the upper and lower sides of the screw flange is under pressure. At this time, the rotation of the compressed ratchet causes the two pawls that cooperate with it to be in the released state (such as Figure 2 (For example, 7A rotates counterclockwise and the pawl is released.) When the horizontal stabilizer actuator stops, the screw rotates in the opposite direction under the action of the load, driving the ratchet in the opposite direction (for example, 7A rotates clockwise). If, at the moment of stopping, either of the two pawls on the compressed ratchet is not properly engaged with the ratchet teeth on the ratchet, the ratchet teeth of the ratchet will strike one of the pawls, causing the actuator to stop. This impact will generate impact fatigue loads on the pawl mounting seat on the anti-reverse housing where the pawl is mounted.

[0006] To prevent fatigue damage, the anti-reverse housing pawl mounting tabs can typically be thickened, but this increases weight. Therefore, how to eliminate the impact of the horizontal stabilizer actuator during reverse drive stalling is an urgent problem for those skilled in the art. Summary of the Invention

[0007] Purpose of the present invention: An embodiment of the present invention provides an impact mitigation device and method for an electric horizontal stabilizer actuator, which is used to mitigate the impact between the ratchet and the pawl when the horizontal stabilizer actuator stops rotating due to reverse load driving.

[0008] Technical solution of the present invention: An embodiment of the present invention provides an impact mitigation device for an electric horizontal stabilizer actuator, comprising: a screw flange provided on the screw of the electric horizontal stabilizer actuator, the screw flange and the anti-reverse mechanism forming a load transmission path; the impact mitigation device comprising: a load sensor 1, a pawl angle sensor 2, and a controller;

[0009] Among them, the upper friction disc 5A, the upper ratchet 7A and the upper thrust bearing 6A of the anti-reverse mechanism are sequentially sleeved on one side of the top end surface of the screw flange, and the lower friction disc 5B, the lower ratchet 7B and the lower thrust bearing 6B of the anti-reverse mechanism are sequentially sleeved on one side of the bottom end surface of the screw flange. The upper ratchet 7A contacts the symmetrically arranged first pawl 4A and the third pawl 4C, and the lower ratchet 7B contacts the symmetrically arranged second pawl 4B and the fourth pawl 4D. The anti-reverse housing 3 is sleeved and pressed against the outside of the upper thrust bearing 6A and the lower thrust bearing 6B, and the pawl mounting seat protruding on the anti-reverse housing 3 is loosely sleeved on the outside of the pawls at the corresponding positions;

[0010] Each pawl is coaxially mounted with a pawl angle sensor 2 for real-time monitoring of the pawl angle; a load sensor 1 is mounted on the axial load-bearing structure of the electric horizontal stabilizer actuator to detect the load signal received by the electric horizontal stabilizer actuator during operation;

[0011] The controller is connected to the load sensor 1 and each pawl angle sensor 2 respectively, and is used to perform an impact mitigation operation after the reverse drive of the electric horizontal stabilizer actuator is stopped based on the signals collected from the load sensor 1 and the pawl angle sensor 2, so as to prevent the pawl mounting seat from bearing the load of the corresponding pawl.

[0012] Optionally, in the impact mitigation device of the electric horizontal stabilizer actuator as described above,

[0013] The load sensor 1 is mounted on the screw of the horizontal stabilizer actuator, or on the anti-reverse housing, or on the upper universal joint, or on the lower universal joint.

[0014] Optionally, in the impact mitigation device of the electric horizontal stabilizer actuator as described above,

[0015] The controller is specifically used to determine whether the load on the electric horizontal stabilizer actuator during operation is a tensile load or a compressive load based on the load signal collected from the load sensor 1, and to determine whether the electric horizontal stabilizer actuator is in a reverse load driving state based on the operating direction of the universal joint under the electric horizontal stabilizer actuator.

[0016] Optionally, in the impact mitigation device of the electric horizontal stabilizer actuator as described above,

[0017] The controller is also specifically used to form a set of ratchet-pawls in an engaged state after the drive stops according to the determined reverse load downward drive or reverse load upward drive after determining that the electric horizontal stabilizer actuator is in a reverse load drive state.

[0018] Optionally, in the impact mitigation device of the electric horizontal stabilizer actuator as described above,

[0019] When the electric horizontal stabilizer actuator is in reverse load downward driving, when it is determined that the driving stops, the upper ratchet 7A is engaged with one of the first pawl 4A and the third pawl 4C;

[0020] When the electric horizontal stabilizer actuator is in reverse load upward driving, when it is determined that the driving stops, the lower ratchet 7B is engaged with one of the second pawl 4B and the fourth pawl 4D;

[0021] Among them, by determining a set of ratchet wheels and pawls that are in an engaged state when the drive stops, the controller can accurately perform the impact mitigation operation after the drive stops.

[0022] Optionally, in the impact mitigation device of the electric horizontal stabilizer actuator as described above,

[0023] The controller is also specifically used to, after the drive stops, determine whether a pawl is engaged with the ratchet according to the direction of the reverse drive, which is reverse downward drive or reverse upward drive, combined with the signal collected by the pawl angle sensor 2 on the two pawls that cooperate with the ratchet used to stop the drive.

[0024] Optionally, in the impact mitigation device of the electric horizontal stabilizer actuator as described above,

[0025] The controller is also specifically used to control the reverse drive motor when it is inferred that both pawls are not engaged with the ratchet, so that the motor drives the ratchet to rotate at a preset speed through the gear box until it is detected that one of the pawls is close to being engaged with the ratchet, and then control the motor to cut off power.

[0026] An embodiment of the present invention further provides an impact mitigation method for an electric horizontal stabilizer actuator, wherein the impact mitigation method is performed using the impact mitigation device for an electric horizontal stabilizer actuator as described above, and includes:

[0027] Step 1: When the controller performs reverse driving and receives a stop driving instruction, the controller stops the reverse driving and monitors in real time the angle of each pawl in a set of ratchet wheels and pawls that are in an engaged state after the driving stops;

[0028] Step 2: judging whether a pawl is currently engaged with the ratchet wheel based on the pawl angle of the ratchet-pawl set monitored in real time;

[0029] Step 3: When it is determined in step 2 that one of the pawls is engaged with the ratchet wheel, the motor is immediately powered off;

[0030] Step 4: When it is determined in step 2 that both pawls are not engaged with the ratchet, the reverse drive motor is controlled so that the motor drives the ratchet to rotate at a preset speed through the gear box until one of the pawls is detected to be close to being engaged with the ratchet, and the motor is powered off.

[0031] Optionally, in the above-mentioned impact mitigation method for the electric horizontal stabilizer actuator, before step 1, the method further includes:

[0032] In step a, the controller determines whether the load applied to the electric horizontal stabilizer actuator during operation is a tensile load or a compressive load based on the load signal collected from the load sensor 1, and determines whether the electric horizontal stabilizer actuator is in a reverse load driving state based on the operating direction (upward or downward) of the lower universal joint of the electric horizontal stabilizer actuator.

[0033] Step b: when it is determined that the electric horizontal stabilizer actuator is in a reverse load driving state, a set of ratchet-pawls are formed in an engaged state after the driving stops according to the determined reverse load downward driving or reverse load upward driving.

[0034] Beneficial effects of the present invention: The embodiments of the present invention provide an impact mitigation device and method for an electric horizontal stabilizer actuator. Compared with the existing electric horizontal stabilizer actuator operating mode when stopped under reverse load, the present invention has the following beneficial effects:

[0035] The existing electric horizontal stabilizer actuator will directly stop the motor when it stops under reverse load. In this way, the electric horizontal stabilizer actuator will reverse under load drive and cause the pawl to collide with the ratchet; such a collision will generate an impact load and ultimately cause the pawl mounting seat on the anti-reverse housing to suffer impact fatigue damage. The present invention, by providing a load sensor and a pawl angle sensor, can enable the controller to determine the pawl that will collide with the ratchet when the reverse load stops, and then through the controlled slow retraction of the motor, the pawl and the ratchet are brought into gentle contact, avoiding the occurrence of impact loads, thereby improving the fatigue life of the pawl mounting seat of the anti-reverse mechanism. In addition, the technical solution of the embodiment of the present invention has the characteristics of low cost and high benefit. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0037] Figure 1A schematic structural diagram of an impact mitigation device for an electric horizontal stabilizer actuator provided by an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a ratchet-pawl in an impact mitigation device for an electric horizontal stabilizer actuator provided by an embodiment of the present invention, wherein both ratchet teeth are not engaged;

[0039] Figure 3 A schematic diagram of a ratchet-pawl in an impact mitigation device for an electric horizontal stabilizer actuator provided by an embodiment of the present invention, with one of the two ratchet teeth being in a nearly engaged state;

[0040] Figure 4 A flow chart of an impact mitigation method for an electric horizontal stabilizer actuator provided in an embodiment of the present invention.

[0041] Description of reference numerals:

[0042] 1-Load sensor, 2-Pawl angle sensor (including 2A, 2B, 2C, 2D), 3-Anti-reverse housing, 4A-First pawl, 4B-Second pawl, 4C-Third pawl, 4D-Fourth pawl, 5A-Upper friction disc, 5B-Lower friction disc, 6A-Upper thrust bearing, 6B-Lower thrust bearing, 7A-Upper ratchet, 7B-Lower ratchet, 8-Screw. DETAILED DESCRIPTION

[0043] To make the purpose, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other in any manner.

[0044] As explained in the background technology above, the horizontal stabilizer actuator's leadscrew has a leadscrew flange with ratchets located above and below it. Each ratchet engages a pair of pawls spaced 180 degrees apart. When the horizontal stabilizer actuator stops operating, the leadscrew, under load, reverses direction, driving the ratchets in the opposite direction, clockwise as shown in Figure 7A. If, at the moment of stopping, either of the two pawls on the stressed ratchet is not properly engaged with the ratchet teeth on the ratchet, the ratchet teeth will strike one of the pawls, causing the actuator to stop. This impact creates an impact fatigue load on the pawl mounting seat on the anti-reverse housing that houses the pawls.

[0045] After searching, the patent document CN114635951A discloses a balancing actuator for a horizontal stabilizer and a method for controlling the horizontal stabilizer, in which a shear sensor and a torque sensor are arranged on the horizontal stabilizer actuator, which are only used to monitor the force state of the pawl for fault warning. However, the technical solution of this patent cannot reduce the impact load during the reverse load stop process.

[0046] To prevent fatigue damage, the anti-reverse housing pawl mounting tabs can typically be thickened, but this increases weight. Therefore, how to eliminate the impact of the horizontal stabilizer actuator during reverse drive stalling is an urgent problem for those skilled in the art.

[0047] In order to achieve the above requirements, embodiments of the present invention provide an impact mitigation device and method for a horizontal stabilizer actuator, specifically an impact mitigation device and method for a horizontal stabilizer actuator during a reverse load driven stall process.

[0048] In response to the above requirements, an embodiment of the present invention provides a wear performance test device and method for a friction disc of an electric horizontal stabilizer actuator.

[0049] The present invention provides the following specific embodiments that can be combined with each other. The same or similar concepts or processes may not be described in detail in some embodiments.

[0050] Figure 1 The following is a schematic diagram of the structure of an impact mitigation device for an electric horizontal stabilizer actuator provided by an embodiment of the present invention. Figure 1 As shown, the electric horizontal stabilizer actuator provided by an embodiment of the present invention is provided with a screw flange on the screw, and the screw flange and the anti-reversal mechanism form a load transfer path; the impact reduction device includes: a load sensor 1, a pawl angle sensor 2 and a controller 3; wherein the pawl angle sensor 2 includes 2A, 2B, 2C, and 2D.

[0051] like Figure 1 In the structure of the impact reduction device shown, the upper friction disc 5A, the upper ratchet 7A and the upper thrust bearing 6A for installing the anti-reversal mechanism are sequentially sleeved on one side of the top end surface of the screw flange, and the lower friction disc 5B, the lower ratchet 7B and the lower thrust bearing 6B for installing the anti-reversal mechanism are sequentially sleeved on one side of the bottom end surface of the screw flange. The upper ratchet 7A contacts the symmetrically arranged first pawl 4A and the third pawl 4C, and the lower ratchet 7B contacts the symmetrically arranged second pawl 4B and the fourth pawl 4D. The anti-reversal housing 3 is sleeved and pressed on the outside of the upper thrust bearing 6A and the lower thrust bearing 6B, and the pawl mounting seat protruding on the anti-reversal housing 3 is gap-sleeved on the outside of the pawl at the corresponding position.

[0052] like Figure 1As shown, in this embodiment of the present invention, a pawl angle sensor 2 is coaxially mounted on each pawl to monitor its angle in real time. A load sensor 1 is mounted on the axial load-bearing structure of the electric horizontal stabilizer actuator to detect the load signal applied to the actuator during operation. In practical applications, this load signal can be positive or negative, and can have a magnitude.

[0053] The controller in the embodiment of the present invention is respectively connected to the load sensor 1 and each pawl angle sensor 2, and is used to perform an impact mitigation operation after the reverse drive of the electric horizontal stabilizer actuator is stopped based on the signals collected from the load sensor 1 and the pawl angle sensor 2, so as to prevent the pawl mounting seat from bearing the load of the corresponding pawl.

[0054] Optionally, the load sensor 1 in the embodiment of the present invention may be installed on the screw of the horizontal stabilizer actuator, or on the anti-reverse housing, or on the upper universal joint, or on the lower universal joint.

[0055] In the impact mitigation device for the electric horizontal stabilizer actuator provided by the embodiment of the present invention, the operating principle of the controller is as follows:

[0056] The load signal collected from the load sensor 1 is used to determine whether the load on the electric horizontal stabilizer actuator during operation is a tensile load or a compressive load, and combined with the operating direction of the lower universal joint of the electric horizontal stabilizer actuator (specifically, whether the lower universal joint is moving up or down), it is determined whether the electric horizontal stabilizer actuator is in a reverse load driving state. If the above judgment shows that it is moving up, it is in a reverse load downward driving state at this time; if the above judgment shows that it is moving down, it is in a reverse load upward driving state at this time.

[0057] Based on the above judgment results, after determining that the horizontal stabilizer actuator is in a reverse load driving state, the controller determines that a set of ratchet-pawls are in an engaged state after the driving stops according to the determined reverse load downward driving or reverse load upward driving.

[0058] Based on the above judgment results, when the electric horizontal stabilizer actuator is in the reverse load driving state, there are two situations:

[0059] In case 1, when the electric horizontal stabilizer actuator is in reverse downward driving, when it is determined that the driving stops, the upper ratchet 7A is engaged with one of the first pawl 4A and the third pawl 4C.

[0060] In case 2, when the electric horizontal stabilizer actuator is in reverse upward driving, when it is determined that the driving stops, the lower ratchet 7B is engaged with one of the second pawl 4B and the fourth pawl 4D.

[0061] By determining the ratchet-pawl set that is in an engaged state when the drive stops, the controller can accurately perform the impact mitigation operation after the drive stops.

[0062] Based on the above judgment result of a set of ratchet wheels and pawls in an engaged state after the drive stops, the controller implements the impact mitigation operation in the following manner:

[0063] After the drive stops, the controller deduces whether one pawl is engaged with the ratchet according to the signal collected by the pawl angle sensor 2 on the two pawls that cooperate with the ratchet used to stop the drive, based on whether the reverse load drive direction is reverse load downward drive or reverse load upward drive.

[0064] Figure 2 A schematic diagram of a ratchet-pawl in an impact mitigation device for an electric horizontal stabilizer actuator according to an embodiment of the present invention, wherein both ratchet teeth are not engaged. Figure 3 Schematic diagram of a ratchet-pawl in an impact mitigation device for an electric horizontal stabilizer actuator provided by an embodiment of the present invention, with one of the two ratchet teeth being in a nearly engaged state.

[0065] See also Figure 2 and Figure 3 As shown, when it is inferred that both pawls are not engaged with the ratchet, the reverse drive motor is controlled so that the motor drives the ratchet through the gear box at a preset speed, for example, 5% of the original drive speed, until it is detected that one of the pawls is nearly engaged with the ratchet, for example, the difference of 1' division is considered to be nearly engaged, as shown in FIG. Figure 3 The middle ratchet 4C is in a nearly engaged state and the motor is powered off.

[0066] Based on the impact mitigation device for an electric horizontal stabilizer actuator provided by the above embodiment of the present invention, an embodiment of the present invention further provides an impact mitigation method for an electric horizontal stabilizer actuator. Figure 4 This is a flow chart of an impact mitigation method for an electric horizontal stabilizer actuator provided in an embodiment of the present invention. The impact mitigation method is performed using the impact mitigation method provided in any of the above embodiments of the present invention. The impact mitigation method includes the following implementation steps:

[0067] Step 1: When the controller performs reverse driving and receives a stop driving instruction, the controller stops the reverse driving and monitors in real time the angle of each pawl in a set of ratchet wheels and pawls that are in an engaged state after the driving stops;

[0068] Step 2: judging whether a pawl is currently engaged with the ratchet wheel based on the pawl angle of the ratchet-pawl set monitored in real time;

[0069] Step 3: When it is determined in step 2 that one of the pawls is engaged with the ratchet wheel, the motor is immediately powered off;

[0070] Step 4. When it is determined in step 2 that neither of the two pawls is engaged with the ratchet, the reverse drive motor is controlled so that the motor drives the ratchet to rotate at a preset speed (for example, 5% of the original drive speed) through the gear box until it is detected that one of the pawls is close to being engaged with the ratchet (for example, with a difference of 1' division), and the motor is powered off.

[0071] It should be noted that before the controller performs reverse load driving, it must first determine whether the electric horizontal stabilizer actuator is in a reverse load driving state. If it is in the reverse load driving state, it determines whether the reverse load is downward driving or upward driving, and then determines whether the driving stops and forms a ratchet-pawl in an engaged state. That is, the impact mitigation method provided by the embodiment of the present invention further includes the following steps before the above steps:

[0072] In step a, the controller determines whether the load on the electric horizontal stabilizer actuator during operation is a tensile load or a compressive load based on the load signal collected from the load sensor 1, and determines whether the electric horizontal stabilizer actuator is in a reverse load driving state based on whether the operating direction of the lower universal joint of the electric horizontal stabilizer actuator is upward or downward.

[0073] In this step, it is first determined whether the operating direction of the lower universal joint is upward or downward, thereby determining whether the electric horizontal stabilizer actuator is in a reverse load driving state, specifically: reverse load downward driving or reverse load upward driving.

[0074] Step b: when it is determined that the electric horizontal stabilizer actuator is in a reverse load driving state, a set of ratchet-pawls are formed in an engaged state after the driving stops according to the determined reverse load downward driving or reverse load upward driving.

[0075] The impact mitigation device and method for an electric horizontal stabilizer actuator provided by the embodiments of the present invention have the following advantages compared to the conventional operation mode of electric horizontal stabilizer actuators during reverse load stop:

[0076] The existing electric horizontal stabilizer actuator will directly stop the motor when it stops under reverse load. In this way, the electric horizontal stabilizer actuator will reverse under load drive and cause the pawl to collide with the ratchet; such a collision will generate an impact load and ultimately cause the pawl mounting seat on the anti-reverse housing to suffer impact fatigue damage. The present invention, by providing a load sensor and a pawl angle sensor, can enable the controller to determine the pawl that will collide with the ratchet when the reverse load stops, and then through the controlled slow retraction of the motor, the pawl and the ratchet are brought into gentle contact, avoiding the occurrence of impact loads, thereby improving the fatigue life of the pawl mounting seat of the anti-reverse mechanism. In addition, the technical solution of the embodiment of the present invention has the characteristics of low cost and high benefit.

[0077] The specific implementation of the impact mitigation device and method for the electric horizontal stabilizer actuator provided by the embodiment of the present invention is schematically described below through an implementation example.

[0078] Implementation Example 1

[0079] The impact mitigation device for the electric horizontal stabilizer actuator provided in this embodiment 1 includes: a load sensor 1 for the electric horizontal stabilizer actuator, a pawl angle sensor 2 provided on the pawl mounting ear of the anti-reversal housing, and 2A, 2B, 2C, and 2D correspondingly provided on each pawl.

[0080] In this embodiment 1, the four pawls 4A, 4B, 4C, 4D on the anti-reverse housing are coaxially mounted with an angle sensor 2A, 2B, 2C, 2D respectively, and these angle sensors respectively measure the position angle of each pawl 4A, 4B, 4C, 4D.

[0081] In this embodiment 1, the load sensor 1 is installed at a suitable position of the electric horizontal stabilizer actuator. Possible solutions include sticking a strain gauge on the surface of the ball screw.

[0082] In this embodiment 1, the controller is connected to the four pawl angle sensors 2A, 2B, 2C, and 2D and the load sensor 1 to collect the load of the electric horizontal stabilizer actuator and the angular position information of the four pawls in real time.

[0083] When implementing the impact mitigation method using the impact mitigation device of the electric horizontal stabilizer actuator, the actuator first determines whether it is in a reverse load state by combining load sensor information and motor direction information during driving. When in the reverse load drive state, the angle information of the pawls on both sides of the compressed ratchet is detected based on the load direction. When the electric horizontal stabilizer actuator stops reverse load drive, if one of the pawls is engaged with the ratchet, the motor is immediately powered off. If neither pawl is engaged with the ratchet, the motor is immediately driven in the reverse direction at a very low speed (e.g., 5% of the original drive speed) until one of the pawls is detected to be nearly engaged (e.g., with a 1' difference in angle), at which point the motor is powered off.

[0084] Further, Figure 2 A schematic diagram showing the relative states of the ratchet and pawl at the moment of reverse load stop is shown. Figure 2 The middle ratchet 7A is compressed during the reverse loading process and rotates counterclockwise at the same time. At the moment of stopping, the ratchet 4A and the ratchet 4C are not engaged with any teeth on the ratchet 7A. This can be detected by detecting the rotation angle of the 4A and 4C ratchets. At this time, the lead screw will drive the ratchet 7A to rotate clockwise under the action of the load. If the impact is not mitigated, the ratchet and the pawl will collide. Through the method of the present invention, the controller controls the motor to rotate clockwise, and when it is detected that one of the 4A and 4C ratchets has resolved the meshing position (such as Figure 3The 4C ratchet shown in the figure ends the drive. At this time, the impact between the ratchet wheel and the ratchet teeth will be greatly reduced.

[0085] Implementation Example 2

[0086] Reference Figures 1 to 3 As shown, when the lead screw 8 is subjected to a tensile load, if the controller drives the upper universal joint upward according to the command, the controller determines that the load on the electric horizontal stabilizer actuator during operation is a tensile load based on the load signal collected from load sensor 1. Combined with the upward movement of the lower universal joint of the electric horizontal stabilizer actuator, the controller determines that the electric horizontal stabilizer actuator is in a forward drive state, driving upward with the load, and the impact cushioning control method is inactive. If the controller drives the upper universal joint downward according to the command, the controller determines that the load on the electric horizontal stabilizer actuator during operation is a tensile load based on the load signal collected from load sensor 1. Combined with the downward movement of the lower universal joint of the electric horizontal stabilizer actuator, the controller determines that the electric horizontal stabilizer actuator is in a reverse drive state, driving downward with the load, and the impact cushioning control method is activated. The controller determines that the upper ratchet 7A is subjected to pressure, and when the drive stops, the upper ratchet 7A engages with one of the first pawl 4A and the third pawl 4C. After the drive stops, the controller immediately collects signals from the first pawl angle sensor 2A and the third pawl sensor 2C, and determines the meshing status of the first pawl 4A and the third pawl 4C with the upper ratchet 7A. If it is determined that the third pawl 4C is meshing with the ratchet teeth of the upper ratchet 7A, the motor is immediately powered off.

[0087] If it is determined that neither the first pawl 4A nor the third pawl 4C is in the meshing state, the controller compares the angle difference between the first pawl 4A and the third pawl 4C and the meshing state. If it is found that the third pawl 4C is closer to the meshing state, the controller immediately drives the motor in the reverse direction at a very low speed (e.g., 5% of the original driving speed) until the third pawl (4C) is detected to be close to meshing (e.g., with a difference of 1'), at which time the motor is powered off.

[0088] The impact mitigation device and method for an electric horizontal stabilizer actuator provided by embodiments of the present invention can mitigate the impact force on the ratchet and pawl during the reverse drive process that may occur at the end of reverse load driving, thereby improving the fatigue life of the structure. This invention offers the advantages of low cost and high returns.

[0089] Although the embodiments disclosed herein are as described above, the contents are merely provided to facilitate understanding of the present invention and are not intended to limit the present invention. Any person skilled in the art may make any modifications and variations in the form and details of the embodiments without departing from the spirit and scope of the present invention. However, the scope of patent protection of the present invention shall remain subject to the scope defined by the appended claims.

Claims

1. An impact mitigation device for an electric horizontal stabilizer actuator, characterized in that: The screw of the electric horizontal stabilizer actuator is provided with a screw flange, and the screw flange and the anti-reversal mechanism form a load transmission path; The impact mitigation device comprises: a load sensor (1), a ratchet angle sensor (2) and a controller; Wherein, an upper friction disc (5A), an upper ratchet (7A) and an upper thrust bearing (6A) for installing an anti-reversal mechanism are sequentially sleeved on one side of the top end face of the screw flange, and a lower friction disc (5B), a lower ratchet (7B) and a lower thrust bearing (6B) for installing an anti-reversal mechanism are sequentially sleeved on one side of the bottom end face of the screw flange, the upper ratchet (7A) contacts a symmetrically arranged first pawl (4A) and a third pawl (4C), the lower ratchet (7B) contacts a symmetrically arranged second pawl (4B) and a fourth pawl (4D), the anti-reversal housing (3) is sleeved and pressed against the outside of the upper thrust bearing (6A) and the lower thrust bearing (6B), and the pawl mounting seat protruding from the anti-reversal housing (3) is sleeved on the outside of the pawls at corresponding positions; Each pawl is coaxially mounted with a pawl angle sensor (2) for real-time monitoring of the angle of the pawl; a load sensor (1) is mounted on the axial load-bearing structural member of the electric horizontal stabilizer actuator for detecting the load signal received by the electric horizontal stabilizer actuator during operation; The controller is connected to the load sensor (1) and each pawl angle sensor (2) respectively, and is used to perform an impact mitigation operation after the reverse drive of the electric horizontal stabilizer actuator is stopped based on the signals collected from the load sensor (1) and the pawl angle sensor (2), so as to prevent the pawl mounting seat from bearing the load of the corresponding pawl.

2. The impact mitigation device for an electric horizontal stabilizer actuator according to claim 1, characterized in that: The load sensor (1) is mounted on a screw rod of a horizontal stabilizer actuator, or on an anti-reversal housing, or on an upper universal joint, or on a lower universal joint.

3. The impact mitigation device for an electric horizontal stabilizer actuator according to claim 1, characterized in that: The controller is specifically used to determine whether the load on the electric horizontal stabilizer actuator during operation is a tensile load or a compressive load by using a load signal collected from a load sensor (1), and to determine whether the electric horizontal stabilizer actuator is in a reverse load driving state in combination with the operating direction of the universal joint under the electric horizontal stabilizer actuator.

4. The impact mitigation device for an electric horizontal stabilizer actuator according to claim 3, characterized in that: The controller is also specifically used to form a set of ratchet-pawls in an engaged state after the drive stops according to the determined reverse load downward drive or reverse load upward drive after determining that the electric horizontal stabilizer actuator is in a reverse load drive state.

5. The impact mitigation device for an electric horizontal stabilizer actuator according to claim 4, characterized in that: When the electric horizontal stabilizer actuator is in reverse load downward driving, and it is determined that the driving stops, the upper ratchet (7A) and one of the first pawl (4A) and the third pawl (4C) are in a meshing state; When the electric horizontal stabilizer actuator is in reverse load upward driving, when it is determined that the driving stops, the lower ratchet (7B) and one of the second pawl (4B) and the fourth pawl (4D) are in a meshing state; Among them, by determining a set of ratchet wheels and pawls that are in an engaged state when the drive stops, the controller can accurately perform the impact mitigation operation after the drive stops.

6. The impact mitigation device for an electric horizontal stabilizer actuator according to claim 4, characterized in that: The controller is also specifically used to infer whether one of the pawls is engaged with the ratchet wheel after the driving stops, based on whether the reverse load driving direction is reverse load downward driving or reverse load upward driving, combined with the signals collected by the pawl angle sensors (2) on the two pawls that cooperate with the ratchet wheel used to stop the driving.

7. The impact mitigation device for an electric horizontal stabilizer actuator according to claim 6, characterized in that: The controller is also specifically used to control the reverse drive motor when it is inferred that both pawls are not engaged with the ratchet, so that the motor drives the ratchet to rotate at a preset speed through the gear box until it is detected that one of the pawls is close to being engaged with the ratchet, and the motor is powered off.

8. A method for mitigating impact of an electric horizontal stabilizer actuator, characterized in that: The impact mitigation method is performed using the impact mitigation device of the electric horizontal stabilizer actuator according to any one of claims 1 to 7, comprising: Step 1: When the controller performs reverse driving and receives a stop driving instruction, the controller stops the reverse driving and monitors in real time the angle of each pawl in a set of ratchet wheels and pawls that are in an engaged state after the driving stops; Step 2: judging whether a pawl is currently engaged with the ratchet wheel based on the pawl angle of the ratchet-pawl set monitored in real time; Step 3: When it is determined in step 2 that one of the pawls is engaged with the ratchet wheel, the motor is immediately powered off; Step 4: When it is determined in step 2 that both pawls are not engaged with the ratchet, the reverse drive motor is controlled so that the motor drives the ratchet to rotate at a preset speed through the gear box until one of the pawls is detected to be close to being engaged with the ratchet, and the motor is powered off.

9. The impact mitigation method for an electric horizontal stabilizer actuator according to claim 8, characterized in that: Before step 1, the method further includes: In step a, the controller determines whether the load applied to the electric horizontal stabilizer actuator during operation is a tensile load or a compressive load based on a load signal collected from a load sensor (1), and determines whether the electric horizontal stabilizer actuator is in a reverse load driving state based on the operating direction of the universal joint of the electric horizontal stabilizer actuator; Step b: when it is determined that the electric horizontal stabilizer actuator is in a reverse load driving state, a set of ratchet-pawls are formed in an engaged state after the driving stops according to the determined reverse load downward driving or reverse load upward driving.

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