Method for determining, controlling and / or monitoring a load of a propulsion system and / or actuator of an aircraft

Abstract

The present invention relates to a method for determining, controlling and / or monitoring a load of a propulsion and / or actuator of an aircraft, wherein the method comprises the following steps: - Determining, controlling and / or monitoring the load using a state variable of the drive and a parameter of the drive.

Description

[0001] The present invention relates to a method for determining, controlling and / or monitoring a load of a drive and / or actuator of an aircraft.

[0002] The trend toward electrification of components, functions, and / or actuators in aviation, particularly through the use of linear or rotary electromechanical actuators, continues to advance. The benefits of electrification can be realized, among other things, through more efficient and optimized control.

[0003] Due to the increased development and use of electrically operated actuators, the wide variety of technical applications, the increased service life requirements and the latest safety requirements for components, this also results in new requirements for the control, safety and monitoring concepts for future electromechanical or electrohydraulic actuators.

[0004] Future applications within electric flight place new demands on components. Criteria such as installation space, volume, weight, availability, testability, and safe flight are the challenges.

[0005] Due to the constantly increasing availability and service life requirements for actuators, for example, the more complex applications and control loop requirements as well as the new official safety regulations, such as regular function monitoring through "integrity checks", new requirements arise for the control of applications, such as electromechanical or electrohydraulic actuators.

[0006] The optimization or electrification of actuators in simultaneous continuous operation (permanently active) requires adapted and improved control and monitoring of electromechanical and electrohydraulic actuators.

[0007] Against this background, the present invention is based on the object of improving the above-mentioned method from the prior art, in particular with regard to continuous operation.

[0008] This object is achieved by the method having the features of independent claim 1. Advantageous developments of the invention are the subject of the dependent claims.

[0009] Accordingly, the invention provides that the method comprises the following steps: - Determining, controlling and / or monitoring the load using a state variable of the drive and a parameter of the drive.

[0010] The term "load" is preferably to be understood broadly within the scope of this invention and preferably includes a force and / or a torque. The method can generally be applied to rotary and linear electrically controlled actuators. The load can comprise one or more load components, such as a dynamic load, a drive current-related load, a stiffness-related load, and / or a load sensor-determined load component.

[0011] Preferably, the load acts on the drive and / or the actuator and / or acts through the drive and / or the actuator on a component or the aircraft.

[0012] The term “determining” is preferably to be understood broadly within the scope of this invention and preferably includes measuring, determining and / or calculating or the like.

[0013] The term monitoring is preferably to be understood broadly within the scope of this invention and preferably includes checking, testing and / or observing or the like.

[0014] It is preferably provided that the state variable is or comprises an internal state variable and / or an electrical and / or geometric variable and / or that the parameter is a drive-specific parameter and / or depends on the state variable and / or is or comprises a characteristic value and / or characteristic map.

[0015] Preferably, the drive comprises an electric motor or a motor and / or an electric machine or consists of an electric motor or a motor or an electric machine.

[0016] The drive is preferably a component of an actuator and / or drives the actuator.

[0017] Preferably, the drive and / or actuator are permanently energized in an operating state. Preferably, load and / or position control of the drive and / or actuator is optimized. Preferably, the load of the drive and / or actuator is measured, controlled, and / or monitored.

[0018] Preferably, the load is determined, particularly when the drive is at a standstill, by means of a sum of the product of a drive load parameter, which preferably has a dependency on a drive current, and a drive current and a constant, which preferably is or includes a breakaway load of the drive and / or the actuator. This preferably determines a drive current-dependent load or load component.

[0019] Preferably, the load is determined by means of a position difference between a position of the drive and a position of an actuator driven by the drive.

[0020] Preferably, the load is determined using a product of a drive and / or actuator stiffness and a sum of the position difference and a drive and / or actuator play, which is preferably determined continuously. This preferably results in the determination of a stiffness-related load or load component.

[0021] It is preferably provided that the resulting drive and / or actuator load is determined from a combination, preferably by means of forming an average value, a weighted function, an observer model, in particular a Kalman filter, from a sum of the product of a drive load parameter, which preferably has a dependence on a current of the drive and a current of the drive and a constant, which is preferably a breakaway load of the drive and / or the actuator or comprises it, and a product of a drive and / or actuator stiffness and a sum of the position difference and a drive and / or actuator play, which is preferably determined continuously.

[0022] Preferably, the load is determined by means of a difference between a resulting drive and / or actuator load and a product of an acceleration of the drive and / or actuator, which is preferably determined via a drive position sensor and / or an actuator position sensor, and a mass inertia of the drive and / or actuator. This preferably results in the determination of a dynamic load or load component.

[0023] Preferably, it is provided that a resulting drive and / or actuator load is used to monitor the integrity of a load sensor.

[0024] It is preferably provided that in the event of a failure of a load signal, in particular a load signal of a load which is determined by means of a sum of the product of a drive load parameter, which preferably has a dependency on a current of the drive and a current of the drive and a constant, which is preferably a breakaway load of the drive and / or the actuator, and / or by means of a product of a drive and / or actuator stiffness and a sum of the position difference and a drive and / or actuator play, which is preferably determined continuously and / or is or was determined by means of a load sensor, and / or of several load signals, safe emergency operation of the drive takes place by means of one or more of the load signals which have not failed.

[0025] It is preferably provided that the load is controlled by means of a resulting drive and / or actuator load, wherein preferably no load sensor is used.

[0026] It is preferably provided that the monitoring of the load is carried out by means of a comparison of a load signal, which was preferably determined by means of a characteristic map, and an individual evaluation of a sensor data item.

[0027] It is preferably provided that the monitoring of the load is carried out by means of a comparison of a load signal, which was preferably determined by means of a characteristic curve as a function of a time and / or a cumulative movement, and a further load signal, wherein the condition and / or the service life of the drive and / or an actuator is preferably determined.

[0028] Preferably, the load is monitored by means of a variation of temporal components of a characteristic map, whereby a correlation of values ​​takes place, whereby an adaptive lifetime condition monitoring takes place.

[0029] The invention also relates to a system for determining, controlling and / or monitoring a load acting on a drive and / or actuator of an aircraft, wherein the system has a drive and / or an actuator and a controller, wherein the controller is designed to carry out a method according to the invention, in particular to determine, control and / or monitor a load acting on the drive and / or actuator by means of an internal state variable of the drive and a parameter of the drive.

[0030] Preferably, it is provided that the drive is a component of an electromechanical or electrohydraulic actuator and / or drives an electromechanical or electrohydraulic actuator and / or that the system comprises a drive position sensor, a current measuring device, an actuator position sensor and / or one or no load sensor.

[0031] The invention also relates to an aircraft, in particular an airplane with a system according to the invention.

[0032] The method preferably comprises a control concept for permanently or intermittently active electromechanical and / or electrohydraulic actuators, which in particular comprises a service life-optimized control and / or an independent, in particular load, function monitoring, such as an "integrity check" and / or a "plausibility check" with preferably minimal sensor expenditure.

[0033] Advantageously, independent load monitoring can be enabled, which can be used for regular, safety-relevant integrity and / or plausibility checks.

[0034] Advantageously, indirect load determination or measurement or load control can be made possible without a specific load sensor.

[0035] Load determination, measurement or load monitoring can be used advantageously for health or condition monitoring.

[0036] Preferably, intelligent and safe load control of the drive and / or actuator is implemented. Optimized control with minimal sensor technology is preferred, as well as regular functional safety and monitoring checks, e.g., in the form of integrity and / or plausibility checks.

[0037] Preferably, load measurement and / or load monitoring is carried out by means of actuator stiffness, evaluation of the actuator position, the drive or motor current and the drive or motor position, preferably supported by calibration and / or measurement data, in particular for independent load monitoring for a “plausibility” and / or “integrity check”, for indirect load measurement and / or control without a specific load sensor and / or for using the determined data for health monitoring.

[0038] It should be noted here that the terms "a" and "an" do not necessarily refer to exactly one of the elements, although this represents a possible embodiment, but can also refer to a plurality of the elements. Likewise, the use of the plural also includes the presence of the element in question in the singular, and conversely, the singular also encompasses several of the elements in question. Furthermore, all features of the invention described herein can be combined with one another as desired or claimed in isolation from one another.

[0039] Further advantages, features, and effects of the present invention will become apparent from the following description of preferred embodiments with reference to the figures, in which identical or similar components are designated by the same reference numerals. Herein: Fig. 1: a schematic sketch of an embodiment of a system according to the invention. Fig. 2: a block diagram of a controller structure of an embodiment of a system according to the invention. Fig. 3-5: each a block diagram of an embodiment of a system according to the invention. Fig. 6: a block diagram of a load estimator.

[0040] In Fig. Figure 1 shows a drive in the form of a motor M with a drive position sensor R. The motor M is supplied with electrical current I. The current I is measured using a current measuring device.

[0041] The motor M drives a linear and / or rotary actuator A.

[0042] The actuator A has an actuator position sensor P for determining an actuator position and a load sensor L for determining a load acting on the actuator A.

[0043] The linear and / or rotary electromechanical actuator A in specific permanently controlled flight control applications, e.g. for spoilers, can be controlled by means of superimposed control loops.

[0044] Such a control circuit for load and position control is in Fig. 2 shown.

[0045] The flight control computer (FCC) specifies a position for a position controller (PR) for an electromechanical actuator (EMA). The position controller (PR) specifies a speed for a speed controller (nR). The speed controller (nR) specifies a current for a current controller (IR). The current from the current controller (IR) is used to power the EMA.

[0046] The EMA returns a speed, a position and a load.

[0047] The load is compared with a value from the flight control computer (FCC) via an I / O / Limit unit (I / O / Limit). The I / O / Limit unit (I / O / Limit) influences the position controller (PR).

[0048] The returned speed and position influence the speed controller nR and the position controller PR respectively.

[0049] This results in superimposed control loops for the position, speed, current and load of actuator A.

[0050] Current measuring devices such as drive or motor current sensors, drive or motor position sensors, and load sensors are preferably used to control the electromechanical or electrohydraulic actuator A. Preferably, a load sensor can be omitted.

[0051] In Fig. Figure 3 shows a dynamic control system with load sensor evaluation, the functioning of which can be described as follows.

[0052] A drive current-related load or load component F_i is determined from the current I using a characteristic value, a characteristic curve and / or a characteristic map.

[0053] A stiffness-related load or load component F_pd is determined from a signal of an actuator position sensor P and from a signal of a drive position sensor R by means of a characteristic value, a characteristic curve and / or a characteristic map.

[0054] The two mentioned parameters, characteristic curves and / or characteristic maps influence each other.

[0055] A dynamic load or load component F_a is determined in a calculation block Acc from the signal of an actuator position sensor P and from the signal of a drive position sensor R.

[0056] The drive current-related load or load component F_i and the stiffness-related load or load component F_pd are transmitted to a block for drive or motor current calculation (1) and alternatively to a block for monitoring or "force integrity" and / or "plausibility check" and / or "voter" (3), wherein the alternative transmission of the drive current-related load or load component F_i and the stiffness-related load or load component F_pd to the block for monitoring or "force integrity" and / or "plausibility check" and / or "voter" (3) is carried out for redundancy purposes.

[0057] The dynamic load or load component F_a is transmitted to a block for acceleration calculation (2) and to the block for monitoring or “force integrity” and / or “plausibility check” and / or “voter” (3).

[0058] The block for drive or motor current calculation (1) determines a resulting drive and / or actuator load F_r from the drive current-related load or load component F_i and the stiffness-related load or load component F_pd.

[0059] The acceleration calculation block (2) determines a dynamic load or load component F_a from the resulting drive and / or actuator load F_r and the dynamic load or load component F_a.

[0060] The dynamic load or load component F_a determined by the acceleration calculation block (2) is transmitted to the monitoring or “force integrity” and / or “plausibility check” and / or “voter” block (3).

[0061] A signal from a load sensor L is transmitted to the block for monitoring or “Force Integrity” and / or “Plausibility Check” and / or “Voter” (3).

[0062] From the data and / or signals transmitted to the block for monitoring or “Force Integrity” and / or “Plausibility Check” and / or “Voter” (3), the block for monitoring or “Force Integrity” and / or “Plausibility Check” and / or “Voter” (3) determines a load F.

[0063] In Fig. Figure 4 shows a dynamic control without load sensor evaluation, the functioning of which can be described as follows.

[0064] A drive current-related load or load component F_i is determined from the current I using a characteristic value, a characteristic curve and / or a characteristic map.

[0065] A stiffness-related load or load component F_pd is determined from a signal of an actuator position sensor P and from a signal of a drive position sensor R by means of a characteristic value, a characteristic curve and / or a characteristic map.

[0066] The two mentioned parameters, characteristic curves and / or characteristic maps influence each other.

[0067] A dynamic load or load component F_a is determined in a calculation block Acc from the signal of an actuator position sensor P and from the signal of a drive position sensor R.

[0068] The drive current-related load or load component F_i and the stiffness-related load or load component F_pd are transmitted to a block for drive or motor current calculation (1).

[0069] The block for drive or motor current calculation (1) determines a resulting drive and / or actuator load F_r from the drive current-related load or load component F_i and the stiffness-related load or load component F_pd.

[0070] The resulting drive and / or actuator load F_r and the dynamic load or load component F_a are transmitted to an acceleration calculation block (2), from which a load F is determined.

[0071] In Fig. Figure 5 shows a static control system with load sensor evaluation, the functioning of which can be described as follows.

[0072] A drive current-related load or load component F_i is determined from the current I using a characteristic value, a characteristic curve and / or a characteristic map.

[0073] A stiffness-related load or load component F_pd is determined from a signal of an actuator position sensor P and from a signal of a drive position sensor R by means of a characteristic value, a characteristic curve and / or a characteristic map.

[0074] The two mentioned parameters, characteristic curves and / or characteristic maps influence each other.

[0075] The drive current-related load or load component F_i and the stiffness-related load or load component F_pd are transmitted to a block for drive or motor current calculation (1) and alternatively to a block for monitoring or "force integrity" and / or "plausibility check" and / or "voter" (3), wherein the alternative transmission of the drive current-related load or load component F_i and the stiffness-related load or load component F_pd to the block for monitoring or "force integrity" and / or "plausibility check" and / or "voter" (3) is carried out for redundancy purposes.

[0076] The block for drive or motor current calculation (1) determines a resulting drive and / or actuator load F_r from the drive current-related load or load component F_i and the stiffness-related load or load component F_pd.

[0077] The resulting drive and / or actuator load F_r is transmitted to the block for monitoring or “Force Integrity” and / or “Plausibility Check” and / or “Voter” (3).

[0078] A signal from a load sensor L is transmitted to the block for monitoring or “Force Integrity” and / or “Plausibility Check” and / or “Voter” (3).

[0079] From the data and / or signals transmitted to the block for monitoring or “Force Integrity” and / or “Plausibility Check” and / or “Voter” (3), the block for monitoring or “Force Integrity” and / or “Plausibility Check” and / or “Voter” (3) determines a load F.

[0080] The connections in the Fig. 3 to 5 will be apparent to the person skilled in the art by means of the reference numerals and the illustration in the Fig. 3 to 5 also alternatively or additionally clearly and directly from the respective figures.

[0081] In Fig. Figure 6 illustrates how a load F can be determined or estimated from a position difference pd using an algorithm. The load F is determined or estimated from the position difference pd using several logic gates, taking into account the stiffness of the drive and / or actuator.

[0082] The functionality of the load estimator from Fig. 6 can also be clearly and directly understood by the person skilled in the art, alternatively or additionally, from the block diagram.

[0083] If the total angle of the drive or motor shaft relative to the actuator shaft is greater than + / -180 ° mot due to stiffness and play, e.g. the position difference pd, other sensor parameters such as the drive or motor current are preferably taken into account.

[0084] Preferably, the electromechanical actuator comprises a drive or a motor M, an actuator A, a drive position sensor R, a current measuring device and / or an actuator position sensor P.

[0085] Preferably, load measurement is carried out from the internal state variables as well as drive and / or actuator-specific parameters.

[0086] The drive current-related load or load component F_i is preferably determined, in particular at standstill, via the current I using the following formula: “F_i = k_i * I + c_i”, where k_i and c_i are preferably characteristic parameters.

[0087] The load is preferably determined via the position difference dp between the drive or motor position and the actuator position, using in particular the following formula: “F_pd = k_s * (dp + c_bl)”.

[0088] c_bl denotes the actuator play or backlash of the actuator, which is preferably determined continuously.

[0089] k_i, k_s, c_bl, and / or c_i can also denote or be characteristic maps. These characteristic maps can be stored as a function of the state variables and determined by calibration and / or stored as a characteristic curve as a function of time or cumulative movement.

[0090] c_i may be or include a value determined according to document US 11,211,895 B2.

[0091] A resulting actuator force F_r is preferably determined from the two force signals F_i and F_pd. This is preferably done using a mean value, a weighted function, and / or an observer model, such as a Kalman filter.

[0092] The dynamic load or load component F_a is preferably determined taking into account the mass inertia J, preferably using the following formula: "F_a = F_r - a * J", in particular where a is an acceleration and J is a characteristic parameter. The acceleration a can be determined via the actuator position sensors P and / or the drive position sensors R.

[0093] The resulting drive and / or actuator load F_r or a resulting actuator force signal can be used to monitor the integrity of a load sensor L.

[0094] In case of failure of one of the three force signals F_i, F_pd or F_L, safe emergency operation can be achieved via the two remaining force quantities, in particular by “voting”.

[0095] The resulting drive and / or actuator load F_r or a resulting actuator force signal can be used for force control purposes and / or a load sensor L can be omitted.

[0096] Preferably, lifetime monitoring can be carried out by means of an individual evaluation of sensor data, in particular by means of a comparison of sensor data, in particular by means of a comparison of one or more force signals, which in particular have a characteristic map.

[0097] Preferably, a characteristic curve can be stored as a function of time or cumulative movement.

[0098] Preferably, the condition or service life of the actuator can be monitored by comparing a force signal, which has a characteristic curve as a function of time and / or the cumulative movement, with another force signal.

[0099] Preferably, by varying one or more of the temporal components in the characteristic map, a correlation of the values ​​can be achieved and thus an adaptive lifetime condition monitoring can be carried out. List of reference symbols: c_i Breakaway force or load of the actuator c_bl Backlash of the actuator or actuator play k_s actuator stiffness k_i drive load parameters, especially depending on the drive or motor current F_a dynamic load or load component F_i drive current-related load or load component F_pd stiffness-related load or load component For resulting drive and / or actuator load F_L load or load component determined by a load sensor J Mass inertia of the drive and / or actuator 1 block for drive or motor current calculation 2 Block for acceleration calculation 3 Block for monitoring or “Force Integrity” and / or “Plausibility Check” and / or “Voter” Acc calculation block M engine R Drive position sensor A actuator P Actuator position sensor L Load sensor I Current FCC flight control computer PR position controller EMA electromechanical actuator nR speed controller IR current controller I / O / Limit I / O / Limit unit pd position difference a acceleration F Load QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 11,211,895 B2

[0090]

Claims

[1] Method for determining, controlling and / or monitoring a load of a drive and / or actuator of an aircraft, characterized by that the procedure includes the following steps: - Determining, controlling and / or monitoring the load using a state variable of the drive and a parameter of the drive. [2] Method according to claim 1, characterized by that the determination of the load, in particular when the drive is at a standstill, is carried out by means of a sum of the product of a drive load parameter, which preferably has a dependence on a current of the drive and a current of the drive and a constant, which preferably is or comprises a breakaway load of the drive and / or the actuator. [3] Method according to claim 1 or 2, characterized by that the load is determined by means of a position difference between a position of the drive and a position of an actuator driven by the drive. [4] Method according to claim 3, characterized by that the load is determined by means of a product of a drive and / or actuator stiffness and a sum of the position difference and a drive and / or actuator play, which is preferably determined continuously. [5] Method according to one of the preceding claims, characterized bythat the resulting drive and / or actuator load is determined from a combination, preferably by means of forming an average value, a weighted function, an observer model, in particular a Kalman filter, from a sum of the product of a drive load parameter, which preferably has a dependence on a current of the drive and a current of the drive and a constant, which is preferably or comprises a breakaway load of the drive and / or the actuator and a product of a drive and / or actuator stiffness and a sum of the position difference and a drive and / or actuator play, which is preferably determined continuously. [6] Method according to one of the preceding claims, characterized bythat the load is determined by means of a difference between a resulting drive and / or actuator load and a product of an acceleration of the drive and / or actuator, which is preferably determined via a drive position sensor and / or an actuator position sensor, and a mass inertia of the drive and / or actuator. [7] Method according to one of the preceding claims, characterized by that a resulting drive and / or actuator load is used to monitor the integrity of a load sensor. [8] Method according to one of the preceding claims, characterized bythat in the event of a failure of a load signal, in particular a load signal of a load which, by means of a sum of the product of a drive load parameter, which preferably has a dependency on a current of the drive and a current of the drive and a constant, which is preferably or comprises a breakaway load of the drive and / or the actuator, by means of a product of a drive and / or actuator stiffness and a sum of the position difference and a drive and / or actuator play, which is preferably determined continuously and / or is or was determined by means of a load sensor, of several load signals, safe emergency operation of the drive takes place by means of one or more of the load signals which have not failed. [9] Method according to one of the preceding claims, characterized by that the load is controlled by means of a resulting drive and / or actuator load, preferably without using a load sensor. [10] Method according to one of the preceding claims, characterized by that the load is monitored by comparing a load signal, which was preferably determined by means of a characteristic map, and an individual evaluation of a sensor data item. [11] Method according to one of the preceding claims, characterized by that the monitoring of the load is carried out by means of a comparison of a load signal, which was preferably determined by means of a characteristic curve as a function of a time and / or a cumulative movement, and a further load signal, wherein the condition and / or the service life of the drive and / or an actuator is preferably determined. [12] Method according to one of the preceding claims, characterized by that the load is monitored by means of a variation of temporal components of a characteristic map, whereby a correlation of values ​​takes place, whereby an adaptive lifetime condition monitoring takes place. [13] System for determining, controlling and / or monitoring a load acting on a drive and / or actuator of an aircraft, the system comprising a drive and / or an actuator and a controller, characterized by that the control is designed to carry out a method according to one of the preceding claims, in particular to determine, regulate and / or monitor a load acting on the drive and / or actuator by means of an internal state variable of the drive and a parameter of the drive. [14] System according to claim 13, characterized by that the drive is part of an electromechanical or electrohydraulic actuator and / or drives an electromechanical or electrohydraulic actuator and / or that the system comprises a drive position sensor, a current measuring device, an actuator position sensor and / or one or no load sensor. [15] Aircraft, in particular an airplane, with a system according to one of claims 13 or 14.

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