System and method for actuator backlash measurement and monitoring

Abstract

Systems and methods for hysteresis measurement and monitoring for an actuator having a motor end and an output end are disclosed. The method can include driving the motor end of the actuator to one end point, measuring a motor end initial position value associated with the motor end using a first sensor, measuring an output end initial position value associated with the output end using a second sensor, driving the motor end of the actuator to another end point, measuring a motor end final position value using the first sensor and an output end final position value using the second sensor, determining a hysteresis value based on the motor end initial position value, the output end initial position value, the motor end final position value, and the output end final position value, generating a signal based on a comparison of the hysteresis value to a predetermined threshold, and displaying a notification based on the signal, the notification indicating an operating condition of the actuator.

Description

Technical Field

[0001] This disclosure generally relates to the field of electromechanical systems. More specifically and non-limitingly, this disclosure relates to innovations in the measurement and monitoring of actuator hysteresis in the field of electromechanical systems comprising powered aircraft. Certain aspects of this disclosure generally relate to actuator hysteresis measurement and monitoring systems and methods in aircraft and other types of aircraft driven by electric propulsion systems, as well as aircraft in flight simulators and video games. Other aspects of this disclosure generally relate to improvements in actuator hysteresis measurement and monitoring systems and methods that provide specific advantages in aircraft and can be used in other types of electromechanical systems. Background Technology

[0002] The inventors have recognized several problems that may be associated with actuators in electromechanical systems, such as aircraft, including tiltrotor aircraft using electric propulsion systems or hybrid electric propulsion systems (hereinafter referred to as electric propulsion units or "EPUs"). Actuators have a limited lifespan, which may be limited by actuator backlash. Backlash refers to the amount of movement required to compensate for the clearance or gap between components in a mechanism. For example, when two gears mesh, there may be a small clearance between the meshing teeth. When one of the two gears rotates, the gear must rotate an amount corresponding to the small clearance between the teeth before the teeth of the meshing gear can contact each other. The amount of rotation of the gear to compensate for the small clearance constitutes the backlash in the meshing gears.

[0003] Some safety-critical or performance-critical actuators, such as those in aircraft or surgical robots, can only tolerate a specific range of hysteresis while remaining reliable and safe to use. This specific range may be very small. Furthermore, the rate of change of hysteresis over time may differ for similar actuators in different parts of the system. There may be an acceptable range of hysteresis values ​​that reasonably ensures the safe operation of the system. In some systems, actuators can be serviced or replaced periodically (e.g., monthly, annually) even if some or all of their hysteresis values ​​are within the acceptable range. However, replacing actuators beyond the necessary frequency is both costly and time-consuming, so replacing actuators with hysteresis values ​​within the acceptable range may unnecessarily increase operating costs. Therefore, it is necessary to perform regular and accurate actuator hysteresis measurement and monitoring to ensure that every actuator is usable and that only actuators with unacceptable hysteresis are serviced or replaced. This further prevents acceptable actuators from being unnecessarily discarded. Summary of the Invention

[0004] Various aspects of this disclosure relate to actuator hysteresis measurement and monitoring. More specifically and non-limitingly, this disclosure relates to flight control of electric aircraft and other powered aircraft, as well as innovations in tiltrotor aircraft using electric propulsion systems. For example, certain aspects of this disclosure relate to actuator hysteresis measurement and monitoring. Furthermore, some embodiments can command the aircraft based on measured actuator hysteresis.

[0005] One aspect of this disclosure relates to a method for measuring and monitoring actuator hysteresis in an aircraft, the actuator including a motor end and an output end, the method comprising: driving the motor end of the actuator to one end point; measuring an initial position value of the motor end associated with the motor end of the actuator using a first sensor; measuring an initial position value of the output end associated with the output end of the actuator using a second sensor; driving the motor end of the actuator to another end point; measuring a final position value of the motor end associated with the motor end of the actuator using the first sensor; measuring a final position value of the output end associated with the output end of the actuator using the second sensor; determining a hysteresis value of the actuator based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end; generating a comparison of the hysteresis value with at least one predetermined threshold; generating a signal based on the comparison; and displaying a notification on a display device based on the signal, the notification indicating the operating status of the actuator.

[0006] Another aspect of this disclosure relates to a method for measuring and monitoring actuator backlash in an aircraft, the actuator including a motor end and an output end, the method comprising: at least one processor; and at least one non-transitory computer-readable medium containing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations including: driving the motor end of the actuator to an endpoint; measuring an initial position value of the motor end associated with the motor end of the actuator using a first sensor; and measuring an initial position value of the output end associated with the output end of the actuator using a second sensor. The process involves: setting an initial position value; driving the motor end of the actuator to another endpoint; measuring the final position value of the motor end associated with the motor end of the actuator using the first sensor; measuring the final position value of the output end associated with the output end of the actuator using the second sensor; determining a hysteresis value of the actuator based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end; generating a comparison between the hysteresis value and at least one predetermined threshold; generating a signal based on the comparison; and displaying a notification on a display device based on the signal, the notification indicating the operating status of the actuator.

[0007] Another aspect of this disclosure includes a method for measuring and monitoring actuator hysteresis, the actuator including a motor end and an output end, the method comprising: driving the motor end of the actuator to one end point; measuring an initial position value of the motor end associated with the motor end of the actuator using a first sensor; measuring an initial position value of the output end associated with the output end of the actuator using a second sensor; driving the motor end of the actuator to another end point; measuring a final position value of the motor end associated with the motor end of the actuator using the first sensor; measuring a final position value of the output end associated with the output end of the actuator using the second sensor; determining a hysteresis value of the actuator based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end; generating a comparison of the hysteresis value with at least one predetermined threshold; generating a signal based on the comparison; and displaying a notification on a display device based on the signal, the notification indicating the operating status of the actuator.

[0008] Systems and computer-readable media (e.g., non-transitory computer-readable media) for implementing any one or two of the above methods are also provided.

[0009] Additional objects and advantages of the various embodiments will be set forth in part in the description which follows, and in part will be understood from the description, or may be learned by practice. These objects and advantages will be realized and obtained by means of the elements and combinations particularly pointed out in the appended claims.

[0010] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and do not constitute a limitation on the claims. Attached Figure Description

[0011] Figure 1 An exemplary actuator hysteresis measurement and monitoring system consistent with the disclosed embodiments is shown.

[0012] Figure 2 A flowchart of an exemplary actuator hysteresis measurement and monitoring method consistent with the disclosed embodiments is shown.

[0013] Figure 3 An exemplary graph of actuator hysteresis measurement and monitoring consistent with the disclosed embodiments is shown.

[0014] Figure 4 An exemplary VTOL aircraft in cruise configuration consistent with the disclosed embodiments is shown.

[0015] Figure 5An exemplary VTOL aircraft in a lift configuration consistent with the disclosed embodiments is shown.

[0016] Figure 6 An exemplary top plan view of a VTOL aircraft consistent with the disclosed embodiments is shown.

[0017] Figures 7-9 An exemplary system with actuators consistent with the disclosed embodiments is shown. Detailed Implementation

[0018] This disclosure discloses systems, components, and techniques primarily for use in electromechanical systems. These electromechanical systems may include computer numerical control (CNC) machine tools, industrial robots (e.g., for assembly, material handling), medical imaging systems (e.g., magnetic resonance imaging), surgical robots, satellite attitude control systems, manned aircraft, unmanned aircraft (e.g., unmanned aerial vehicles or “UAVs”), drones, helicopters, and / or aircraft. An aircraft includes a fuselage and one or more components (e.g., wings, tail, propellers) configured to enable flight. An aircraft may include any configuration comprising at least one propeller. In some embodiments, the aircraft is driven by one or more electric propulsion systems (hereinafter referred to as electric propulsion units or “EPUs”). The aircraft may be all-electric, hybrid-powered, or fuel-powered. For example, in some embodiments, the aircraft is a tiltrotor aircraft configured for frequent (e.g., more than 50 flights per workday), short-duration flights (e.g., less than 100 miles per flight) over, into, and out of densely populated areas. Aircraft can be configured to carry 4 to 6 passengers or commuters who desire a comfortable experience with low noise and low vibration. Excessive hysteresis associated with one or more actuators of the aircraft can make aircraft operation unsafe or may cause undesirable amounts of noise and / or vibration during aircraft operation. Therefore, it is desirable to accurately monitor and measure actuator hysteresis to ensure that each actuator is safe or available and can be used continuously throughout its entire service life, while providing passengers with a low-noise, low-vibration, and safe flight experience.

[0019] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which, unless otherwise stated, the same or similar numerals in different figures represent the same or similar elements. The embodiments set forth in the following description of the exemplary embodiments do not represent all embodiments consistent with this disclosure. Instead, these embodiments are merely examples of apparatuses and methods consistent with aspects related to the subject matter recited in the appended claims.

[0020] Figure 1This is a block diagram 100 of an exemplary actuator hysteresis measurement and monitoring system consistent with the disclosed embodiments. Figure 1 An actuator 101 and a hysteresis measurement and monitoring system 109 are shown. In some embodiments, the actuator 101 may include a motor end 103, a gear 105, and an output end 107. The motor end 103 may refer to the input shaft of a machine designed to convert one or more forms of energy into mechanical energy. For example, the motor end 103 may be implemented as the input shaft of a linear motor or a rotary motor. The gear 105 may refer to any component or combination of components that transmits motion or torque from one shaft to another. For example, the gear 105 may include a single gear or gear train in a rotary actuator, a linear screw in a linear actuator, or any other component or combination of components that performs a similar function in a rotary actuator, a linear actuator, or any other type of actuator. The output end 107 may refer to an output shaft, or any other component or device within the system that can be actuated or moved to produce motion or force. For example, output 107 may be the output shaft of an actuator connected to the control surface of an aircraft (e.g., flaperon, rudder) or the end effector of a robotic arm (e.g., a gripper on an assembly robot).

[0021] In some embodiments, the hysteresis measurement and monitoring system 109 may include a first sensor 104, a second sensor 106, and a processor 110. The first sensor 104 and the second sensor 106 may be position sensors that measure the position of one or more components. For example, the first sensor 104 and the second sensor 106 may be implemented as an encoder, potentiometer, Hall effect sensor, resolver, or any other position sensor capable of detecting or measuring the position of a gear, linear screw, etc. Generally, it is understood that the first sensor 104 and the second sensor 106 may be implemented as any type of sensor configured to measure the length, angle, or any other positional metric of one or more components in an actuator.

[0022] In some embodiments, a first sensor 104 is operatively connected to a motor end 103 and measures the position associated with the motor end 103, such as the position of an input shaft or gear at the motor end 103. In some embodiments, the first sensor 104 is operatively connected to a first gear or equivalent component in gear 105. Furthermore, in some embodiments, a second sensor 106 is operatively connected to an output end 107 and measures the position associated with the output end 107. In some embodiments, the second sensor 106 is operatively connected to the last gear or equivalent component in gear 105 and measures the position associated with gear 105. In some embodiments, the first sensor 104 and the second sensor 106 are operatively connected to a processor 110. For example, the first sensor 104 and the second sensor 106 may be configured to send measured data, such as position data, to the processor 110.

[0023] In some embodiments, processor 110 may include one or more processors configured to perform actuator hysteresis measurement and monitoring operations. For example, in some embodiments, processor 110 may include a processor dedicated to actuator hysteresis measurement and monitoring, or it may include processors performing other operations and functions. Alternatively, in some embodiments, processor 110 may be a flight control computer for an aircraft. Furthermore, processor 110 may be a human-machine interface (HMI) or supervisory control and data acquisition (SCADA) system for industrial or medical robots. In some embodiments, processor 110 may be configured to command actuator 101. For example, processor 110 may be configured to command actuator 101 to reach an end or extreme value defined by its environment, function, etc. Furthermore, in some embodiments, processor 110 may be configured to command first sensor 104 and second sensor 106 to record measurements of each of their respective associated components (e.g., motor end 103 and output end 107).

[0024] In some embodiments, processor 110 may be configured to receive data and store the received data in a memory location. In some embodiments, processor 110 may include a memory location. Alternatively, in some embodiments, the memory location may be a separate device operatively connected to processor 110. For example, the memory location may be a separate processor, a database, or any other device capable of storing data. In some embodiments, processor 110 may be configured to retrieve or query stored data from the memory location. In some embodiments, the data may include data from sensors. For example, the data may include position data from sensors 104 and 106.

[0025] Furthermore, in some embodiments, the memory location may be configured to store one or more thresholds. For example, the memory location may store one or more thresholds, each of which is associated with a different and distinct condition of the actuator. Additionally, in some embodiments, each threshold may be a value associated with the amount of hysteresis in the actuator (e.g., 0.5 degrees, 0.7 degrees, 1 degree, 0.5 mm, 0.7 mm, 1 mm, or any other value that may represent an acceptable amount of hysteresis). In some embodiments, one or more predetermined thresholds may comprise two thresholds: a first threshold associated with a first operating condition of the actuator, and a second threshold associated with a second operating condition of the actuator. For example, the first operating condition may refer to an actuator operating condition that indicates the actuator is usable and may require future maintenance or replacement. The second operating condition may refer to an actuator operating condition that indicates the actuator is unusable and requires maintenance or replacement. Alternatively or additionally, one or more predetermined thresholds may comprise three thresholds, wherein a third threshold may be greater than the second threshold described above and may be associated with a third operating condition of the actuator. The third operating condition of the actuator may refer to an actuator operating condition that indicates the actuator has failed. Generally, it is understood that any number of thresholds can exist, which can indicate a number of different operating conditions associated with the actuator.

[0026] In some embodiments, historical data from the actuator or similar actuator may be used to determine each of one or more thresholds. For example, each of one or more thresholds may be determined at least in part based on historical data of the actuator's hysteresis over time, or historical data of the hysteresis over time from model simulation, as described below. Figure 3 The examples and discussions provided.

[0027] In some embodiments, processor 110 may be configured to determine a hysteresis value based at least on values ​​measured by sensors 104 and 106. For example, the values ​​may include two values ​​measured by sensor 104 (e.g., initial and final motor position values) and two values ​​measured by sensor 106 (e.g., initial and final output position values), all of which may be stored in a memory location. Furthermore, in some embodiments, processor 110 may be configured to compare the determined hysteresis value with one or more predetermined thresholds. For example, processor 110 may be configured to determine whether the determined hysteresis value exceeds any one of the one or more predetermined thresholds.

[0028] In some embodiments, processor 110 may be configured to generate a signal based on a comparison. For example, processor 110 may generate a signal containing data indicating that the actuator's hysteresis value exceeds a first predetermined threshold but does not exceed a second predetermined threshold. In some embodiments, processor 110 may be configured to display the generated signal on a display. Alternatively, in some embodiments, processor 110 may send the generated signal to another device for processing, storage, or display. For example, in some embodiments, processor 110 may be configured to display a notification on a display device indicating the actuator's operating status.

[0029] Figure 2 This is a flowchart of an exemplary actuator hysteresis measurement and monitoring method 200 consistent with the disclosed embodiments. In some embodiments, method 200 may be performed as part of a pre-use inspection of an electromechanical system. For example, method 200 may be performed as part of a pre-flight inspection of an aircraft. Furthermore, method 200 may be performed as part of a pre-use inspection of an industrial robot, CNC machine tool, surgical robot, or any other electromechanical system requiring high precision or accuracy.

[0030] In step 201, the processor commands the actuator to be driven to an endpoint. An endpoint may refer to a limit position or extreme value to which the actuator is configured to move or be actuated. For example, a rotary actuator may be configured to have one endpoint at 0 degrees and another endpoint at 180 degrees. Furthermore, a linear actuator may be configured to have one endpoint at 0 inches and another endpoint at 10 inches. In some embodiments, in step 201, the processor may drive the actuator to the minimum endpoint. In other embodiments, in step 201, the processor may drive the actuator to the maximum endpoint. Furthermore, for example, a multi-position rotary actuator may be configured to have multiple endpoints based on mechanical constraints (e.g., indexing gears, positioning pawls) or programming constraints (e.g., electronic positioning systems). This disclosure can be used to determine the backlash between any two given endpoints. Generally, it will be understood that in step 201, the processor may drive the motor end of the actuator to any of its endpoints.

[0031] In step 203, the processor may command one or more sensors to measure the motor end position value. For example, the processor 110 may command sensor 104 and sensor 106 to each measure the motor end position value (i.e., the initial position value at the motor end and the initial position value at the output end, respectively). Furthermore, the processor 110 may receive the measured initial position value and store it in a memory location.

[0032] In step 205, the processor may command the actuator to drive to another endpoint, which is not the same as the endpoint in step 201. For example, processor 110 may command actuator 101 to drive to an endpoint different from the endpoint in step 201.

[0033] In step 207, the processor may command one or more sensors to measure the output position value. For example, the processor 110 may command sensor 104 and sensor 106 to each measure the output position value (i.e., the final position value at the motor end and the final position value at the output end, respectively). Furthermore, the processor 110 may receive the measured final position value and store it in a memory location. In some embodiments, the memory location may be the same memory location that stores the measured initial position value.

[0034] In step 209, the processor may determine a hysteresis value. In some embodiments, determining the hysteresis value may include calculating one or more differences by subtracting the motor end position value from the output end position value. For example, the processor 110 may calculate a first difference by subtracting the initial motor end position value from the final motor end position value. Furthermore, the processor 110 may calculate a second difference by subtracting the initial output end position value from the final output end position value. In some embodiments, determining the hysteresis value may further include combining one or more differences. The combination may include one or more of the following: addition, subtraction, trigonometric functions (e.g., sine, cosine), or any other mathematical operation or combination thereof. For example, the processor 110 may add the first difference and the second difference to obtain the hysteresis value. The processor 110 may store the first difference, the second difference, and the determined hysteresis value in a memory location.

[0035] In step 211, the processor may compare the hysteresis value with at least one predetermined threshold. For example, the processor 110 may be configured to generate a comparison of the determined hysteresis value with a first predetermined threshold and a second predetermined threshold. In some embodiments, the comparison may include an number of indicator values ​​equal to the number of predetermined thresholds. In some embodiments, the second predetermined threshold may be greater than the first predetermined threshold. Furthermore, in some embodiments, each indicator value may indicate whether the determined hysteresis value is greater than or equal to the corresponding predetermined threshold. For example, if the determined hysteresis value is 0.75 degrees, the first predetermined threshold is 0.7 degrees, and the second predetermined threshold is 1 degree, the comparison may include: a first indicator value indicating that the determined hysteresis value exceeds the first predetermined threshold (e.g., first indicator value = 1) and a second indicator value indicating that the determined hysteresis value does not exceed the second predetermined threshold (e.g., second indicator value = 0). In some embodiments, the processor may be configured to store one or more indicator values ​​in a memory location.

[0036] In step 213, the processor may generate a signal based on a comparison and may send the generated signal to another processor or display device. In some embodiments, the signal may include an indication value, a command, or a notification. For example, processor 110 may generate a signal based on a comparison indicating that a determined hysteresis value exceeds a second predetermined threshold, the signal containing a command to prevent the aircraft from taking off. Furthermore, processor 110 may generate a signal containing a command to prevent the surgical robot from operating until the actuator is repaired or replaced.

[0037] Furthermore, in some embodiments, the processor 110 may send signals to a display device for displaying the signals. The display device may include, for example, a flight display in an aircraft; an HMI for a surgical robot; or SCADA for a manufacturing robot. In some embodiments, the displayed signals may include notifications indicating the operating status of the actuator. For example, if the hysteresis value determined for the actuator is 0.75 degrees, a first predetermined threshold is 0.7 degrees, and a second predetermined threshold is 1 degree, the notification may indicate that the actuator is usable but may soon require maintenance or replacement (e.g., after 8 hours of operation, 1 week).

[0038] Figure 3 This is an exemplary graph 300 consistent with the disclosed embodiments for actuator hysteresis measurement and monitoring. In some embodiments, the graph may include curves representing the change of actuator hysteresis values ​​over time. For example, graph 300 may include hysteresis curves, such as curves 301, 302, 303, and 304. In some embodiments, the hysteresis curve may be generated based on historical actuator data. For example, the hysteresis curve may be generated based on actuator hysteresis values ​​measured over a period of time (e.g., 1 year, 5 years, or any other duration less than or equal to the actuator's lifespan). In some embodiments, the hysteresis curve may be generated based on model simulation. For example, the hysteresis curve may be generated based on the results of a model simulation of the actuator, such as a Simulink simulation, flight test, durability test, or any combination thereof.

[0039] In some embodiments, one or more thresholds may be determined based on a hysteresis curve. For example, thresholds 305a and 305b may be based on hysteresis curve 303. Furthermore, thresholds 306a and 306b may be based on hysteresis curve 302. Generally, it is understood that any set of one or more predetermined thresholds may be based on a hysteresis curve, and different hysteresis curves may correspond to the same or different sets of one or more predetermined thresholds. In some embodiments, smaller thresholds (e.g., thresholds 305a and 306a) may be associated with a first predetermined threshold, and larger thresholds (e.g., thresholds 305b and 306b) may be associated with a second predetermined threshold. In some embodiments, the processor may determine one or more predetermined thresholds based on a hysteresis curve. Alternatively or additionally, those skilled in the art can read and interpret the hysteresis curve to determine one or more predetermined thresholds. For example, one or more predetermined thresholds may be based at least in part on the slope of the hysteresis curve.

[0040] The disclosed embodiments provide a novel and improved actuator hysteresis measurement and monitoring system, which can be implemented in electromechanical systems. The following description illustrates and describes a non-limiting number of exemplary systems in which this disclosure can be implemented.

[0041] The disclosed embodiments provide new and improved configurations of aircraft components, some of which have not been found in conventional aircraft, and / or the disclosed embodiments provide specific design standards for components that differ from those of conventional aircraft. These alternative configurations and design standards, combined, address the shortcomings and challenges of conventional components, resulting in the various configurations and designs disclosed herein for components of propulsion-driven aircraft (e.g., electric or hybrid-electric aircraft).

[0042] In some embodiments, the actuator backlash measurement and monitoring system of this disclosure can be implemented in a propulsion-driven aircraft, which can be designed to perform both vertical takeoff and landing (VTOL) and conventional takeoff and landing (CTO), wherein the distributed propulsion system enables vertical, horizontal, and lateral flight, as well as transitions (e.g., transitions between vertical and horizontal flight). The aircraft can generate thrust by supplying high-voltage electricity to multiple engines of the distributed propulsion system, which may include components that convert the high-voltage electricity into mechanical shaft power to rotate the propeller.

[0043] An aircraft may include an electric engine connected to an onboard power source and may optionally include one or more systems for utilizing or generating electricity, such as a fuel-powered generator or a solar panel array. The onboard power source may include devices capable of storing energy, such as batteries or capacitors. In some embodiments, the aircraft may include a hybrid-electric aircraft that uses at least one of an electrical energy source and a fuel-based energy source to power a distributed propulsion system. In some embodiments, the aircraft may be powered by one or more batteries, an internal combustion engine (ICE), a generator, a turbine engine, or a ducted fan.

[0044] The engines can be mounted directly to the wing or to one or more support rods attached to the wing. The amount of thrust generated by each engine can be controlled by torque commands sent to each engine via a digital communication interface by the flight control system (FCS). Embodiments may include a front engine (and associated propeller) capable of changing its orientation or tilting.

[0045] The engine can rotate the propeller in a clockwise or counterclockwise direction. In some embodiments, the difference in propeller rotation direction can be achieved using the direction of engine rotation. In other embodiments, the engine can rotate entirely in the same direction, and different propeller rotation directions can be achieved using gear mechanisms.

[0046] In some embodiments, an aircraft may have a plurality of engines in various combinations of nose and tail engine configurations. A nose engine can be considered as an engine primarily oriented toward the leading edge of the wing. A tail engine can be considered as an engine primarily oriented toward the trailing edge of the wing. For example, an aircraft may have six nose and six tail engines, five nose and five tail engines, four nose and four tail engines, three nose and three tail engines, two nose and two tail engines, or any other combination of nose and tail engines, including embodiments in which the number of nose and tail engines is not equal.

[0047] In some embodiments, for vertical takeoff and landing (VTOL) missions, the front and rear engines can provide vertical thrust during takeoff and landing. During the forward flight phase, the front engine can provide horizontal thrust, while the propellers of the rear engines can be retracted to a fixed position to minimize drag. The rear engine can be actively retracted using position monitoring.

[0048] The transition from vertical to horizontal flight and from horizontal to vertical flight can be achieved via a tilt propeller subsystem. The tilt propeller subsystem can redirect thrust between the primary vertical direction during the vertical flight phase (e.g., hovering phase) and the horizontal or near-horizontal direction during the forward flight cruise phase, based on the tilt of one or more propellers (e.g., determining the directionality of one or more propellers). A variable pitch mechanism can change the blade collective angle of the propeller hub assembly of the front engine for operation during flight phases such as hovering, transition, and cruise. Vertical lift can be thrust in the primary vertical direction (e.g., during hovering). Horizontal thrust can be thrust in the primary horizontal direction (e.g., during cruise).

[0049] In some embodiments, during conventional takeoff and landing (CTOL) missions, the front engine can provide horizontal thrust to the wing for takeoff, cruise, and landing, and the wing can provide vertical lift. In some embodiments, the tail engine may not be used to generate thrust during CTOL missions, and the tail propeller may be retracted in place. In other embodiments, the tail engine may be used at reduced power to shorten the takeoff or landing distance for CTOL.

[0050] As detailed above, embodiments of an aircraft may include numerous movable structural flight elements (e.g., actuators) that enable the pilot to safely control the aircraft. Flight control surfaces (e.g., ailerons, elevators, rudders, etc.) are crucial for controlling the aircraft's positioning. Changing the orientation of these control surfaces alters the airflow and pressure distribution around the aircraft, allowing the pilot to control the aircraft's movement along three axes of rotation. Similarly, propeller rotation and orientation control can provide lift support (e.g., the lift required for vertical takeoff, landing, and hovering) and can provide the forward thrust required to move the aircraft in the air. The motion of each of these flight elements is critical to the aircraft's safety and stability. Therefore, measuring and monitoring hysteresis in the movable structural flight elements is also essential for aircraft safety.

[0051] Figure 4 This is an illustration of a perspective view of an exemplary VTOL aircraft consistent with the disclosed embodiments. Figure 5 This is another illustration of a perspective view of an exemplary VTOL aircraft in an alternative configuration consistent with embodiments of this disclosure. Figure 4 and Figure 5 VTOL aircraft 400 and 500, consistent with embodiments of this disclosure, are shown in cruise configuration and vertical takeoff, landing, and hovering configurations (also referred to herein as "lift" configurations). Figure 4 and Figure 5 Corresponding components may have similar reference numerals and refer to similar components of aircraft 400, 500. In some embodiments, aircraft 400, 500 may include the actuator hysteresis measurement and monitoring system and / or method as described above. Aircraft 400, 500 may include fuselages 402, 502, wings 404, 504 mounted to fuselages 402, 502, and one or more aft stabilizers 406, 506 mounted to the rear of fuselages 402, 502. A plurality of lift propellers 412, 512 may be mounted to wings 404, 504 and may be configured to provide lift for vertical takeoff, landing, and hovering. A plurality of tilt propellers 414, 514 may be mounted to wings 404, 504 and may tilt (e.g., be configured to tilt or change orientation) between a lift configuration and a cruise configuration, in which the plurality of tilt propellers provide a portion of the lift required for vertical takeoff, landing, and hovering, such as Figure 5 As shown, in the cruise configuration, the plurality of tilt propellers provide forward thrust to the aircraft 400 for horizontal flight, such as... Figure 4 As shown. As used herein, a tiltprop lift configuration refers to any tiltprop orientation in which tiltprop thrust primarily provides lift to the aircraft, while a tiltprop cruise configuration refers to any tiltprop orientation in which tiltprop thrust primarily provides forward thrust to the aircraft.

[0052] In some embodiments, lift propellers 412, 512 can be configured to provide lift only, wherein all horizontal thrust is provided by the tilt propellers. For example, lift propellers 412, 512 can be configured to have a fixed position and can generate thrust only during takeoff, landing, and hovering flight phases. Simultaneously, tilt propellers 414, 514 can tilt upwards to a lift configuration in which thrust from propellers 414, 514 is directed downwards to provide additional lift.

[0053] In forward flight, tiltrotors 414 and 514 can tilt from their lift configuration to their cruise configuration. In other words, the orientation of tiltrotors 414 and 514 can change from an orientation where tiltrotor thrust is directed downwards (to provide lift during vertical takeoff, landing, and hovering) to an orientation where tiltrotor thrust is directed at least partially backwards (to provide forward thrust to aircraft 400 and 500). The tiltrotor assembly for a specific electric engine can tilt about a rotation axis defined by the mounting point connecting the support rod and the electric engine. When aircraft 400 and 500 are in fully forward flight, lift can be provided entirely by wings 404 and 504. Meanwhile, in cruise configuration, lift propellers 412 and 512 can be shut off. The blades 420 and 520 of lift propellers 412 and 512 can be maintained in a low-drag position for aircraft cruise. In some embodiments, the lift propellers 412 and 512 may each have two blades 420 and 520, respectively, which may be locked in a minimum drag position, for example, during aircraft cruise, in which one blade is directly in front of the other blade. Figure 4 As shown. In some embodiments, the lift propellers 412, 512 have more than two blades. In some embodiments, the tilt propellers 414, 514 may contain more blades 416, 516 than the lift propellers 412, 512. For example, as Figure 4 and Figure 5 As shown, lift propellers 412 and 512 may each contain, for example, two blades, while tilt propellers 414 and 514 may each contain more blades, such as the five blades shown. In some embodiments, each of the tilt propellers 414 and 514 may have two to five blades, and possibly more, depending on the aircraft's design considerations and requirements.

[0054] In some embodiments, the aircraft may include a single wing 404, 504 on each side of the fuselage 402, 502 (or a single wing extending across the entire aircraft). At least a portion of the lift propellers 412, 512 may be located behind the wings 404, 504 (e.g., from a bird's-eye view, the propeller's rotation point is behind the wing), and at least a portion of the tilt propellers 414, 514 may be located in front of the wings 404, 504 (e.g., from a bird's-eye view, the propeller's rotation point is in front of the wing). In some embodiments, all lift propellers 412, 512 may be located behind the wings 404, 504, and all tilt propellers 414, 514 may be located in front of the wings 404, 504. According to some embodiments, all lift propellers 412, 512 and tilt propellers 414, 514 may be mounted to the wings; that is, no lift propeller or tilt propeller may be mounted to the fuselage. In some embodiments, the lift propellers 412 and 512 may all be located behind the wings 404 and 504, and the tilt propellers 414 and 514 may all be located in front of the wings 404 and 504. According to some embodiments, all lift propellers 412 and 512 and tilt propellers 414 and 514 may be positioned inside the ends of the wings 404 and 504.

[0055] In some embodiments, the lift propellers 412, 512 and the tilt propellers 414, 514 can be mounted to the wings 404, 504 via support rods 422, 522. The support rods 422, 522 can be mounted below the wings 404, 504, on the top of the wings, and / or integrated into the wing profile. In some embodiments, the lift propellers 412, 512 and the tilt propellers 414, 514 can be directly mounted to the wings 404, 504. In some embodiments, each support rod 422, 522 can mount one lift propeller 412, 512 and one tilt propeller 414, 514. The lift propellers 412, 512 can be mounted at the rear end of the support rods 422, 522, and the tilt propellers 414, 514 can be mounted at the front end of the support rods 422, 522. In some embodiments, lift propellers 412, 512 may be mounted in fixed positions on support rods 422, 522. In some embodiments, tilt propellers 414, 514 may be hinged to the front ends of support rods 422, 522. Tilting propellers 414, 514 may be mounted to support rods 422, 522 such that, in their cruise configuration, tilt propellers 414, 514 are aligned with the body of support rods 422, 522, thereby forming a continuous extension at the front ends of support rods 422, 522 that minimizes drag during forward flight.

[0056] In some embodiments, aircraft 400, 500 may include, for example, a wing on each side of fuselage 402, 502 or a single wing extending across the aircraft. According to some embodiments, at least one wing 404, 504 is a high-wing monoplane mounted to the upper side of fuselage 402, 502. According to some embodiments, the wing includes control surfaces, such as flaps and / or ailerons. According to some embodiments, wings 404, 504 may have a profile that reduces drag during forward flight. In some embodiments, the wingtip profile may be curved and / or tapered to minimize drag.

[0057] In some embodiments, the aft stabilizers 406, 506 include control surfaces, such as one or more rudders, one or more elevators, and / or one or more combinations of rudder-elevator. The wing may have any suitable design for providing lift, directionality, stability, and / or any other characteristics beneficial to the aircraft. In some embodiments, the wing has a tapered leading edge.

[0058] In some embodiments, the lift propellers 412, 512 or tilt propellers 414, 514 may be tilted relative to at least one other lift propeller 412, 512 or tilt propeller 414, 514, wherein tilting refers to the relative orientation of the rotation axis of the lift propeller / tilt propeller about a line parallel to the forward and backward direction, similar to the roll degree of freedom of an aircraft.

[0059] In some embodiments, one or more lift propellers 412, 512 and / or tilt propellers 414, 514 may be tilted relative to the aircraft cabin such that the axis of rotation of the propeller in the lift configuration is angled to an axis perpendicular to the top surface of the aircraft. For example, in some embodiments, the aircraft is a flying wing aircraft, and some or all of the propellers are tilted relative to the cabin.

[0060] Figure 6 This is an illustration of a top plan view of an exemplary VTOL aircraft consistent with embodiments of this disclosure. The aircraft 600 shown in the figure can be respectively... Figure 4 and Figure 5The diagram shows top-view plans of aircraft 400 and 500, and the actuator hysteresis measurement and monitoring system and / or method of this disclosure can be implemented similarly. As discussed herein, aircraft 600 may include twelve electric propulsion systems distributed across aircraft 600. In some embodiments, the electric propulsion systems may include EPUs and propellers. In some embodiments, the distribution of electric propulsion systems may include six forward electric propulsion systems 614 and six tail electric propulsion systems 612 mounted on support rods at the forward and aft ends of the main wing 604 of aircraft 600. In some embodiments, the rear end lengths of all support rods 624 (defined as the length from wing 604 to the lift propeller) may be similar. In some embodiments, the rear end lengths of the support rods may differ, for example, the rear end lengths of the six support rods may differ. Additionally, Figure 6 An exemplary embodiment of a VTOL aircraft 600 is shown, wherein the front propeller (part of the electric propulsion system 614) for horizontal flight is horizontally oriented, and the tail propeller blades 620 for the forward flight phase are in a retracted position.

[0061] In some embodiments, the flight control system may include a system capable of controlling control surfaces and their associated actuators in an exemplary VTOL aircraft. In aircraft 600, in addition to the propeller blades discussed previously, the control surfaces may also include flaperon 630 and azimuth elevator 632. The flaperon 630 may combine the functions of one or more flaps, one or more ailerons, and / or one or more spoilers. The azimuth elevator 632 may combine the functions of one or more rudders and / or one or more elevators. Alternatively or additionally, the control surfaces may include separate rudders and elevators. In aircraft 600, in addition to the electric propulsion system discussed previously, the actuators may also include control surface actuators (CSAs) associated with the flaperon 630 and azimuth elevator 632. Although Figure 6 The illustration shows twelve EPU inverters and associated propeller blades 612, 614, six tilt propeller actuators (TPA) 626, four flaperons 630 and associated control surface actuators (CSA), and six directional elevators 632 and associated CSA. However, an aircraft according to various embodiments may have any suitable number of these various elements. In some embodiments, some or all of the actuators in aircraft 600 may have very small hysteresis tolerances. Furthermore, some or all of the actuators in aircraft 600 may be critical or essential for the normal operation of aircraft 600, while their maintenance and / or replacement are time-consuming and costly. Therefore, there is a need to measure and monitor actuator hysteresis in a way that avoids unnecessary or wasteful maintenance or replacement of the actuators.

[0062] Figures 7-9 An exemplary system with actuators consistent with the disclosed embodiments is shown. Figures 7-9 The systems described herein are exemplary and should not be construed as representing all different types of systems that can implement this disclosure. In some embodiments, the processor (e.g., a flight control computer) can respond to any actuator (e.g., Figures 7-9 Those actuators shown in the exemplary illustration perform the steps of method 200 to determine the hysteresis value associated with the actuator.

[0063] Figure 7 It is a TPA 700 with an actuator hysteresis measurement and monitoring system consistent with the disclosed embodiments. The TPA700 can be, respectively, as follows: Figure 4 , Figure 5 and Figure 6 The tilt propeller actuators of aircraft 400, 500, and 600 are shown. TPA700 may include actuator 701. Actuator 701 may include a motor end 703; gear 705; sensors 704 and 706a or 706b; and output end 707. Motor end 703 and output end 707 may correspond to, for example... Figure 1 The motor end 103 and output end 107 are shown. In some embodiments, the actuator 701 can adjust the TPA 700 between a cruise configuration (as shown) and a lift configuration.

[0064] For example, in some embodiments, actuator 701 is a rotary actuator and includes a motor end 703, gear 705, sensors 704 and 706a, and an output end 707. Gear 705a may be one or more gears in a gear train and may correspond to, for example... Figure 1 The gear 105 is shown. Sensors 704 and 706a can be rotary position sensors, and can respectively correspond to, for example, the gear 105. Figure 1 Sensors 104 and 106 are shown.

[0065] Furthermore, in some embodiments, actuator 701 is a linear actuator and includes a motor 703, a linear screw (not shown), sensors 704 and 706b, and an output terminal 707. Alternatively, the linear screw may be a combination of a ball screw or any other component or functional equivalent of a linear actuator. Sensors 704 and 706b may be position sensors and may correspond to, respectively, positions such as... Figure 1 Sensors 104 and 106 are shown.

[0066] For example, a processor (not shown) can command actuator 701 to drive motor end 703 to one endpoint (e.g., TPA 700 in cruise configuration), and can command sensors 704 and 706a to measure the initial position values ​​of the motor end and the output end, respectively. The processor can store the measured initial position values ​​in a memory location. Then, the processor can command actuator 701 to drive motor end 703 to another endpoint (e.g., TPA 700 in tilt configuration), and can command sensors 704 and 706a / 706b to measure the final position values ​​of the motor end and the output end, respectively. The processor can store the measured final position values ​​in a memory location. The processor can then determine a hysteresis value associated with actuator 701 by subtracting the corresponding final position value from each initial position value and combining the differences. The processor can then generate a comparison of the determined hysteresis value with one or more predetermined thresholds. Finally, the processor can generate a signal based on the comparison and can display a notification based on the signal, indicating the operating status of actuator 701.

[0067] Figure 8 This is a TPA 800 with an actuator hysteresis measurement and monitoring system consistent with the disclosed embodiments. The TPA 800 can be a tilt propeller actuator for a VTOL aircraft. The TPA 800 may include an actuator 801. The actuator 801 may include a motor end 803, a gear (not shown), two or more sets of sensors (not shown), and an output end 807.

[0068] For example, in some embodiments, actuator 801 is a linear actuator that, when actuated, can extend or retract its output terminal 807 to adjust TPA 800 between a cruise configuration and a lift configuration (as shown). Furthermore, actuator 801 may include a set of two sensors operatively connected to a motor terminal 803 and an output terminal 807, and may further include another set of two sensors operatively connected to a motor terminal 803 and another output terminal 807.

[0069] For example, a processor (not shown) can command actuator 801 to drive motor end 803 to one endpoint (e.g., TPA 800 in a tilt configuration), and can command each set of sensors to measure the initial position value of the motor end and the initial position value of the output end. The processor can store each set of measured initial position values ​​in a memory location. The processor can then command actuator 801 to drive motor end 803 to another endpoint (e.g., TPA 800 in a lift configuration), and can command each set of sensors to measure the final position value of the motor end and the final position value of the output end. The processor can store each set of measured final position values ​​in a memory location. The processor can then determine a hysteresis value associated with actuator 801 and an output end 807 by subtracting the corresponding final position value from each initial position value in a set of data and combining the differences. Furthermore, the processor can similarly determine a second hysteresis value associated with actuator 801 and another output end 807 using its corresponding measured position values. The processor can then generate a comparison of each of the determined hysteresis values ​​with one or more predetermined thresholds. Finally, the processor can generate a signal based on the comparison and can display a notification based on the signal, the notification indicating the operating status of actuator 801 and / or each output 807.

[0070] Figure 9 This is an adjustable rotor blade system 900 with an actuator hysteresis measurement and monitoring system, consistent with the disclosed embodiments. In some embodiments, the adjustable rotor blade system 900 may be part of a VTOL rotor system and may include an actuator 901. The actuator 901 may include a motor 903, gears (not shown), one or more sets of sensors (not shown), and an output terminal 907. Alternatively or additionally, in some embodiments, the adjustable blade system 900 may include one or more adjustable rotor blades. In some embodiments, the adjustable rotor blade system 900 may include two rotor blades 940, which can be tilted or adjusted by the actuator 901. Furthermore, in some embodiments, each rotor blade 940 is operatively connected to the output terminal 907.

[0071] For example, a processor (e.g., a flight control computer) can command actuator 901 to adjust one or both rotor blades 940 to positions 942 and / or 944. The rotor blades 940 can tilt or adjust in response to commands from the flight control computer to affect the roll, pitch, yaw, and / or thrust of the VTOL aircraft. Furthermore, actuator 901 may include a set of two sensors operatively connected to one motor end 903 and one output end 907, and may further include another set of two sensors operatively connected to another motor end 903 and another output end 907.

[0072] For example, a processor (not shown) can command actuator 901 to drive motor end 903 to one endpoint (e.g., drive rotor blade 940 to position 942), and can command each set of sensors to measure the initial position value of the motor end and the initial position value of the output end. The processor can store each set of measured initial position values ​​in a memory location. The processor can then command actuator 901 to drive motor end 903 to another endpoint (e.g., drive rotor blade 940 to position 944), and can command each set of sensors to measure the final position value of the motor end and the final position value of the output end. The processor can store each set of measured final position values ​​in a memory location. The processor can then determine a hysteresis value associated with actuator 901 and an output end 907 by subtracting the corresponding final position value from each initial position value in a set of data and combining the differences. Furthermore, the processor can similarly determine a second hysteresis value associated with actuator 901 and another output end 907 using its corresponding measured position values. The processor can then generate a comparison of each of the determined hysteresis values ​​with one or more predetermined thresholds. Finally, the processor can generate a signal based on the comparison and can display a notification based on the signal, the notification indicating the operating status of actuator 901 and / or each output 907.

[0073] The above description is for illustrative purposes only. It is not exhaustive and does not limit the invention to the specific forms or embodiments disclosed herein. Modifications and variations of the invention will be apparent to those skilled in the art upon consideration of the description and practice of the disclosed embodiments of the invention.

[0074] Some aspects of this disclosure may be described using the following terms: 1. A method for measuring and monitoring hysteresis of an actuator in an aircraft, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; The initial position value of the motor end associated with the motor end of the actuator is measured using a first sensor; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a second sensor; Drive the motor end of the actuator to the other end; The first sensor is used to measure the final position value of the motor end associated with the motor end of the actuator; The second sensor is used to measure the final position value of the output terminal associated with the output terminal of the actuator; The hysteresis value of the actuator is determined based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end. Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0075] 2. The method according to Clause 1, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

[0076] 3. The method according to Clause 1, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

[0077] 4. The method according to Clause 1, wherein determining the hysteresis value includes: The first difference is determined by subtracting the initial position value of the motor from the initial position value of the output terminal; The second difference is determined by subtracting the final position value at the motor end from the final position value at the output end; and The hysteresis value is determined by combining the first difference and the second difference.

[0078] 5. The method according to Clause 1, wherein the at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0079] 6. The method according to Clause 1, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0080] 7. The method according to Clause 5, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0081] 8. The method according to Clause 5, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0082] 9. The method according to Clause 1, wherein the signal contains a command to prevent the aircraft from taking off or flying.

[0083] 10. A hysteresis measurement and monitoring system for an actuator in an aircraft, the actuator comprising a motor end and an output end, the system comprising: At least one processor; and At least one non-transitory computer-readable medium, the at least one non-transitory computer-readable medium containing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations including: Drive the motor end of the actuator to an endpoint; The initial position value of the motor end associated with the motor end of the actuator is measured using a first sensor; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a second sensor; Drive the motor end of the actuator to the other end; The first sensor is used to measure the final position value of the motor end associated with the motor end of the actuator; The second sensor is used to measure the final position value of the output terminal associated with the output terminal of the actuator; The hysteresis value of the actuator is determined based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end. Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0084] 11. The system according to Clause 10, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

[0085] 12. The system according to Clause 10, wherein the first sensor is operatively connected to one end of the actuator's lead screw, and the second sensor is operatively connected to the other end of the actuator's lead screw.

[0086] 13. The system according to Clause 10, wherein determining the hysteresis value includes: The first difference is determined by subtracting the initial position value of the motor from the initial position value of the output terminal; The second difference is determined by subtracting the final position value at the motor end from the final position value at the output end; and The hysteresis value is determined by combining the first difference and the second difference.

[0087] 14. The system according to Clause 10, wherein said at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0088] 15. The system according to Clause 10, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0089] 16. The system according to Clause 14, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0090] 17. The system according to Clause 14, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0091] 18. The system according to Clause 10, wherein the signal contains a command to prevent the aircraft from taking off or flying.

[0092] 19. A method for measuring and monitoring the hysteresis of an actuator, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; The initial position value of the motor end associated with the motor end of the actuator is measured using a first sensor; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a second sensor; Drive the motor end of the actuator to the other end; The first sensor is used to measure the final position value of the motor end associated with the motor end of the actuator; The second sensor is used to measure the final position value of the output terminal associated with the output terminal of the actuator; The hysteresis value of the actuator is determined based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end. Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0093] 20. The method according to Clause 19, wherein determining the hysteresis value comprises: The first difference is determined by subtracting the initial position value of the motor from the initial position value of the output terminal; The second difference is determined by subtracting the final position value at the motor end from the final position value at the output end; and The hysteresis value is determined by combining the first difference and the second difference.

[0094] 21. The method according to Clause 19, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

[0095] 22. The method according to Clause 19, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

[0096] 23. The method according to Clause 19, wherein the at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0097] 24. The method according to Clause 19, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0098] 25. The method according to Clause 23, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0099] 26. The method according to Clause 23, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0100] 27. A method for measuring and monitoring hysteresis of an actuator for an aircraft, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; The initial position value of the motor end associated with the motor end of the actuator is measured using a first sensor; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a second sensor; Drive the motor end of the actuator to the other end; The first sensor is used to measure the final position value of the motor end associated with the motor end of the actuator; The second sensor is used to measure the final position value of the output terminal associated with the output terminal of the actuator; The hysteresis value of the actuator is determined based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end. Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0101] 28. The method according to Clause 27, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

[0102] 29. The method according to Clause 27, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

[0103] 30. The method according to any one of clauses 27 to 29, wherein determining the hysteresis value comprises: The first difference is determined by subtracting the initial position value of the motor from the initial position value of the output terminal; The second difference is determined by subtracting the final position value at the motor end from the final position value at the output end; and The hysteresis value is determined by combining the first difference and the second difference.

[0104] 31. The method according to any one of clauses 27 to 30, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0105] 32. The method according to any one of clauses 27 to 31, wherein the at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0106] 33. The method according to Clause 32, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0107] 34. The method according to clause 32 or 33, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0108] 35. The method according to any one of clauses 27 to 34, wherein the signal contains a command to prevent the aircraft from taking off or flying.

[0109] 36. A hysteresis measurement and monitoring system for an actuator in an aircraft, the actuator comprising a motor end and an output end, the system comprising: At least one processor; and At least one non-transitory computer-readable medium, the at least one non-transitory computer-readable medium containing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations including: Drive the motor end of the actuator to an endpoint; The initial position value of the motor end associated with the motor end of the actuator is measured using a first sensor; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a second sensor; Drive the motor end of the actuator to the other end; The first sensor is used to measure the final position value of the motor end associated with the motor end of the actuator; The second sensor is used to measure the final position value of the output terminal associated with the output terminal of the actuator; The hysteresis value of the actuator is determined based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end. Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0110] 37. The system according to Clause 36, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

[0111] 38. The system according to Clause 36, wherein the first sensor is operatively connected to one end of the actuator's lead screw, and the second sensor is operatively connected to the other end of the actuator's lead screw.

[0112] 39. The system according to any one of clauses 36 to 38, wherein determining the hysteresis value comprises: The first difference is determined by subtracting the initial position value of the motor from the initial position value of the output terminal; The second difference is determined by subtracting the final position value at the motor end from the final position value at the output end; and The hysteresis value is determined by combining the first difference and the second difference.

[0113] 40. The system according to any one of clauses 36 to 39, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0114] 41. The system according to any one of clauses 36 to 40, wherein the at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0115] 42. The system according to Clause 41, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0116] 43. The system according to clause 41 or 42, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0117] 44. The system according to any one of clauses 36 to 43, wherein the signal contains a command to prevent the aircraft from taking off or flying.

[0118] 45. A method for measuring and monitoring the hysteresis of an actuator, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; The initial position value of the motor end associated with the motor end of the actuator is measured using a first sensor; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a second sensor; Drive the motor end of the actuator to the other end; The first sensor is used to measure the final position value of the motor end associated with the motor end of the actuator; The second sensor is used to measure the final position value of the output terminal associated with the output terminal of the actuator; The hysteresis value of the actuator is determined based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end. Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0119] 46. ​​The method according to Clause 45, wherein determining the hysteresis value comprises: The first difference is determined by subtracting the initial position value of the motor from the initial position value of the output terminal; The second difference is determined by subtracting the final position value at the motor end from the final position value at the output end; and The hysteresis value is determined by combining the first difference and the second difference.

[0120] 47. The method according to clause 45 or 46, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

[0121] 48. The method according to clause 45 or 46, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

[0122] 49. The method according to any one of clauses 45 to 48, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0123] 50. The method according to any one of clauses 45 to 49, wherein the at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0124] 51. The method according to Clause 50, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0125] 52. The method according to clause 50 or 51, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0126] 53. A method for measuring the hysteresis of an actuator for an aircraft, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a sensor; Determine a first difference between the initial position value of the output terminal and the initial position value of the motor terminal, wherein the initial position value of the motor terminal is associated with the motor terminal of the actuator; Drive the motor end of the actuator to the other end; Use the sensor or another sensor to determine the final position value of the output terminal associated with the output terminal of the actuator; Determine a second difference between the final position value of the output terminal and the final position value of the motor terminal, wherein the final position value of the motor terminal is associated with the motor terminal of the actuator; The hysteresis value of the actuator is determined by combining the first difference and the second difference; Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0127] 54. The method according to Clause 53, wherein combining the first difference and the second difference comprises adding the first difference and the second difference.

[0128] 55. The method according to Clause 53, wherein the sensor is an output sensor, and the method further comprises: determining an initial position value of the motor end and a final position value of the motor end using a motor end sensor.

[0129] 56. The method according to Clause 55, wherein the output sensor is operatively connected to one end of the gear train of the actuator, and the motor end sensor is operatively connected to the other end of the gear train of the actuator.

[0130] 57. The method according to Clause 55, wherein the output sensor is operatively connected to one end of the lead screw of the actuator, and the motor end sensor is operatively connected to the other end of the lead screw of the actuator.

[0131] 58. The method according to Clause 53, wherein the at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0132] 59. The method according to Clause 58, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0133] 60. The method according to Clause 59, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0134] 61. The method according to Clause 58, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0135] 62. The method according to Clause 53, wherein the signal contains a command to prevent the aircraft from taking off or flying.

[0136] 63. A hysteresis measurement system for an actuator in an aircraft, the actuator comprising a motor end and an output end, the system comprising: A first sensor, which is associated with the output terminal; A second sensor, which is associated with the motor end; At least one processor; and At least one non-transitory computer-readable medium, the at least one non-transitory computer-readable medium containing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations including: Drive the motor end of the actuator to an endpoint; Based on the first sensor and the second sensor, a first difference between the initial position of the output end and the initial position of the motor end is determined; Determine the second difference between the final position at the output end and the final position at the motor end, where The initial position and the final position of the output terminal are associated with the output terminal of the actuator, and The initial position and the final position of the motor end are associated with the motor end of the actuator; The hysteresis value of the actuator is determined by combining the first difference and the second difference; Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0137] 64. The system according to Clause 63, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

[0138] 65. The system according to Clause 63, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

[0139] 66. The system according to Clause 63, wherein said at least one predetermined threshold includes: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0140] 67. The system according to Clause 63, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0141] 68. The system according to Clause 66, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0142] 69. The system according to Clause 68, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0143] 70. The system according to Clause 63, wherein the signal contains a command to prevent the aircraft from taking off or flying.

[0144] 71. A method for measuring the hysteresis of an actuator, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; Determine a first difference between the initial position of the output terminal and the initial position of the motor terminal, wherein the initial position of the output terminal is associated with the output terminal of the actuator, and the initial position of the motor terminal is associated with the motor terminal of the actuator; Drive the motor end of the actuator to the other end; Determine a second difference between the final position of the output terminal and the final position of the motor terminal, the final position of the output terminal being associated with the output terminal of the actuator, and the final position of the motor terminal being associated with the motor terminal of the actuator; Based on the first difference and the second difference, the hysteresis value of the actuator is determined; Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0145] 72. The method according to Clause 71 further includes using a first sensor associated with the output to determine the initial position and the final position of the output.

[0146] 73. The method according to Clause 72 further includes using a second sensor associated with the motor end to determine the initial position and the final position of the motor end.

[0147] 74. The method according to Clause 73, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

[0148] 75. The method according to Clause 73, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

[0149] 76. The method according to Clause 71, wherein the at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0150] 77. The method according to Clause 76, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0151] 78. The method according to Clause 76, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0152] 79. The method according to Clause 71, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0153] 80. The method according to Clause 71, wherein determining the hysteresis value comprises adding the first difference and the second difference.

[0154] 81. The method according to Clause 53 further includes hysteresis monitoring of the actuator.

[0155] 82. The method according to Clause 71 further includes hysteresis monitoring of the actuator.

[0156] 84. A method for measuring the hysteresis of an actuator for an aircraft, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a sensor; Determine a first difference between the initial position value of the output terminal and the initial position value of the motor terminal, wherein the initial position value of the motor terminal is associated with the motor terminal of the actuator; Drive the motor end of the actuator to the other end; Use the sensor or another sensor to determine the final position value of the output terminal associated with the output terminal of the actuator; Determine a second difference between the final position value of the output terminal and the final position value of the motor terminal, wherein the final position value of the motor terminal is associated with the motor terminal of the actuator; The hysteresis value of the actuator is determined by combining the first difference and the second difference; Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0157] 85. The method according to Clause 84, wherein combining the first difference and the second difference comprises adding the first difference and the second difference.

[0158] 86. The method according to Clause 84 or 85, wherein the sensor is an output sensor, and the method further comprises: using a motor-end sensor to determine an initial position value of the motor end and a final position value of the motor end.

[0159] 87. The method according to Clause 86, wherein the output sensor is operatively connected to one end of the gear train of the actuator, and the motor end sensor is operatively connected to the other end of the gear train of the actuator.

[0160] 88. The method according to Clause 86, wherein the output sensor is operatively connected to one end of the lead screw of the actuator, and the motor end sensor is operatively connected to the other end of the lead screw of the actuator.

[0161] 89. The method according to any one of clauses 84 to 88, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0162] 90. The method according to any one of clauses 84 to 89, wherein the at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0163] 91. The method according to Clause 90, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0164] 92. The method according to clause 90 or 91, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0165] 93. The method according to any one of clauses 84 to 92, wherein the signal contains a command to prevent the aircraft from taking off or flying.

[0166] 94. The method according to any one of clauses 84 to 93 further includes hysteresis monitoring of the actuator.

[0167] 95. A hysteresis measurement system for an actuator in an aircraft, the actuator including a motor end and an output end, the system comprising: A first sensor, which is associated with the output terminal; A second sensor, which is associated with the motor end; At least one processor; and At least one non-transitory computer-readable medium, the at least one non-transitory computer-readable medium containing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations including: Drive the motor end of the actuator to an endpoint; Based on the first sensor and the second sensor, a first difference between the initial position of the output end and the initial position of the motor end is determined; Determine the second difference between the final position at the output end and the final position at the motor end, where The initial position and the final position of the output terminal are associated with the output terminal of the actuator, and The initial position and the final position of the motor end are associated with the motor end of the actuator; The hysteresis value of the actuator is determined by combining the first difference and the second difference; Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0168] 96. The system according to Clause 95, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

[0169] 97. The system according to Clause 95, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

[0170] 98. The system according to any one of clauses 95 to 97, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0171] 99. The system according to any one of clauses 95 to 98, wherein said at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0172] 100. The system according to Clause 99, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0173] 101. The system according to Clause 99 or 100, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0174] 102. The system according to any one of clauses 95 to 101, wherein the signal contains a command to prevent the aircraft from taking off or flying.

[0175] 103. A method for measuring the hysteresis of an actuator, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; Determine a first difference between the initial position of the output terminal and the initial position of the motor terminal, wherein the initial position of the output terminal is associated with the output terminal of the actuator, and the initial position of the motor terminal is associated with the motor terminal of the actuator; Drive the motor end of the actuator to the other end; Determine a second difference between the final position of the output terminal and the final position of the motor terminal, the final position of the output terminal being associated with the output terminal of the actuator, and the final position of the motor terminal being associated with the motor terminal of the actuator; Based on the first difference and the second difference, the hysteresis value of the actuator is determined; Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

[0176] 104. The method according to Clause 103 further includes using a first sensor associated with the output to determine the initial position and the final position of the output.

[0177] 105. The method according to Clause 104 further includes using a second sensor associated with the motor end to determine the initial position and the final position of the motor end.

[0178] 106. The method according to Clause 105, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

[0179] 107. The method according to Clause 105, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

[0180] 108. The method according to any one of clauses 103 to 107, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

[0181] 109. The method according to any one of clauses 103 to 108, wherein the at least one predetermined threshold comprises: First predetermined threshold; and A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

[0182] 110. The method according to Clause 109, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

[0183] 111. The method according to clause 109 or 110, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

[0184] 112. The method according to any one of clauses 103 to 111, wherein determining the hysteresis value comprises adding the first difference and the second difference.

[0185] 113. The method according to any one of clauses 103 to 112 further includes hysteresis monitoring of the actuator.

[0186] The features and advantages of this disclosure will be apparent from the detailed description; therefore, the appended claims cover all systems and methods falling within the true spirit and scope of this disclosure. As used herein, the indefinite articles “a” and “an” mean “one or more”. Similarly, unless the use of plural terms is explicit in the given context, it does not necessarily mean plural. Unless otherwise explicitly stated, words such as “and” or “or” mean “and / or”. Furthermore, since many modifications and variations will readily conceive of upon studying this disclosure, it is not intended to limit this disclosure to the exact structures and operations shown and described; accordingly, all suitable modifications and equivalents falling within the scope of this disclosure may be employed.

[0187] As used herein, the term "processor" refers to one or more processors. The disclosed systems may be implemented, in part or in whole, on various computers, electronic devices, computer-readable media (e.g., CDs, DVDs, flash drives, hard disk drives, or other storage devices), or other electronic or storage devices. The methods and logical flows described in this specification may be executed by one or more programmable processors that execute one or more computer programs to perform functions by manipulating input data and generating output. The processes and logical flows may also be executed by special-purpose logic circuitry, and the devices may also be implemented as special-purpose logic circuitry, such as field-programmable gate arrays (FPGAs) or application-specific integrated circuits (ASICs). While the disclosed processes contain specific process flows, alternative flows or sequences are possible in alternative embodiments.

[0188] Computer programs based on the written description and disclosed methods are within the skill level of experienced developers. Various programs or program modules can be created using any techniques known to those skilled in the art, or can be designed in conjunction with existing software. For example, program portions or modules can be designed using, or by means of, the .NET Framework, the .NET Compact Framework (and related languages ​​such as Visual Basic, C, etc.), Java, C++, Objective-C, HTML, HTML / AJAX combinations, XML, or HTML containing Java applets.

[0189] Other embodiments will become apparent to those skilled in the art upon consideration of the description and practice of the embodiments disclosed herein. The architectures and circuit arrangements shown in the accompanying drawings are for illustrative purposes only and are not intended to limit the scope to the specific arrangements described and shown in the drawings. The description and examples are also intended to be illustrative only, and the true scope and spirit of the invention are indicated by the appended claims. The above description is for illustrative purposes only. The description is not exhaustive and does not limit the invention to the specific forms or embodiments disclosed. Modifications and variations of the invention will become apparent to those skilled in the art upon consideration of the description and practice of the disclosed embodiments of the invention herein. The sequence of steps shown in the figures is also for illustrative purposes only and is not intended to limit the invention to any particular sequence. Therefore, those skilled in the art will understand that these steps may be performed in a different order when implementing the same method.

Claims

1. A method for measuring the hysteresis of an actuator in an aircraft, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a sensor; Determine a first difference between the initial position value of the output terminal and the initial position value of the motor terminal, wherein the initial position value of the motor terminal is associated with the motor terminal of the actuator; Drive the motor end of the actuator to the other end; Use the sensor or another sensor to determine the final position value of the output terminal associated with the output terminal of the actuator; Determine a second difference between the final position value of the output terminal and the final position value of the motor terminal, wherein the final position value of the motor terminal is associated with the motor terminal of the actuator; The hysteresis value of the actuator is determined by combining the first difference and the second difference; Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; as well as A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

2. The method of claim 1, wherein combining the first difference and the second difference comprises adding the first difference and the second difference.

3. The method according to claim 1 or 2, wherein the sensor is an output sensor, and the method further comprises: using a motor-end sensor to determine the initial position value of the motor end and the final position value of the motor end.

4. The method of claim 3, wherein the output sensor is operatively connected to one end of the gear train of the actuator, and the motor end sensor is operatively connected to the other end of the gear train of the actuator.

5. The method of claim 3, wherein the output sensor is operatively connected to one end of the lead screw of the actuator, and the motor end sensor is operatively connected to the other end of the lead screw of the actuator.

6. The method according to any one of claims 1 to 5, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

7. The method according to any one of claims 1 to 6, wherein the at least one predetermined threshold comprises: First predetermined threshold; as well as A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

8. The method of claim 7, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

9. The method of claim 7 or 8, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

10. The method according to any one of claims 1 to 9, wherein the signal comprises a command to prevent the aircraft from taking off or flying.

11. The method according to any one of claims 1 to 10, further comprising hysteresis monitoring of the actuator.

12. A system for measuring the hysteresis of an actuator in an aircraft, the actuator including a motor end and an output end, the system comprising: A first sensor, which is associated with the output terminal; A second sensor, which is associated with the motor end; At least one processor; as well as At least one computer-readable medium containing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations including: Drive the motor end of the actuator to an endpoint; Based on the first sensor and the second sensor, a first difference between the initial position of the output end and the initial position of the motor end is determined; Determine the second difference between the final position at the output end and the final position at the motor end, where, The initial position and the final position of the output terminal are associated with the output terminal of the actuator, and The initial position and the final position of the motor end are associated with the motor end of the actuator; The hysteresis value of the actuator is determined by combining the first difference and the second difference; Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; and A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

13. The system of claim 12, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

14. The system of claim 12, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

15. The system according to any one of claims 12 to 14, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

16. The system according to any one of claims 12 to 15, wherein the at least one predetermined threshold comprises: First predetermined threshold; as well as A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

17. The system of claim 16, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

18. The system of claim 16, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

19. The system according to any one of claims 12 to 18, wherein the signal comprises a command to prevent the aircraft from taking off or flying.

20. A method for measuring the hysteresis of an actuator, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; Determine a first difference between the initial position of the output terminal and the initial position of the motor terminal, wherein the initial position of the output terminal is associated with the output terminal of the actuator, and the initial position of the motor terminal is associated with the motor terminal of the actuator; Drive the motor end of the actuator to the other end; Determine a second difference between the final position of the output terminal and the final position of the motor terminal, the final position of the output terminal being associated with the output terminal of the actuator, and the final position of the motor terminal being associated with the motor terminal of the actuator; Based on the first difference and the second difference, the hysteresis value of the actuator is determined; Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; as well as A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

21. The method of claim 20, further comprising using a first sensor associated with the output terminal to determine the initial position and the final position of the output terminal.

22. The method of claim 21, further comprising using a second sensor associated with the motor end to determine the initial position and the final position of the motor end.

23. The method of claim 22, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

24. The method of claim 22, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

25. The method according to any one of claims 20 to 24, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

26. The method according to any one of claims 20 to 25, wherein the at least one predetermined threshold comprises: First predetermined threshold; as well as A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

27. The method of claim 26, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

28. The method of claim 26 or 27, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

29. The method of any one of claims 20 to 28, wherein determining the hysteresis value comprises adding the first difference and the second difference.

30. The method according to any one of claims 20 to 29, further comprising hysteresis monitoring of the actuator.

31. A method for measuring and monitoring the hysteresis of an actuator in an aircraft, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; The initial position value of the motor end associated with the motor end of the actuator is measured using a first sensor; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a second sensor; Drive the motor end of the actuator to the other end; The first sensor is used to measure the final position value of the motor end associated with the motor end of the actuator; The second sensor is used to measure the final position value of the output terminal associated with the output terminal of the actuator; The hysteresis value of the actuator is determined based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end. Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; as well as A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

32. The method of claim 31, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

33. The method of claim 31, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

34. The method according to any one of claims 31 to 33, wherein determining the hysteresis value comprises: The first difference is determined by subtracting the initial position value of the motor from the initial position value of the output terminal; The second difference is determined by subtracting the final position value of the motor from the final position value of the output terminal; as well as The hysteresis value is determined by combining the first difference and the second difference.

35. The method according to any one of claims 31 to 34, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

36. The method according to any one of claims 31 to 35, wherein the at least one predetermined threshold comprises: First predetermined threshold; as well as A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

37. The method of claim 36, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

38. The method of claim 36 or 37, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

39. The method according to any one of claims 31 to 38, wherein the signal comprises a command to prevent the aircraft from taking off or flying.

40. A system for measuring and monitoring the hysteresis of an actuator in an aircraft, the actuator comprising a motor end and an output end, the system comprising: At least one processor; as well as At least one computer-readable medium containing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations including: Drive the motor end of the actuator to an endpoint; The initial position value of the motor end associated with the motor end of the actuator is measured using a first sensor; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a second sensor; Drive the motor end of the actuator to the other end; The first sensor is used to measure the final position value of the motor end associated with the motor end of the actuator; The second sensor is used to measure the final position value of the output terminal associated with the output terminal of the actuator; The hysteresis value of the actuator is determined based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end. Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; as well as A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

41. The system of claim 40, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

42. The system of claim 40, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

43. The system according to any one of claims 40 to 42, wherein determining the hysteresis value comprises: The first difference is determined by subtracting the initial position value of the motor from the initial position value of the output terminal; The second difference is determined by subtracting the final position value of the motor from the final position value of the output terminal; as well as The hysteresis value is determined by combining the first difference and the second difference.

44. The system according to any one of claims 40 to 43, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

45. The system according to any one of claims 40 to 44, wherein the at least one predetermined threshold comprises: First predetermined threshold; as well as A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

46. ​​The system of claim 45, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

47. The system of claim 45 or 46, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

48. The system according to any one of claims 40 to 47, wherein the signal comprises a command to prevent the aircraft from taking off or flying.

49. A method for measuring and monitoring the hysteresis of an actuator, the actuator comprising a motor end and an output end, the method comprising: Drive the motor end of the actuator to an endpoint; The initial position value of the motor end associated with the motor end of the actuator is measured using a first sensor; The initial position value of the output terminal associated with the output terminal of the actuator is measured using a second sensor; Drive the motor end of the actuator to the other end; The first sensor is used to measure the final position value of the motor end associated with the motor end of the actuator; The second sensor is used to measure the final position value of the output terminal associated with the output terminal of the actuator; The hysteresis value of the actuator is determined based at least on the initial position value of the motor end, the initial position value of the output end, the final position value of the motor end, and the final position value of the output end. Generate the hysteresis value and compare it with at least one predetermined threshold; A signal is generated based on the comparison; as well as A notification is displayed on a display device based on the signal, the notification indicating the operating status of the actuator.

50. The method of claim 49, wherein determining the hysteresis value comprises: The first difference is determined by subtracting the initial position value of the motor from the initial position value of the output terminal; The second difference is determined by subtracting the final position value of the motor from the final position value of the output terminal; as well as The hysteresis value is determined by combining the first difference and the second difference.

51. The method of claim 49 or 50, wherein the first sensor is operatively connected to one end of the gear train of the actuator, and the second sensor is operatively connected to the other end of the gear train of the actuator.

52. The method of claim 49 or 50, wherein the first sensor is operatively connected to one end of the lead screw of the actuator, and the second sensor is operatively connected to the other end of the lead screw of the actuator.

53. The method according to any one of claims 49 to 52, wherein the at least one predetermined threshold is determined based on at least one of historical data or model simulation.

54. The method according to any one of claims 49 to 53, wherein the at least one predetermined threshold comprises: First predetermined threshold; as well as A second predetermined threshold, wherein the second predetermined threshold is greater than the first predetermined threshold.

55. The method of claim 54, wherein the first predetermined threshold is associated with an operating condition indicating that the actuator is available.

56. The method of claim 54 or 55, wherein the second predetermined threshold is associated with an operating condition indicating that the actuator is unavailable.

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