Electrical servo system for rotor blades, method for detecting sensor failures, and method for determining the normal functioning of motion-related rotor blade sensors.

Abstract

An electric servo system for a rotor blade, comprising: a rotor blade (4) that is movable relative to a mounting portion (2); an electric actuator (8) configured to actuate the rotor blade (4); at least one motion-related rotor blade sensor configured to acquire quantities related to the motion of the rotor blade (4); and at least one motion-related actuator sensor configured to acquire quantities related to the motion of the actuator (8). For the purpose of improving control accuracy, a control device is provided configured to perform control according to series closed-loop control, wherein at least one motion-related rotor blade sensor is used in outer closed-loop control for controlling the motion of the rotor blade, and at least one motion-related actuator sensor is used in inner closed-loop control for controlling the motion of the actuator.

Claims

1. An electric servo system for the control surface (4), A movable rotor (4) relative to the mounting part (2), An electric actuator (8) configured to operate the rotor blade (4), At least one motion-related rotor sensor configured to acquire a quantity, preferably position, related to the motion of the rotor blade (4), At least one motion-related actuator sensor configured to acquire a quantity, preferably a position, related to the motion of the actuator (8), An electric servo system comprising at least one control device configured to perform control according to series closed-loop control, wherein at least one motion-related rotor sensor is used in outer closed-loop control for motion control of the rotor, and at least one motion-related actuator sensor is used in inner closed-loop control for motion control of the actuator.

2. The at least one motion-related rotor sensor is used for position control of the rotor (4) and / or The electric servo system according to claim 1, wherein the at least one motion-related actuator sensor is used for speed control of the actuator (8), and preferably the speed of the actuator (8) is adjusted for position control of the rotor blade (4).

3. The electric servo system according to claim 1 or 2, wherein the rotor blade (4) is pivotable relative to the mounting portion (2).

4. The electric servo system according to any of the preceding claims, wherein the actuator (8) comprises a rotating electric machine, specifically an electric motor, or preferably a rotating electric machine, specifically an electric motor.

5. An electric servo system according to any of the preceding claims, wherein a transmission device, preferably a reduction transmission device, is inserted between the electric actuator (8) and the rotor blade (4).

6. The electric servo system according to any of the preceding claims, wherein the motion-related rotor blade sensor is configured to acquire an amount related to the motion of the most downstream portion of the drive path from the electric actuator (8) to the rotor blade (4).

7. The electric servo system according to any of the preceding claims, wherein the electric actuator (8) is connected to the mounting portion (4), and the motion-related actuator sensor is preferably configured to acquire an amount related to the motion of the output portion (82) of the electric actuator (8).

8. An electric servo system according to any of the preceding claims, wherein at least two motion-related rotor sensors are provided for the same rotor (4).

9. A method for detecting a sensor failure in an aircraft (1), specifically an electric servo system as described in any of the preceding claims, The aforementioned aircraft (1) A movable rotor (4) relative to the mounting part (2), An electric actuator (8) configured to operate the rotor blade (4), At least one motion-related rotor sensor configured to acquire a quantity, preferably position, related to the motion of the rotor blade (4), At least one motion-related actuator sensor configured to acquire a quantity, preferably position, related to the motion of the actuator (8) To prepare, a method, The method described above includes at least, A step to determine sensor failure based on the output of the motion-related blade sensor and the output of the motion-related actuator sensor. A method characterized by including

10. The method described above is The method according to claim 9, comprising the step of obtaining an actuator reference position and a rotor reference position by calibrating the motion-related actuator sensor and the motion-related rotor sensor with respect to each other at a specific position within the range of motion of the rotor blade (4), specifically at its end position.

11. The step of determining sensor failure is, A step of determining the correlation between the relative motion of the electric actuator (8) with respect to the actuator reference position, based on the output of the motion-related actuator sensor, and the relative motion of the rotor blade (4) with respect to the rotor blade reference position, based on the output of the motion-related rotor blade sensor, and The step of comparing the aforementioned correlation with a predetermined correlation, specifically a proportional correlation. The method according to claim 9 or 10, comprising step (S3).

12. If a failure is detected in one of the sensors, the movement of the rotor blade (4) becomes impossible, or The method according to any one of claims 9 to 11, wherein only one of the two motion-related rotor sensors is used for motion control of the rotor (4).

13. A method for determining the normal function of a motion-related rotor sensor configured to acquire quantities related to the motion of a rotor blade (4), wherein the rotor blade is movable within a range of motion defined by two end positions, The method described above is The steps include detecting the size of the movable range, The steps include moving the rotor blade (4) to one end position and to the other end position, and acquiring, at least temporarily during the motion, an amount related to the motion of the rotor blade (4) using the motion-related rotor blade sensor, The steps include determining the size of the movable range based on the output of the motion-related rotor sensor, A step of comparing the size used to determine the movable range with the size detected. Methods that include...

14. The method according to claim 13, wherein the detected size of the movable range is stored in memory.

15. The method according to any one of claims 9 to 12, wherein the method according to claim 13 or 14 is first carried out.

16. An aircraft (1) comprising an electric servo system according to any one of claims 1 to 8, and / or at least one control device configured to carry out any one of claims 9 to 12 and / or claims 13 to 15.

Images