Avionics system actuation system

Abstract

Avionics System Actuation System The invention relates to an actuation system (2) for an avionics system comprising N actuation assemblies (21, 22, 23, 24) suitable for connection to the avionics system. Synchronization of the N actuation assemblies (21, 22, 23, 24) is achieved, in particular, by means of a communication loop, which allows the N actuation assemblies (21, 22, 23, 24) to communicate with each other and synchronize without the need for central electronics. Thus, the actuator motors of the actuation system are controlled without a central control unit common to all the actuator motors. Figure to be published with the abbreviation: Figure 1

Description

Title of the invention: Avionics system actuation system. TECHNICAL FIELD OF THE INVENTION

[0001] The technical field of the invention is that of the actuation of avionics systems.

[0002] The present invention relates to an actuation system for an avionics system and to an aircraft comprising such an actuation system. TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0003] Several avionics systems, such as a nacelle thrust reverser, control surfaces, or slat and flap systems of an aircraft, require movement during flight. Currently, these avionics systems require multiple thrust points for movement and are actuated by an electromechanical architecture. The electromechanical architecture of these avionics systems includes one actuator per thrust point. The electromechanical architecture also includes connecting shafts installed between the actuators. These connecting shafts synchronize the actuators. Thus, these connecting shafts allow each actuator to move in the same way as the other actuators. The electromechanical architecture further includes an electric motor and centralized electronics. The electric motor is controlled by the centralized electronics to move the connecting shafts.Centralized electronics also allow monitoring of actuator displacement deviations from a setpoint position and / or monitoring of displacement deviations between actuators themselves, for example.

[0004] Prior art electromechanical architectures therefore include drive shafts of varying lengths. These drive shafts are periodically disassembled and lubricated to reduce the risk of damage. Furthermore, the actuators included in the electromechanical architectures have different configurations, for example, with or without a sensor, with or without a locking mechanism. Thus, the different actuator configurations increase the replacement time of said actuators, which must be considered on a case-by-case basis. In addition, drive shafts of varying lengths and actuators of varying configurations must be synchronized during mechanical installation to ensure optimal movement of an avionics system, which complicates the mechanical installation of each component.

[0005] Finally, in known electromechanical architectures, when an actuator no longer functions optimally, for example when a defect appears on a hinge or a guide rail of the avionics system of said actuator, the other functional actuators may be overloaded during the movement of the avionics system, which may cause damage to said functional actuators.

[0006] Thus, there is a need for an avionics system actuation system that is less complex to install, less bulky and allows the actuation power to be distributed in a substantially equal way when the avionics system is actuation. Summary of the invention

[0007] The invention offers a solution to the problems mentioned above by providing a decentralized actuation system, i.e., without a central control unit for the actuators. The actuation system according to the invention also makes it possible to balance the power supplied by each actuator. Finally, the actuation system according to the invention is simple to implement.

[0008] One aspect of the invention relates to an actuation system for an avionics system, the actuation system comprising N actuation sets suitable for connection to the avionics system, N being an integer equal to or greater than 2, each actuation set among the N actuation sets comprising: • an actuator comprising a motor, • an electronic motor control unit, configured to receive a setpoint position from the associated actuator of the given actuation assembly,

[0009] the actuation system being characterized in that: • The actuation system comprises N initial data communication channels between the N electronic control units of the N actuation assemblies, forming a first communication loop suitable for transmitting, step by step and in a first direction, data relating to the operation of each actuator, such that each electronic control unit transmits to a subsequent electronic control unit said data relating to the operation of each actuator, including a setpoint speed of the actuator in question, and data relating to the operation of each of the Nl other actuators, • The electronic control unit of each actuation assembly is further configured to implement a synchronization loop, including the calculation of a correction to the setpoint speed of the associated actuator based on a minimum setpoint speed among the speeds setpoint of the associated actuator and the Nl speed setpoints of the Nl other actuators received by said first communication loop, and • the actuator of each actuation assembly being adapted to apply the correction of the calculated setpoint speed.

[0010] Advantageously, the N actuation assemblies of the actuation system according to the invention include an electronic control unit for the motor of an associated actuator. Thus, the motors of the actuators in the actuation system are controlled without a central control unit common to all the actuator motors. Furthermore, the actuation system does not include connecting shafts between each actuator, which reduces the complexity of installing the actuation system on the avionics system and reduces its overall size. Finally, the N actuation assemblies form a communication loop, which allows the N actuation assemblies to communicate with each other and synchronize without the need for central electronics.

[0011] In addition to the characteristics mentioned in the preceding paragraph, the actuation system according to the first aspect of the invention may have one or more additional characteristics from among the following, considered individually or in all technically possible combinations: • Each actuation set among the N actuation sets includes the same type of actuator, • the actuator of each actuation assembly considered among the N actuation assemblies further includes a position sensor for said actuator, • The system according to the first aspect of the invention further comprises N second data communication channels between the N control units of the N actuation assemblies, forming a second communication loop adapted to transmit, step by step and in a second direction, said data relating to the operation of each actuator such that each electronic control unit transmits said data relating to the operation of each actuator to a subsequent electronic control unit, • The electronic control unit of each actuation assembly is further configured to perform the following steps: • apply a setpoint speed to the actuator in question, to obtain a setpoint position, the setpoint speed being determined at iteration i-1 for iteration i, • receive a measured position from the actuator in question, • calculate an intermediate setpoint speed from the measured position and the setpoint position of the actuator in question, • receive a plurality of data including: The setpoint position and intermediate setpoint speed of the actuator for each actuation assembly, The measured position of the actuator for each actuation assembly, A setpoint speed correction for the actuator of each actuation assembly, determine the minimum standard intermediate setpoint speed from among the intermediate setpoint speeds of the actuator for each actuation assembly, calculate, from the measured position and the setpoint position of the actuator of each actuation assembly, the setpoint speed correction of the actuator in question, and calculate the setpoint speed of the actuator in question from the correction of the setpoint speed of the actuator in question and the norm of the intermediate setpoint speed with minimum norm, The electronic control unit of each actuation assembly is further configured to calculate the setpoint speed by performing a product of: • a difference between the minimum setpoint speed and the setpoint speed correction of the actuator in question, and • a sign of the intermediate setpoint speed of the actuator in question, the electronic control unit of each actuation set is further configured to include a proportional-integral controller, the proportional controller comprising a proportional part and an integral part, the proportional-integral controller taking as input a difference between the measured position and the setpoint position of the associated actuator and providing as output an additional value for correction of the setpoint speed. The calculation of the target speed also includes: • when the actuator in question is leading and an output provided by the associated proportional-integral controller is less than the average value of the outputs provided by the proportional-integral controller of the other Nl actuation assemblies, the output of the integral part of the proportional-integral controller of iteration i is fixed at the value of the output of the integral part of the proportional-integral controller of iteration i-1, and • When the output provided by the proportional-integral controller is non-zero and less than the output provided by the proportional-integral controller of the other Nl actuation sets, then the value of the output of the integral part of the controller in iteration i is equal to the value of the output of the integral part of the controller in iteration i-1 reduced by a value proportional to the value of the output provided by the proportional-integral controller. • The avionics system is: • a movable cowling of a thrust reverser on an aircraft nacelle, or • a set of high-lift devices, each high-lift device being adapted to be deployed on a wing of the aircraft, the high-lift device being a flap or a slat, or • a control surface of the aircraft.

[0012] A second aspect of the invention relates to an aircraft comprising: • An actuation system for an avionics system according to the invention, and • The avionics system.

[0013] The invention and its various applications will be better understood by reading the following description and examining the accompanying figures. BRIEF DESCRIPTION OF THE FIGURES

[0014] The figures are presented for illustrative purposes only and are in no way limiting to the invention: • Fig. 1 shows a schematic representation of an example of an actuation system according to the invention and an example of data exchanges that can be carried out within the actuation system according to the invention. • Fig. 2 shows a schematic representation of an example of an avionics system actuation system and an example of data exchanges that can be carried out within the actuation system according to the invention. • Fig. 3 shows a block diagram of an example of an avionics system actuation method, implemented by the actuation system according to the invention. • Fig. 4 shows a synoptic diagram of an example of a proportional corrector compatible with the actuation system according to the invention. • Fig. 5 shows a schematic overview of an example of an avionics system actuation method, implemented by the actuation system according to the invention. DETAILED DESCRIPTION

[0015] Unless otherwise specified, the same element appearing on different figures has a unique reference.

[0016] A first aspect of the invention relates to an actuation system for an avionics system. For example, the actuation system can be attached to the avionics system. The actuation system comprises N actuation sets, where N is an integer equal to or greater than 2. The N actuation sets are suitable for connection to the avionics system. Each actuation set comprises an actuator. The actuator comprises a motor. The actuator enables the movement of at least one part of the avionics system. The avionics system is, for example, a moving surface. In an example consistent with the preceding example, the avionics system is: • a movable cowling of a thrust reverser on an aircraft nacelle, or • a set of high-lift devices, each high-lift device being adapted to be deployed on a wing of the aircraft, the high-lift device being a flap or a slat, or • a control surface of the aircraft.

[0017] Each actuation assembly of the actuation system may include a linear or rotary actuator, or an actuator combining linear and rotary motion. In one example, consistent with the preceding examples, the N actuation assemblies include the same type of actuator. For example, the actuators of the actuation system according to the invention may all be linear or rotary, or an actuator combining linear and rotary motion. In one example, consistent with the preceding examples, at least one of the N actuation assemblies may include a different type of actuator than at least one of the N actuation assemblies.For example, in an actuation system comprising two actuation sets, the first actuation set may include a linear actuator and the second actuation set may include a rotary actuator.

[0018] Each actuation assembly of the actuation system further comprises an electronic control unit for the actuator motor. This electronic control unit is configured to receive a setpoint position from the actuator and to control the actuator motor from the received setpoint position. Thus, for each actuation assembly, the electronic control unit of the The motor is connected, for example by wire, to the motor in order to be able to control it.

[0019] Figure 1 illustrates an example of an actuation system 2 comprising four actuating units 21, 22, 23, 24. The actuation unit 21 comprises an actuator 212 having a motor 2121 adapted to move the actuator 212 and a position sensor 2122 for the actuator 212. The actuation unit 21 further comprises an electronic control unit 211 adapted to control the motor 2121 of said actuator 212. The actuation unit 22 comprises an actuator 222 having a motor 2221 adapted to move the actuator 222 and a position sensor for the actuator 2222. The actuation unit 22 further comprises an electronic control unit 221 adapted to control the motor 2221 of said actuator 212. The actuation unit 23 includes an actuator 232 comprising a motor 2321 adapted to move the actuator 232 and a position sensor 2322 of the actuator 232.The actuation assembly 23 further includes an electronic control unit 231 adapted to control the motor 2321 of said actuator 232. The actuation assembly 24 includes an actuator 242 comprising a motor 2421 adapted to move the actuator 242 and a position sensor 2422 of the actuator 242. The actuation assembly 24 further includes an electronic control unit 241 adapted to control the motor 2421 of said actuator 242.

[0020] The electronic control unit of each actuation set is connected, via a communication channel, to at least one other electronic control unit of another actuation set. In other words, the N communication channels linking the N electronic control units of the N actuation sets form a first communication loop. This first communication loop allows, in particular, the transmission of data relating to the operation of each actuator. Data transmission in the first communication loop is carried out step by step and in a predetermined first direction. Thus, data is transmitted from a first actuation set to a second actuation set, and then this second actuation set transmits this data to a third actuation set until all the actuation sets have received this data. In [Fig.l], such a first communication loop is formed by the communication channels 31, 32, 33, 34. Thus, in this example, the data is transmitted by: . • the electronic control unit 211 to the next electronic control unit 221, • the electronic control unit 221 to the next electronic control unit 231, • the electronic control unit 231 to the next electronic control unit 241, and • the electronic control unit 241 to the next electronic control unit 211.

[0021] The data transmitted by an electronic control unit includes a setpoint speed for the actuator in question, i.e., the actuator belonging to the same actuation set as the electronic control unit, and data relating to the operation of each of the Nl other actuators, in particular the setpoint speed of the Nl other actuators. Thus, the data transmitted by an electronic control unit includes the setpoint speed of the N actuators in the actuation system. Furthermore, before transmitting the data, the setpoint speed of the actuator in question is updated. In other words, the updated setpoint speed of the actuator in question, and not the previous setpoint speed of the actuator in question, is transmitted to the next electronic control unit. In [Fig. 1], the transmitted data thus includes four setpoint speeds: one for each actuator of the 4 actuation sets.Thus, before transmitting the setpoint speed of actuator 212, the electronic control unit 211 updates the setpoint speed of actuator 212 and then transmits it to the electronic control unit 221 along with the setpoint speeds of actuators 222, 232, and 242. Since each electronic control unit of the N actuation assemblies updates the setpoint speed of its associated actuator, when the transmission loop has been completed, i.e., when the data has been transmitted by the N electronic control units, all the transmitted data has been updated.

[0022] The setpoint speed of the actuator in question is updated by the associated electronic control unit in order to synchronize the actuator with the actuators of the other Nl actuation assemblies. Thus, the electronic control unit of each actuation assembly is further configured to implement an iterative synchronization loop. This synchronization loop includes, at the level of the electronic control unit of each actuation assembly, the calculation of a correction to the actuator's setpoint speed at each iteration. This correction to the actuator's setpoint speed allows it to be synchronized with the actuators of the other Nl actuation assemblies. The calculation of the setpoint speed correction takes into account the setpoint speed of the actuator in question and the setpoint speed of each of the other Nl actuators, in order to determine a minimum setpoint speed which then allows to calculate the correction to the setpoint speed of the actuator in question. In an example, the minimum setpoint speed is equal to the minimum of the norms, i.e., the absolute values, of the setpoint speeds of the N actuators. In other words, to determine the minimum setpoint speed, it is possible, firstly, to calculate the absolute value of the setpoint speed for each actuator, and then, secondly, to consider the minimum setpoint speed to be the smallest calculated absolute value. The expression "setpoint position" means, in this application, "the position that the actuator must reach." The expression "setpoint speed of an actuator" means, in this application, "the speed that the actuator must reach."Furthermore, it is worth noting that when the actuation system includes actuators of different types, it may be necessary to normalize the setpoint positions and speeds of the N actuators, particularly to allow for comparison. This normalization of the transmitted data can involve expressing the actuator's setpoint position as a normalized value representing the opening percentage of the moving surface associated with the actuator. Thus, whether the actuator is linear or rotary, a specific setpoint position corresponds to a specific opening value of the moving surface. For example, a setpoint position of 0% might correspond to a fully closed moving surface, and a setpoint position of 100% might correspond to a fully open moving surface, regardless of the actuator type.The set speed can therefore correspond, in this example, to the opening or closing speed of the associated moving surface.

[0023] When the setpoint speed correction is calculated, the actuator of each actuation assembly adapts its speed in order to apply the calculated setpoint speed correction.

[0024] In an example consistent with the preceding examples, the actuator of each actuation assembly considered among the N actuation assemblies further comprises a position sensor for said actuator. The position sensor enables the measurement of the position of the associated actuator.

[0025] In an example consistent with the preceding examples, additional communication channels, i.e., different from the first communication channels forming the first communication loop, form a second communication loop. This second communication loop is in the opposite direction to the first communication loop. Figure 2 shows a schematic representation of an example of an avionics system actuation system comprising such a second communication loop. This second communication loop is formed by communication channels 31', 32', 33', and 34'. Thus, In the example in [Fig.2], the data is transmitted in the second communication loop by: • the electronic control unit 211 to the next electronic control unit 241, • the electronic control unit 241 to the next electronic control unit 231, • the electronic control unit 231 to the next electronic control unit 221, and • the electronic control unit 221 to the next electronic control unit 211.

[0026] The data transmitted in the second communication loop is of the same type as the data transmitted in the first communication loop. Thus, the second loop provides redundancy in the transmission of data relating to the operation of each actuator. Furthermore, the second communication loop improves synchronization performance because it allows each actuator to have more up-to-date information regarding the operation of the other actuators.

[0027] In an example, compatible with the preceding examples, the data transmitted by each actuator in the first, and optionally the second, communication loop may include additional data which may include: • a set and measured position, and / or • a set and measured speed, and / or • a measured power, and / or • the correction of the set speed. • The data provided includes the local time at which this data was supplied by the actuator, allowing it to be dated. Local time refers to information provided by a means specific to the actuator in question. • This additional data may also include • the number of actuators in the loop.

[0028] Furthermore, each actuator can also take into account the data it produced in the previous cycle. This data is not transmitted to the other actuators; thus, only the actuator that produced it in the previous cycle can use it in the current cycle. This data may include: • a number identifying the previous cycle, and / or • data concerning a possible emergency shutdown of one or more actuators, and / or • a corrected speed, and / or • an output data from an integrator.

[0029] The local time information associated with the data from each actuator can be used to evaluate the time required, in each actuator's reference frame, for the data to complete the first and / or second communication loop. In other words, the local time associated with the data from each actuator can be used to evaluate the time lag between the sending of one or more data points by an electronic control unit and their reception by the same electronic control unit after being transmitted hop by hop in the first and / or second communication loop.

[0030] In an example consistent with the preceding examples, the electronic control unit of at least one actuation set is connected to a centralized control unit, for example, a FADEC (Full Authority Digital Engine Control) system, to exchange data relating to the operation of the actuators of the N actuation sets. It is also possible for the electronic control unit of each actuation set to be connected to the centralized control unit to exchange data relating to the operation of the actuators of the N actuation sets. The number of electronic control units connected to the centralized control unit depends on the required level of safety. Furthermore, it should be noted that the data exchanged may vary depending on the intended application and the desired level of monitoring.For example, in the case of a thrust reverser, the centralized control unit can transmit a command to deploy, retract, or shut down the thrust reverser. In the case of a flap, the centralized control unit can transmit a command to deploy or retract it to a specific, discrete position. Indeed, high-lift surfaces generally have predetermined positions for aircraft takeoff or landing.

[0031] In an example consistent with the preceding examples, the electronic control unit of each actuation set is further configured to perform at least one iteration of a process for synchronizing the actuator of the N actuation sets. Each iteration comprises a set of steps. An example of an iteration of the actuator synchronization process 100 for the N actuation sets of the actuation system is illustrated in [Fig. 3]. The steps are implemented by each actuation set. Moreover, for the sake of simplicity, each step is illustrated for a given actuation set, even though in reality these steps are performed in parallel by the N actuation sets.

[0032] Steps 101 to 104 are optional and are only useful during the first iteration of the method 100 of synchronizing the actuator of the N actuation sets of the actuation system.

[0033] The first optional step 101 comprises the receipt, by the electronic control unit of at least one actuation set among the N actuation sets, of a setpoint position. This setpoint position can, for example, be sent by the centralized control unit for the electronic control unit(s) connected to the centralized control unit. For the electronic control unit(s) of the other actuation sets, i.e., the electronic control unit(s) not connected to the centralized control unit, the setpoint position can be received by the first communication loop, and optionally by the second communication loop. During this step 101, the setpoint speed can also be received.

[0034] The optional second step 102 comprises the transmission, by the electronic control unit, of the actuator's movement command in order to reach the received setpoint position, or at least to approach the received setpoint position. When the setpoint speed is received in step 101, the movement command complies with this received setpoint speed. In practice, this step can be implemented by generating a voltage and / or a current at the actuator motor so that the motor allows the associated actuator to move in accordance with the movement command.

[0035] The optional third step 103 includes receiving a measured position and, optionally, a measured speed from the actuator. The position and speed measurements can, for example, be performed by the position sensor. Furthermore, during this measurement, the local time of the measurement can also be received or determined.

[0036] The optional fourth step 104 includes the generation of an intermediate setpoint speed, calculated from the setpoint position received in step 101 and the position measured in step 103, of the actuator. This intermediate setpoint speed will serve as the setpoint speed for the second iteration.

[0037] Steps 101 to 104 are only carried out in the first iteration of the iterative process; steps 105 and following, which will be presented, are carried out for all iterations except the first iteration.

[0038] The fifth step 105 comprises applying a setpoint speed to the actuator to obtain a setpoint position or at least to obtain a displacement in the direction of the setpoint position. The setpoint speed is determined in the iteration preceding the current iteration, i.e., iteration i-1 for an iteration i.

[0039] The sixth step 106 comprises receiving a measured position and, optionally, a measured speed, from the actuator. The measurement of the position, and of Speed ​​can be measured, for example, by the position sensor. Furthermore, during this measurement, the local time of the measurement can also be received or determined.

[0040] The seventh step 107 includes calculating an intermediate setpoint speed from the measured position and the setpoint position of the actuator. For example, the intermediate setpoint speed may correspond to the speed required to reduce the difference between the measured position and the setpoint position of the actuator over a predetermined period.

[0041] The eighth step 108 comprises receiving data relating to the operation of the N actuators. Data transmission can take place in the first communication loop and optionally in the second communication loop. In other words, each electronic control unit receives this data sent by the electronic control unit of the preceding actuation assembly in the communication loop. The data relating to the operation of the N actuation assemblies includes the setpoint position and intermediate setpoint speed of the actuator of each actuation assembly, the measured position and measured speed of the actuator of each actuation assembly, and a speed correction for the actuator of each actuation assembly.Thus, it can be noted that a control unit receives, in the first communication loop and optionally in the second communication loop, data relating to the operation of the associated actuator dating from the previous iteration. This data is not used in process 100 since the electronic control unit has more recent data obtained from the previous steps of the current iteration. This more recent data is used to update the operating data of the actuation assembly associated with the electronic control unit before the data is transmitted to the next actuation assembly.

[0042] The ninth step 109 includes determining the minimum standard intermediate setpoint speed from among the intermediate setpoint speeds of each actuator 212, 222, 232, 242 received in step 108.

[0043] The tenth step 110 comprises the calculation of the setpoint speed correction of the actuator in question. The calculation of the setpoint speed correction of the actuator in question is performed using the measured position and the setpoint position of each actuator received in step 108.

[0044] The eleventh step 111 includes the calculation of the set speed of the actuator considered from the correction of the set speed of the actuator considered and the norm of the intermediate set speed of minimum norm.

[0045] In an example, consistent with the preceding examples, the setpoint speed of the actuator in question is calculated in step 111 by performing the product of: • a difference between the minimum setpoint speed and the setpoint speed correction of the actuator in question, and • a sign of the intermediate setpoint speed of the actuator in question.

[0046] This product ensures that the actuator does not move away from the setpoint position.

[0047] In an example consistent with the preceding examples, the calculation 111 of the setpoint speed of the actuator under consideration further includes an adjustment of the setpoint speed correction when the actuator under consideration is ahead of the other actuators. The determination that an actuator is ahead of the other actuators is made by comparing the difference between the measured position of the actuator under consideration and the setpoint position of the actuator under consideration with an average of the differences between the measured and setpoint positions of the other actuators. The lead value corresponds to the difference between the measured position of the actuator under consideration and the setpoint position of the actuator under consideration. The lead value is therefore greater than or equal to zero. Furthermore, in this example, the value of the norm of the minimum setpoint speed is reduced.To reduce this minimum setpoint speed value, the electronic control unit of each actuator assembly can be further configured to include an integral proportional controller. An example of an integral proportional controller compatible with the invention is shown in [Fig. 4]. In this example, the proportional part of the controller corresponds to Kprop and the integral part to Kint. Furthermore, p corresponds to the Laplace operator, so 1 / p corresponds to an integrator, with Kint representing the gain of this integrator. Thus, the integral proportional controller takes the advance value as input and provides an additional speed correction value as output, ranging from zero to the minimum setpoint speed. This output ensures, in particular, that the setpoint speed cannot be increased and that the direction of actuator movement cannot be reversed.The corrected speed standard can be calculated using the following formula: .

[0048] | | = ~ %

[0049] With: * 'the nun of the speed correction value order, • , the minimum setpoint speed standard, and • 5^,5 , the output provided by the proportional-integral controller.

[0050] In an example, compatible with the preceding examples, the determination of the value of the output provided by the proportional-integral controller takes into account, in order to avoid a drift of the additional value of the correction of the setpoint speed towards a zero value, two additional conditions: • when the actuator in question is leading and the output provided by the associated proportional-integral controller is less than the average value of the outputs provided by the proportional-integral controller of the other Nl actuation sets, the output of the integral part of the proportional-integral controller is set to the value of the output of the integral part of the proportional-integral controller of the previous iteration i-1, i.e., the value of the output of the integral part of the proportional-integral controller of iteration i is equal to the value of the output of the integral part of the proportional-integral controller of the previous iteration i-1, and • when the output provided by the proportional integral controller of the considered actuation set is not zero and is less than the output provided by the proportional integral controller of the Nl other actuation sets, the value of the output of the integral part of the controller of the current iteration i is equal to the value of the output of the integral part of the controller of the previous iteration i-1 reduced by a value proportional to the value of the output provided by the proportional integral controller.

[0051] Figure 5 presents an overview of the calculations performed at the level of the electronic control unit 320 of each actuation assembly. Thus, a first calculation 305 involves determining the magnitude of the minimum setpoint speed among the setpoint speeds of the N actuators. This calculation 305 is performed using the setpoint speed of the associated actuator received 301 and the setpoint speeds of the Nl other actuators received 302. The result of this calculation 308 makes it possible to determine whether the associated actuator is leading, for example by comparing the measured position 310 of the associated actuator with an average of the measured positions of the Nl other actuators. Then, the result of this calculation 308, corresponding to the lead value of the associated actuator, is used by the proportional-integral controller 330. The proportional-integral controller 330 is, for example, a proportional-integral controller as illustrated in Figure 4.The proportional-integral controller 330 provides an additional correction value to the setpoint speed, calculated 310 in particular from the advance value of the associated actuator. The proportional-integral controller 330 may also include a module 331 to prevent drift in the integral part of the proportional-integral controller 330. This module 331 first performs the comparison of the additional correction value. The setpoint speed supplied at the output by the proportional-integral controller 330 is taken with the additional setpoint speed correction values ​​303 for the Nl other assemblies. Then, the two additional conditions 312 and 313, described previously, are taken into account to prevent the setpoint speed norm 307 from being too low after correction, i.e., to prevent the corrected speed from tending towards zero. The minimum setpoint speed norm 301 and the additional setpoint speed correction value 310 supplied at the output by the proportional-integral controller 330 are then used to calculate the actuator setpoint speed 307, for example, using step 111 of process 100. The setpoint speed 307 is then used to control the associated actuator.

Claims

1. Demands Actuation system (2) of an avionics system, the actuation system (2) comprising N actuation sets (21, 22, 23, 24) suitable for connection to the avionics system, N being an integer equal to or greater than 2, each actuation set (21, 22, 23, 24) among the N actuation sets (21, 22, 23, 24) comprising: - an actuator (212, 222, 232, 242) comprising a motor (2121, 2221, 2321, 2421), - an electronic control unit (211, 221, 231, 241) of the motor (2121, 2221, 2321, 2421), configured to receive a setpoint position from the associated actuator (212, 222, 232, 242) of the given actuation assembly, the actuation system (2) being characterized in that: - the actuation system (2) comprises N initial communication channels (31, 32, 33, 34) for data between the N electronic control units (211, 221, 231, 241) of the N actuation assemblies (21, 22, 23, 24), forming a first communication loop adapted to transmit, step by step and in a first direction, data relating to the operation of each actuator, such that each electronic control unit (211, 221, 231, 241) transmits to a subsequent electronic control unit (211, 221, 231, 241) said data relating to the operation of each actuator (212, 222, 232, 242) including a setpoint speed of the actuator (212, 222, 232, 242) considered, and data relating to the operation of each of the Nl other actuators (212, 222, 232, 242), - the electronic control unit (211, 221, 231, 241) of each actuation assembly (21, 22, 23, 24) is further configured to implement a synchronization loop, including the calculation of a correction to the setpoint speed of the associated actuator (212, 222, 232, 242) on the basis of a minimum setpoint speed among the setpoint speed of the actuator (212, 222, 232, 242) associated and Nl setpoint speeds of the other Nl actuators (212, 222, 232, 242) received by said first communication loop, and - the actuator (212, 222, 232, 242) of each actuation set (21, 22, 23, 24) being adapted to apply the correction of the calculated setpoint speed.

2. Actuation system (2) according to claim 1 in which each actuation set (21, 22, 23, 24) among the N actuation sets (21, 22, 23, 24) comprises the same type of actuator.

3. Actuation system (2) according to any one of the preceding claims wherein the actuator (212, 222, 232, 242) of each actuation assembly (21, 22, 23, 24) considered among the N actuation assemblies (21, 22, 23, 24) further comprises a position sensor (2122, 2222, 2322, 2422) of said actuator.

4. Actuation system (2) according to any one of the preceding claims further comprising N second communication channels (31', 32', 33', 34') of data between the N control units (211, 221, 231, 241) of the N actuation assemblies (21, 22, 23, 24), forming a second communication loop adapted to transmit, step by step and in a second direction, said data relating to the operation of each actuator (212, 222, 232, 242) such that each electronic control unit (211, 221, 231, 241) transmits to a subsequent electronic control unit (211, 221, 231, 241) said data relating to the operation of each actuator.

5. An actuation system (2) according to any one of the preceding claims, wherein the electronic control unit (211, 221, 231, 241) of each actuation assembly is further configured to perform the steps of: - applying (105) a setpoint speed to the actuator (212, 222, 232, 242) considered, to obtain a setpoint position, the setpoint speed being determined at iteration i-1 for iteration i, - receiving (106) a measured position from the actuator (212, 222, 232, 242) considered,

6.

7. - calculate (107) an intermediate setpoint speed from the measured position and the setpoint position of the actuator (212, 222, 232, 242) considered, - receive (108) a plurality of data including: • The setpoint position and intermediate setpoint speed of the actuator (212, 222, 232, 242) of each actuation set, • The measured position of the actuator (212, 222, 232, 242) of each actuation assembly, • A speed correction setpoint for the actuator (212, 222, 232, 242) of each actuation assembly, - determine (109) the norm of the minimum norm intermediate setpoint speed among the intermediate setpoint speeds of the actuator (212, 222, 232, 242) of each actuation assembly, - calculate (110), from the measured position and the setpoint position of the actuator (212, 222, 232, 242) of each actuation assembly, the setpoint speed correction of the actuator (212, 222, 232, 242) considered, and - calculate (111) the set speed of the actuator (212, 222, 232, 242) considered from the correction of the set speed of the actuator (212, 222, 232, 242) considered and the norm of the intermediate set speed of minimum norm. Actuation system (2) according to the preceding claim, wherein the electronic control unit (211, 221, 231, 241) of each actuation assembly (21, 22, 23, 24) is further configured to calculate (111) the set speed by performing a product of: - a difference between the minimum setpoint speed and the setpoint speed correction of the actuator (212, 222, 232, 242) considered, and - a sign of the intermediate setpoint speed of the actuator (212, 222, 232, 242) considered. Actuation system (2) according to any one of claims 5 or 6, wherein:

8. - the electronic control unit (211, 221, 231, 241) of each actuation set (21, 22, 23, 24) is further configured to include a proportional integral controller, the proportional controller comprising a proportional part and an integral part, the proportional integral controller taking as input a difference between the measured position and the setpoint position of the associated actuator and providing as output an additional value for correction of the setpoint speed. - the calculation (111) of the setpoint speed further includes: • when the actuator in question is leading and an output provided by the associated proportional-integral controller is less than the average value of the outputs provided by the proportional-integral controller of the other Nl actuation assemblies, the output of the integral part of the proportional-integral controller of iteration i is set to the value of the output of the integral part of the proportional-integral controller of iteration i-1, and • when the output provided by the proportional integral controller is not zero and is less than the output provided by the proportional integral controller of the Nl other actuation sets, then the value of the output of the integral part of the controller of iteration i is equal to the value of the output of the integral part of the controller of iteration i-1 reduced by a value proportional to the value of the output provided by the proportional integral controller. Actuation system (2) according to any one of the preceding claims, wherein the avionics system is: - a movable cowling of a thrust reverser on an aircraft nacelle, or - a set of high-lift devices, each high-lift device being adapted for deployment

9. on a wing of the aircraft, the high-lift device being a flap or a slat, or - a control surface of the aircraft. Aircraft comprising: - an actuation system (2) for an avionics system according to any one of the preceding claims, and - the avionics system.

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