SYSTEM FOR TRANSMITTING CONTROL COMMANDS TO A HYDRAULIC SERVO ACTUATOR

Description

DOMAINE TECHNIQUE DE L'INVENTION

[0001] The technical field of the invention is that of aircraft flight controls.

[0002] The present invention relates to a system for transmitting control to a hydraulic servo actuator. ARRIERE-PLAN TECHNOLOGIQUE DE L'INVENTION

[0003] In the aeronautical field, the flight controls of an aircraft and in particular of a helicopter allow a pilot to control and modify the trajectory of the helicopter around the three axes: pitch, roll and yaw. In particular, the primary flight controls of a helicopter are essential to ensure a safe flight and comprise three types of systems: a control transmitter system such as rudder control pedals, a collective pitch lever and / or a throttle control and a cyclic stick, control receiver systems such as a main rotor (blades) and an anti-torque rotor and finally control transmission systems between the transmitter and receiver systems, the transmission systems being able to be mechanical and hydromechanical.

[0004] Mechanical transmissions, which appeared in early aircraft, consist of cables on pulleys and / or rods, allowing the pilot to directly exert his force on control receiver systems, such as the rotors in a helicopter. Since mechanical transmissions are more complex to set up and use in heavy and large aircraft, they have been replaced by hydromechanical transmissions and are currently only used in light aircraft.

[0005] A hydromechanical transmission consists of two circuits: a mechanical circuit, for example, comprising cables and pulleys, connecting the cockpit controls to a hydraulic circuit. The hydraulic circuit comprises hydraulic pumps, reservoirs, pipes, valves / servovalves, and hydraulic actuators. The pilot issues a command by acting on the controls in the cockpit, which are transmitted by the mechanical circuit to the hydraulic circuit, which operates the hydraulic actuators used to move the main rotor and the tail rotor. Hydromechanical transmissions are widely used in helicopters, however, some helicopters with electric transmissions have been developed.

[0006] Unlike in airplanes, fly-by-wire systems, which include electrical, electronic, and computer transmission systems, are still rarely used in helicopters. In an airplane, electrical, electronic, and computer transmission systems transmit flight commands from a flight control computer (FCC) to hydraulic actuators that move the aircraft's control surfaces.

[0007] The use of a Fly-By-Wire architecture is advantageous in aircraft because the mechanical transmissions between the controls operated by the pilot and the control surfaces of an aircraft are replaced by electrical transmissions, which reduces the physical effort exerted by the pilot. In addition, the Fly-By-Wire architecture is advantageous compared to the mechanical and hydromechanical architectures mentioned above because the Fly-by-Wire architecture is easy to install and implement and allows for additional functions. Such an architecture is known, for example, from document EP 3213990 A1.

[0008] Thus, in a helicopter, an electric transmission system allows the rotors to be controlled by the flight control computer (FCC), which has full authority and determines their movement using the speed, position, altitude, etc., of the helicopter via hydraulic actuators.

[0009] However, the use of current electronic flight controls includes a major disadvantage: a failure of the flight control computer and / or the system of electrical transmission of the flight controls to the hydraulic actuators can lead to the loss of ability to control at least one axis of the helicopter, which results in the alteration of the aircraft.

[0010] There is therefore a need to find a flight control architecture that eliminates mechanical connections between the controls and the hydraulic actuators and guarantees high availability of the flight controls, in order to avoid alteration of the piloted aircraft, allowing the current architecture of the hydraulic actuators to be retained. In addition, the size of a helicopter requires a space-saving electric flight control architecture. RESUME DE L'INVENTION

[0011] The invention provides a solution to the problems mentioned above, by making it possible to transmit electrical commands issued by a flight control computer to at least one hydraulic actuator, thanks to an electromechanical architecture offering high availability of the flight controls, while respecting a restricted footprint.

[0012] A first aspect of the invention relates to a system for transmitting control to at least one hydraulic servo actuator comprising: At least one mechanical system comprising: ∘ a rotary electric actuator comprising a first channel comprising a motor, and a second channel comprising a motor; ∘ a linear electric actuator comprising a third channel comprising a motor, the linear electric actuator being connected to the rotary electric actuator by a first mechanical connection and being configured to be connected to the hydraulic servo actuator by a second mechanical connection; A control system comprising: ∘ a first control device connected by an electrical connection to the first channel of the rotary electric actuator of said mechanical system, ∘ a second control device connected by an electrical connection to the second channel of the rotary electric actuator of said mechanical system, ∘ a third control device connected by an electrical connection to the channel of the linear electric actuator.

[0013] Thanks to the invention, it is possible to do away with entirely mechanical circuits between the cockpit controls and the hydraulic servo-actuators of a helicopter, which makes it possible to limit the forces exerted by a pilot in the cockpit. The invention also makes it possible to retain the servo-actuators currently used in helicopters, thereby reducing production costs. In addition, the presence of three channels advantageously makes it possible to guarantee availability of the controls in the event of a channel failure.

[0014] According to one embodiment, the control system is configured to operate according to at least one of the following operating modes: so-called nominal operating mode according to which: ∘ the first control device is in an operational validity state, and is configured to: receive data via the first channel, the data relating to operating parameters of said first channel; transmit to a computer the data relating to the received operating parameters; receive a command sent by the computer to the engine of the first channel; send the command to the engine of the first channel; the second device is in a standby validity state and is configured to: receive data via the second channel, the data relating to operating parameters of said second channel; send the data relating to the received operating parameters to the computer;the third control device is in an operationally valid state and is configured to: receive data via the third channel, the data relating to operating parameters of said third channel; transmit to the computer the data relating to the received operating parameters; receive a command transmitted by the computer to the engine of the third channel, simultaneously with the reception of the command by the first control device, transmit the command to the engine of the third channel;So-called failure mode of the first control device according to which: ∘ the first control device is in a non-operating validity state, ∘ the control device is configured to change from a standby validity state to an operational validity state, the change of state of the second control device resulting from the non-operating validity state of the first control device, and is configured to: receive data via the second channel, the data relating to operating parameters of said second channel; transmit to the computer the first data relating to the received operating parameters; receive by the computer a command to be transmitted to the engine of the second channel; transmit the command to the engine of the second channel;∘ the third control device is in an operationally valid state and is configured to: receive data via the third channel, the second data relating to operating parameters of said third channel; transmit to the computer the data relating to the received operating parameters; receive by the computer, at the same time as the second control device, a command to be sent to the third channel engine; send the command to the third channel engine; So-called failure mode of the third control device according to which: ∘ the first control device is in an operationally valid state, and is configured to: receive data via the first channel, the data relating to operating parameters of said first channel; transmit to the computer the data relating to the received operating parameters; receive by the computer at least one command to be sent to the first channel engine;transmit the command to the motor of the first channel ∘ the second device is in a valid standby state and is configured to: receive at least one piece of data via the second channel, the data relating to operating parameters of said channel; transmit to the computer the data relating to the received operating parameters; ∘ the third control device is in a non-operating state. ;

[0015] For each operating mode, the sum of each command received respectively by the first channel motor or the second channel motor and / or the third channel motor ensures the mechanical control of the hydraulic servo actuator.

[0016] The operational validity state of a control device is understood to mean a state during which the control device can receive commands issued by the computer, intended for the engine to which said control device is connected, and can transmit the commands to the engine to which said control device is connected and during which the control device can receive data via the channel to which it is connected.

[0017] A valid standby state of a control device is understood to mean a state during which the control device receives data through the channel to which it is connected and during which the control device cannot transmit any commands to the motor to which said control device is connected.

[0018] A defective validity state of a control device is understood to mean a validity state during which the electrical connection between the control device and its channel is broken and no electrical communication between the two is possible.

[0019] Advantageously, each command issued by the computer is distributed according to the operational control devices, which makes it possible to control the hydraulic servo-actuator even when a control device is defective, and to guarantee availability of the commands. Thus, the control of the hydraulic servo-actuator is the result of at least one command received by a motor setting in motion the electric actuator in which said motor is included.

[0020] According to one embodiment of the invention, a command sent by the computer to a control device comprises a position instruction intended for the motor included in the channel connected to said control device.

[0021] According to one embodiment of the invention: the first path comprises a motor position sensor and a rotary position sensor; the second path comprises a motor position sensor and a rotary position sensor; the third path comprises a third motor position sensor and a linear position sensor; data received by one of the first, second and third channels concerning the operating parameters of this channel comprises: data concerning the position of the motor included in the track and / or data concerning the position of the actuator in which said track is included.

[0022] The rotary position sensor included in the first channel is a rotary actuator position sensor.

[0023] The rotary position sensor included in the second channel is a rotary actuator position sensor.

[0024] The linear position sensor included in the third channel is a linear actuator position sensor.

[0025] Advantageously, the embodiment cited above makes it possible to know the position of each motor and each actuator so that the computer can recalculate the position command to each motor connected to an operational control device, the sum of each command making it possible to obtain a desired movement of the servo-actuator.

[0026] According to one embodiment, the rotary actuator is irreversible.

[0027] According to one embodiment, the linear actuator is irreversible.

[0028] According to one embodiment, the control system is included in the rotary actuator or in the linear actuator.

[0029] According to one embodiment, the first mechanical connection and the second mechanical connection are in series.

[0030] According to one embodiment, the system comprises four mechanical systems. This embodiment advantageously makes it possible to control 4 servo-actuators.

[0031] A second aspect of the invention relates to a control assembly for at least one hydraulic servo actuator comprising: a control module; a system according to the first aspect of the invention; at least one hydraulic servo actuator;

[0032] A third aspect of the invention relates to an aircraft comprising a control system according to the preceding claim. BREVE DESCRIPTION DES FIGURES

[0033] The figures are presented for information purposes only and in no way limit the invention. There figure 1 [Fig. 1 ] shows a schematic representation of a control assembly of at least one hydraulic servo-actuator, comprising a control transmission system according to the invention; The figure 2 [Fig. 2 ] is a diagram of a rotary electric actuator included in the transmission system according to the invention; The figure 3 [Fig. 3 ] is a diagram of a linear electric actuator included in the transmission system according to the invention; The figure 4 [Fig. 4 ] is a diagram of an embodiment of a control device; The figure 5 [Fig. 5 ] is a diagram of the control assembly of at least one hydraulic servo actuator when the transmission system according to the invention is in a so-called nominal operating mode; The figure 6 [Fig. 6 ] is a diagram of the control assembly of at least one hydraulic servo actuator when the transmission system according to the invention is in an operating mode called failure of the first control device; The figure 7 [Fig. 7 ] is a diagram of the control assembly of at least one hydraulic servo actuator when the transmission system according to the invention is in an operating mode known as failure of the third control device. DESCRIPTION DETAILLEE

[0034] The figures are presented for information purposes only and in no way limit the invention.

[0035] Unless otherwise specified, the same element appearing in different figures has a single reference.

[0036] There figure 1 [Fig. 1 ] shows a schematic representation of an embodiment of the control assembly 1 of at least one servo-actuator.

[0037] Assembly 1 is included in an aircraft. Preferably, the aircraft is a helicopter.

[0038] The control assembly 1 comprises a control module 10, a control transmission system 20 to at least one hydraulic servo actuator according to the invention and a hydraulic servo actuator 30.

[0039] According to one embodiment, not shown in the figure 1 , the control assembly 1 comprises four hydraulic servo actuators 30.

[0040] The control module 10 comprises at least one computer 11 and at least one power supply 12.

[0041] The computer 11 includes a processor not shown in the figure 1 .

[0042] Preferably the computer is a flight control computer (FCC).

[0043] According to a preferred embodiment, in which the control assembly comprises four servo actuators 30, the control module 10 comprises four computers 11.

[0044] The power supply 12 preferably comprises a first and a second output, not shown in the figure 1 , each configured to deliver a voltage, preferably a direct voltage.

[0045] Preferably, the voltage value delivered by the first output 12a and / or the second output 12b is 28 volts.

[0046] The transmission system 20 comprises at least one electronic control system 22 and comprises at least one mechanical system 21.

[0047] The control system 22 comprises a first, a second and a third control device 221, 222, 223, each control device being connected to the other two by an electrical connection.

[0048] The mechanical system 21 comprises a rotary electric actuator 211 and a linear electric actuator 212.

[0049] The rotary electric actuator 211 comprises a first channel 211a linked by an electrical connection to the first control device 221. The electrical connection comprises at least one electrical signal. The electrical signal may be digital or analog.

[0050] The rotary electric actuator 211 comprises a second channel 211b linked by an electrical connection to the first control device 222. The electrical connection comprises at least one electrical signal. The digital signal can be digital or analog.

[0051] The linear electric actuator 212 comprises a third channel 212c linked by an electrical connection to the third control device 223. The third electrical connection comprises at least one electrical signal. The electrical signal may be digital or analog.

[0052] The rotary actuator 211 is connected by a first mechanical connection 213 to the linear electric actuator 212 and the linear actuator 211 is connected by a second mechanical connection 214 to the hydraulic servo actuator 30.

[0053] The first mechanical connection 213 is preferably a pivot connection and the second mechanical connection 214 is preferably a pivot connection.

[0054] According to a preferred embodiment, the first mechanical connection 213 and the second mechanical connection 214 are in series.

[0055] According to the preferred embodiment in which the control assembly 1 comprises four servo actuators, and the control module 10 comprises four computers, the transmission system 20 comprises four mechanical systems 21, each computer 11 being associated with a mechanical system 21 and with a hydraulic servo actuator 30 to which the mechanical system 21 is connected.

[0056] There figure 2 [Fig. 2 ] is a schematic representation of the rotary electric actuator 211 included in the mechanical system 21. The rotary actuator 211 includes the first path 211a and the second path 211b.

[0057] The rotary electric actuator 211 may include a first reducer 211c and an output shaft 211d.

[0058] The first channel 211a of the rotary actuator 211 comprises a motor a1, preferably a brushless motor, and a motor position sensor a2, configured to measure the position of the motor a1 of the first channel 211a.

[0059] Preferably, the motor a1 of the first channel 211a is a three-phase motor and comprises three three-phase inputs, not shown in the figure 2 .

[0060] Preferably, the motor position sensor a2 of the first channel 211a is a Hall effect sensor.

[0061] The second channel 211b of the actuator 211 comprises a motor b1, preferably a brushless motor, and a motor position sensor b2, configured to measure the position of the motor b1 of the second channel 211b.

[0062] Preferably, the motor b1 of the second channel 211b is a three-phase motor and comprises three three-phase inputs, not shown in the figure 3 .

[0063] Preferably, the engine position sensor b2 of the second channel 211b is a Hall effect sensor. The output shaft 211d preferably comprises a first angular position sensor d1, a second angular position sensor d2, a brake d3, preferably an electrically controlled dog clutch brake with dual power supply.

[0064] Preferably the first angular position sensor d1 is connected to the first channel 211a, and the second angular position sensor d2 is connected to the second channel 211b.

[0065] According to an embodiment not shown in the figure 2 [Fig. 2 ], the first angular position sensor d1 is included in the first channel 211a, and the second angular position sensor d2 is included in the second channel 211b.

[0066] Brake d3 is preferably a current failure brake.

[0067] The first and second angular position sensors (d1, d2) are configured to measure the position of the rotary electric actuator 211.

[0068] When the output shaft 211d includes the dual-power electrically controlled dog clutch brake, said clutch brake ensures the irreversibility of the rotary actuator 211.

[0069] There figure 3 [Fig. 3 ] is a schematic representation of the linear electric actuator 212 included in the mechanical system 21.

[0070] The linear electric actuator 212 includes the third channel 212c.

[0071] The linear electric actuator 212 may include a reducer 212b, a brake 212a, a linear position sensor 212d, and a ball screw 212e.

[0072] Brake 212a is preferably a dual-power electrically operated dog clutch brake.

[0073] The brake 212a is preferably a current-failure brake.

[0074] When the linear electric actuator 212 includes the electrically controlled dog clutch brake, the linear electric actuator 212 is irreversible.

[0075] The third channel 212c of the linear electric actuator 212 comprises a motor c1, preferably a brushless motor, and a motor position sensor c2 configured to measure the position of the motor c1.

[0076] Preferably the motor c1 of the third channel 212c is a three-phase motor and includes a three-phase input, not shown in the figure 3 .

[0077] Preferably, the motor position sensor c2 of the third channel 212c is a Hall effect sensor. According to one embodiment, the linear position sensor 212d is included in the third channel 212c.

[0078] There figure 4 [Fig. 4 ] is a schematic representation of an embodiment of the first control device 221 included in the control system 22.

[0079] The first, second and third control devices (221, 222, 223) having an identical architecture, only the first control device 221 is shown.

[0080] The first control device 221 comprises a first control module 2211, a digital circuit 2212 and an actuation module 2213.

[0081] The control module 2211 may include first and second power supply ports (2211a, 2211b), configured to receive an electrical voltage, preferably a DC voltage of 28V.

[0082] The control module 2211 includes at least one control port 2211c.

[0083] According to the embodiment in which the control module 10 comprises four computers, the plurality of input ports 222 comprises four control ports, each control port of which is electrically connected respectively to one computer among the four computers.

[0084] The control module 2211 includes a serial data input port 2211d (from the English DSI: Data Serial Input), a serial data output port 2211e (from the English DSO: Data Serial Output).

[0085] According to one embodiment, the control module 2211 comprises a communication port, not shown in the figure 4 . Said communication port is configured to receive software instructions, for example.

[0086] The first control device 221 may comprise a filtering module 2214 configured to perform processing of the signals transmitted by the control module 2211.

[0087] The processing of transmitted signals can be, for example, the reduction of noise included in received signals.

[0088] The digital circuit 223 is configured to process signals received by the control module and transmit them to the actuation module 2213.

[0089] The digital circuit 223 is configured to process signals received by the actuation module 2213 and transmit them to the control module 2211.

[0090] The actuation module 2213 comprises a motor control module 2213a, at least one data receiving module 2213b and a brake control module 2213c.

[0091] The motor driver module 221a includes a three-phase output, the three-phase output comprising three electrical currents, preferably three direct electrical currents.

[0092] The 2213c brake control module provides a two-phase output, the two-phase output comprising two electrical currents, preferably two direct electrical currents.

[0093] The data receiving module 2213 preferably includes two ports.

[0094] The transmission system 20 according to the invention operates according to at least one of the following operating modes: so-called nominal operating mode, so-called failure operating mode of the first control device and so-called failure operating mode of the third control device.

[0095] During each operating mode among the operating modes mentioned, the control devices can each be in a validity state among at least the following three validity states: operational validity state, standby validity state, defective validity state.

[0096] An operational validity state of a control device means a validity state during which the control device is configured to implement a plurality of operational steps described below.

[0097] A first operational step is a step of reception by the control device of data via the channel connected to said control device, via the data reception module, the data relating to operating parameters of said channel.

[0098] The data relating to the operating parameters of the first channel comprises data relating to the position of the motor of the channel connected to the control device and / or data relating to the position of the electric actuator comprising the channel connected to the control device.

[0099] The data concerning the position of the track motor connected to said control device is measured by the track motor position sensor.

[0100] A second operational step is a step of transmitting to the computer 10, via the control port 2211c, the data concerning the operating parameters received.

[0101] A third operational step is a step of receiving a command sent by the computer 10, via the control port 2211c, to the motor of the track connected to the control device.

[0102] The command to the motor is preferably a position command to said motor. Preferably, the position command to said motor is a real value, preferably having a unit in mm.

[0103] A fourth operational step is a step of transmitting the command to the motor included in the channel connected to the control device.

[0104] A standby valid state of a control device is a state during which the control device is configured to implement standby steps.

[0105] A first standby step is a step of reception by the control device of data via the channel connected to said control device, via the data reception module, the data relating to operating parameters of said channel.

[0106] The data relating to the operating parameters of the first channel comprises data relating to the position of the first motor included in the channel connected to said control device and / or data relating to the position of the actuator comprising the channel connected to said control device.

[0107] A second standby step is a step of transmitting to the computer 10, via the control port 2211c, the data concerning the operating parameters received.

[0108] A defective validity state of a control device is understood to mean a validity state during which the electrical connection between said control device and its channel is broken and no communication between the two is possible. In addition, the electrical connection between said control device and the computer 10 is broken and no communication between the two is possible.

[0109] Each control device among the first, second and third control devices (221,222,223) is configured to communicate its validity status to the other devices via the control module 2211 and more precisely via the serial output data port 2211e.

[0110] Each control device among the first, second and third control devices (221,222,223) is configured to receive the validity status of the other devices via the control module 2211 and more precisely via the serial input data port 2211d.

[0111] Each control device among the first, second and third control devices (221,222,223) is configured to communicate its validity status to the computer 10 via the control port 2211c.

[0112] The computer 10 simultaneously sends a command to each control device being in an operationally valid state, the command being intended for the motor of the track connected to said device.

[0113] Preferably, the command comprises a fraction of a desired position value for the hydraulic servo actuator 30.

[0114] In presence, the fraction of the desired position value of the hydraulic servo actuator 30 is determined in di of a desired position value of the hydraulic servo actuator and the number of operational control devices.

[0115] For example, the fraction of the desired position value is obtained by dividing the desired position value of the servo actuator by the number of operational control devices.

[0116] Thus, the control of the hydraulic servo actuator 30 results from the sum of the values ​​included in the commands received respectively by each control device being in an operationally valid state.

[0117] There figure 5 [Fig. 5 ] represents the control assembly 1, when the system according to the invention operates in a so-called nominal operating mode.

[0118] According to the nominal operating mode, the first control device 211 is in an operational validity state, the second control device 212 is in a standby validity state and the third control device 213 is in an operational validity state.

[0119] For example, when the operating mode of the transmission system 20 according to the invention is said to be nominal, in order to move the hydraulic servo actuator 30 by a value equal to X, the computer 11 sends a command comprising a value equal to X / 2 to the first operational control device 221, and a command comprising a value equal to X / 2 to the third operational control device 223.

[0120] Thus, the motor a1 of the first channel 211a receives a position command whose value is equal to X / 2, allowing the rotary actuator 211 to move by a value equal to X / 2 and to set the linear actuator 212 in motion thanks to the first mechanical connection. In addition, the motor c1 of the third channel 212c receives, simultaneously with the reception of the command by the motor a1 of the first channel 211a, a position command issued by the computer whose value is equal to X / 2, allowing the linear actuator 212 to be moved by a value equal to X / 2. Thus, the linear actuator 212 receives an electrical command of value X / 2, and a mechanical command of value X / 2, the linear actuator therefore moves by a value X and allows the hydraulic servo actuator 30 to be moved by a value X via the second mechanical connection 214.

[0121] There figure 6 [Fig. 6 ] represents the control assembly 1, when the system according to the invention operates in a so-called failure mode of the first control device 211.

[0122] According to the so-called fault operating mode of the first control device 211, the first control device 211 is in a faulty validity state, the second control device 212 is configured to change from a standby validity state to an operational validity state, the change of state of the second control device 212 resulting from the non-operational validity state of the first control device 211 and the third control device 213 is in an operational validity state.

[0123] For example, when the operating mode of the transmission system 20 according to the invention is said to be a failure of the first device 221, when the computer 10 wishes to obtain a position of the hydraulic servo actuator of a value equal to X, the computer sends a command comprising a value equal to X / 2 to the second operational control device 222, and a command comprising a value equal to X / 2 to the third operational control device 223.

[0124] Thus, the motor b1 of the second channel 211b receives a position command whose value is equal to X / 2, allowing the rotary actuator 211 to move by a value equal to X / 2 and to set the linear actuator 212 in motion thanks to the first mechanical connection. In addition, the motor c1 of the third channel 212c receives, simultaneously with the reception of the command by the motor b1 of the second channel 211b, a position command whose value is equal to X / 2, allowing the linear actuator 212 to be moved by a value equal to X / 2. Thus, the linear actuator 212 receives an electrical command of value X / 2, and a mechanical command of value X / 2, the linear actuator therefore moves by a value X and allows the hydraulic servo actuator 30 to be moved by a value X via the second mechanical connection 214.

[0125] There figure 7 [Fig. 7] represents the control assembly 1, when the system according to the invention operates in a so-called failure mode of the third control device 211.

[0126] According to the so-called failure operating mode of the third control device 213, the first control device 211 is in an operational validity state, the second control device 212 is in a standby validity state and the third control device 213 is in a faulty validity state.

[0127] For example, when the operating mode of the transmission system 20 according to the invention is said to be nominal, when the computer 10 wishes to obtain a position of the hydraulic servo actuator of a value equal to X, the computer sends a command comprising a value equal to X to the first operational control device 221.

[0128] Thus, the motor a1 of the first channel 211a receives a position command whose value is equal to X, allowing the rotary actuator 211 to move by a value equal to X and to set the linear actuator 212 in motion thanks to the first mechanical connection. In this operating mode, the linear actuator 212 receives only a mechanical position command, equal to X. The linear actuator 212 therefore moves by a value X and allows the hydraulic servo actuator 30 to be moved by a value X via the second mechanical connection 214.

Claims

1. A system (20) for transmitting command to at least one hydraulic servo actuator (30) including: - At least one mechanical system (21) comprising: ∘ a rotary electric actuator (211) including a first pathway (211a) comprising a motor (a1), and a second pathway (211b) including a motor (b1); ∘ a linear electric actuator (212) including a third pathway (212c) including a motor (c1), the linear electric actuator (212) being connected to the rotary electric actuator (211) by a first mechanical connection (213) and being configured to be connected to the hydraulic servo actuator (30) by a second mechanical connection (214); - A command system (22) comprising: ∘ a first command device (221) connected through an electrical connection to the first pathway (211a) of the rotary electric actuator (211) of said mechanical system (21), ∘ a second command device (222) connected through an electrical connection to the second pathway (211b) of the rotary electric actuator (211) of said mechanical system (21), ∘ a third command device (223) connected through an electrical connection to the third pathway (212c) of the linear electric actuator (212).

2. The command transmission system (20) according to the preceding claim, wherein the command system (22) is configured to operate in at least one mode of the following operating modes: - So-called nominal operating mode in which: ∘ the first command device (221) is in an operational validity state, and is configured to: • receive a piece of data from the first pathway (211a), the piece of data relating to operating parameters of said first pathway (211a); • transmit the piece of data relating to the operating parameters received to a calculator (11); • receive a command emitted from the calculator (11) to the motor (a1) of the first pathway (211a); • emit the command to the motor (a1) of the first pathway (211a); ∘ the second device (222) is in a standby validity state and is configured to: • receive a piece of data from the second pathway (211b), the piece of data relating to operating parameters of said second pathway (211b); • emit the piece of data relating to the operating parameters received to the calculator (11); ∘ the third command device (223) is in an operational validity state and is configured to: • receive a piece of data from the third pathway (212c), the piece of data relating to operating parameters of said third pathway (212c); • emit the piece of data relating to the operating parameters received to the calculator (11); • receive a command emitted from the calculator (11) to the motor (c1) of the third pathway (212c), simultaneously with the reception of the command by the first command device (221), • emit the command to the motor (c1) of the third pathway (212c); - So-called failure mode of the first command device in which: ∘ the first command device (221) is in a non-operational validity state, ∘ the second command device (222) is configured to shift from a standby validity state to an operational validity state, the change of state of the second command device (222) resulting from the non-operational validity state of the first command device (221), and is configured to: • receive a piece of data from the second pathway (211b), the piece of data relating to operating parameters of said second pathway (211b); • transmit the first piece of data item relating to the operating parameters received to the calculator (11); • receive from the calculator (11) a command to be emitted to the motor (b1) of the second pathway (211b); • emit the command to the motor (b1) of the second pathway (211b); ∘ the third command device (223) is in an operational validity state and is configured to: • receive a piece of data from the third pathway (212c), the second piece of data relating to operating parameters of said third pathway (212c); • transmit the piece of data relating to the operating parameters received to the calculator (11); • receive from the calculator (11), simultaneously with the reception of the command by the second command device (222), a command to be emitted to the motor (c1) of the third pathway (212c); • emit the command to the motor (c1) of the third pathway (212c); - So-called failure mode of the third command device in which: ∘ the first command device (221) is in an operational validity state, and is configured to: • receive a piece of data from the first pathway (211a), the piece of data relating to operating parameters of said first pathway (211a); • transmit the piece of data relating to the operating parameters received to the calculator (11); • receive from the calculator (11) at least one command to be emitted to the motor (a1) of the first pathway (211a); • emit the command to the motor (a1) of the first pathway (211a); ∘ the second command device (222) is in a standby validity state and is configured to: • receive at least one piece of data from the second pathway (211b), the piece of data relating to operating parameters of said second pathway (211b); • transmit the piece of data relating to the operating parameters received to the calculator (11); ∘ the third command device (223) is in a non-operational state; for each operating mode, the sum of each command received respectively by the motor (a1) of the first pathway (211a) or the motor (b1) of the second pathway (211b) and / or the motor (c1) of the third pathway (212c) ensures mechanical command of the hydraulic servo actuator (30).

3. The command transmission system (20) according to the preceding claim, wherein: - the first pathway (211a) comprises a motor position sensor (a2) and a rotary position sensor (d1); - the second pathway (211b) comprises a motor position sensor (b2) and a rotary position sensor (d2); - the third pathway (212c) comprises a third motor position sensor (c2) and a linear position sensor (212c); and wherein a piece of data received by a pathway of the first, second and third pathways relating to the operating parameters of that pathway comprises: - a piece of data relating to the position of the motor included in the pathway and / or - a piece of data relating to the position of the actuator in which said pathway is included.

4. The command transmission system (20) according to any of claims 2 to 3 wherein a command emitted from the calculator (11) to a command device comprises a position set point intended for the motor included in the pathway connected to said command device.

5. The command transmission system (20) according to any of the preceding claims, wherein the rotary actuator (211) is irreversible.

6. The command transmission system (20) according to any of the preceding claims, wherein the linear actuator (212) is irreversible.

7. The command transmission system (20) according to any of the preceding claims, wherein the first mechanical connection (213) and the second mechanical connection (214) are in series.

8. The command transmission system (20) according to any of the preceding claims, comprising four mechanical systems (21).

9. An assembly (1) for commanding at least one hydraulic servo actuator (30), characterised in that it comprises: - a control module (10); - a command transmission system (20) according to claims 1 to 8; - at least one hydraulic servo actuator (30).

10. An aircraft (A) comprising a command assembly (1) according to the preceding claim.