An electromechanical brake system

Abstract

The present invention relates to a body (G) which is a vehicle, at least one controller (2) located on the body (G) and ensuring the movement control of the body (G), at least one brake mechanism (3) located on the body (G), controlling the speed of the body (G) during its movement on the ground and decelerating or stopping the movement of the body (G), at least one reference value (D) generated by the controller (2), comprising the control data of the brake mechanism (3), being data determined in advance by the user, at least one electric motor (4) located on the brake mechanism (3) and providing the power required for the operation of the brake mechanism (3), and at least one processor (5) controlling the operation of the electric motor (4) by generating the command suitable for the reference value (D) included in the command transmitted from the controller (2), and triggering the brake mechanism (3) according to the power values transmitted to the electric motor (4) via the controller (2).

Description

[0001] AN ELECTROMECHANICAL BRAKE SYSTEM

[0002] This invention relates to a brake control system providing controlled braking by using an electric motor in a brake system used in vehicles.

[0003] Brake systems located in vehicles ensure the control of the speed and maneuver execution of the vehicle during its movement on the ground. Hydraulic brakes are generally used in vehicles. Fully electric brake systems are preferred, particularly in unmanned aerial vehicles, since they are more practical and their maintenance requirement is lower. An electronic control equipment is used for ensuring the control of the electric brake systems.

[0004] In the invention located in the United States origin patent document numbered US2008084109A1, included in the prior art, a system and a method directed to adjusting brake mechanisms for an air vehicle having an electric brake system are mentioned. Brake actuator mechanisms are controlled to obtain different park brake activation states as a function of the current engine operating state (for example, engine off, engine at idle, or while engine is at idle). The invention proposes a system and a method directed to engaging the park brake for an aircraft having an electric brake system. By controlling the electric brake actuators in a manner to provide full clamping force when the aircraft is parked and running above idle, and partial clamping force when the aircraft is in park state and running at idle, the invention reduces the load on the brake system. The electric brake actuator controller (EBAC) controls the position of the electric brake actuator and, as a result of this, the force / pressure applied to the brake heat sink. The EBAC can receive feedback data from the actuator position sensor and / or the load cell to enable the electric brake system to determine whether the electric brake actuator is sufficiently engaged.

[0005] Thanks to an electromechanical brake system developed with this invention, a brake system is provided ensuring the deceleration, stopping, and / or direction changing of the air vehicle by interpreting the brake command from the pilot or autonomous flight system and providing the necessary current to the electric motor in a controlled manner in a closed loop by performing current control.

[0006] Another object of the invention ensures the control of the brake mechanism having different types of electric motors independently from each other.Another object of the invention is to ensure that braking is performed by using a redundant system in case a failure occurs.

[0007] Another object of the invention is to provide a brake unit having a processor triggering the electric motor by performing current control.

[0008] Another object of the invention is to provide a digital card having a processor controlling the electric motor having independent and different operation requirements simultaneously.

[0009] Another object of the invention is to provide a brake mechanism having a multiple selectable communication interface ensuring that braking can be performed with the brake system having a redundant communication interface.

[0010] The electromechanical brake system defined in the first claim and the claims dependent on this claim, realized to reach the aim of the invention, comprises at least one controller controlling the movement on the ground of a body which is a vehicle, at least one brake mechanism ensuring the steering of the body managed by the controller on the ground, ensuring the deceleration and / or stopping thereof by controlling the speed, at least one reference value prepared in advance comprising the command information transmitted by the controller to the brake mechanism, at least one electric motor generating the power required for the movement of the brake mechanism, and at least one processor processing the commands for triggering the electric motor according to the data of the reference value generated in the controller.

[0011] The electromechanical brake system subject of the invention comprises at least one current sensor positioned on the electric motor or the processor and measuring the current transmitted to the electric motor by the processor, at least one current value obtained by the current sensor measuring the passing current, at least one motor current read from the motor driver located inside the electric motor, and at least one processor reading the value closest to the reference value by comparing the current value with the motor current in order to transmit the desired current to the electric motor to reach the necessary torque value by determining the motor type and / or model to be triggered according to the data included in the reference value generated by the user or by the controller, transmitting it to the electric motor, and controlling the electric motor in a closed loop until the electric motor reaches the current included in the reference value.

[0012] In an embodiment of the invention, the electromechanical brake system comprises at least one gate positioned between each electric motor and the processor to control a plurality ofelectric motors, ensuring the electric motors to be controlled independently from each other, and a processor ensuring the transmission of the current to each electric motor independently from each other via the gate by selecting the current which is numerically closest to the current included in the reference value between the compared current value and the motor current.

[0013] In an embodiment of the invention, the electromechanical brake system comprises at least one digital card ensuring the transmission of the command data received from the controller, which is the card where the processor is operated, to the processor, and a processor transmitting commands to the electric motor according to at least two values which are equal, by using a selection method between the motor current and the current values measured with a plurality of current sensors measuring the current transmitted to the electric motor on the digital card.

[0014] In an embodiment of the invention, the electromechanical brake system comprises at least one disk located on the brake mechanism for managing the movement of the body, at least one pad ensuring the deceleration or stopping of the disk by contacting the disk, a first sensor measuring the temperature generated due to friction as a result of the contact of the pad with the disk, a temperature reference which is a temperature limit determined in advance by the user at which the brake mechanism operates efficiently, and a processor controlling the electric motor by stopping it for the cooling of the disk and transmitting the stop command information to the controller in case the temperature measured from the first sensor as a result of the contact of the pad with the disk in a braking situation exceeds the limit temperature included in the temperature reference.

[0015] In an embodiment of the invention, the electromechanical brake system comprises a first state (I), which is a situation where braking is not performed, in which the pad is positioned to be further away from the disk, a second state (II) in which there is no distance between the pad and the disk and the pad is in contact with the disk, and at least one limit switch transmitting the information that the pad is free in the first state (I) to the processor with the movement of the pad between the first state (I) and the second state (II).

[0016] In an embodiment of the invention, the electromechanical brake system comprises a processor enabling braking to be performed at a stage desired on the user side regarding the gradual brake level information included in the reference value, ensuring the pad to be brought from the first state (I) to the second state (II), and triggering the transition between stages in a controlled manner by generating pulse width modulation (PWM) in a mannerthat there will be no limit overshoot in the current value for the application of the deceleration or stopping command by determining the brake intensity in the second state (II).

[0017] In an embodiment of the invention, the electromechanical brake system comprises at least one power supply providing electric power to the digital card for the processor to execute the commands, at least one power card controlling the voltage value transmitted to the digital card by regulating the voltage value transmitted from the power supply, at least one box which is a brake control unit, containing the digital card and the power card inside, and protecting the digital card and the power card from environmental factors, a second sensor located inside the box, measuring the temperature generated due to the digital card and the power card inside the box, and a processor sending temperature information to the controller in case the value measured from the second sensor exceeds the limit range which is the ideal operating temperature determined in advance by the user.

[0018] In an embodiment of the invention, the electromechanical brake system comprises a processor ensuring the regulation of the voltage value via the power card ensuring the voltage value to be between the limit determined by the user included in the reference value, in case the voltage value transmitted from the power supply is transmitted at a value different from the digital card operating voltage limit determined by the user.

[0019] In an embodiment of the invention, the electromechanical brake system comprises a digital card transmitting the command to the processor which is redundant, by transmitting it to the processor located on another digital card which is redundant, with the detection of an error value generated in case the command transmitted from the controller to the processor located on the digital card is not answered by the processor.

[0020] In an embodiment of the invention, the electromechanical brake system comprises at least one communication interface which is the communication channel between the processor and the controller, located in the command included in the reference value transmitted by the controller to the processor, and a processor ensuring the determination of the communication interface type between the controller and the processor according to the data included in the reference value, and applying the commands in the reference value according to the determined communication interface.

[0021] In an embodiment of the invention, the electromechanical brake system comprises a body which is a manned or unmanned air vehicle, a controller which is a flight control computer controlling the flight movements of the air vehicle body, into which data entry is performedby the pilot, a brake mechanism controlling the maneuver of the body on the runway and the speed with the steering of the air vehicle landing gear, a processor which is a Field Programmable Gate Array (FPGA) circuit, controlling the multiple electric motor independently and isolated from each other, and a multiple communication interface having a multiple channel structure which is RS422, RS485 and / or CAN bus, ensuring data exchange between the processor which is a digital signal circuit and the controller, being a bi-directional serial data communication protocol.

[0022] In an embodiment of the invention, the electromechanical brake system comprises a processor ensuring the application of the process steps of:

[0023] determining the electric motor model included in the reference value generated by the controller,

[0024] selecting the communication interface which is the communication channel for the transmission of the reference value to be transmitted from the controller to the processor to the processor,

[0025] transmitting the current required for triggering the electric motor to the electric motor via the processor by reading the current value included in the reference value transmitted from the controller via the communication interface, and determining the current information closest to the current transmitted in the reference value by comparing the current information read from the current sensors with the motor current,

[0026] controlling the current by decreasing or increasing it with PWM in a closed loop until the current value read from the current sensors reaches the current determined for the relevant brake stage,

[0027] transmitting the same current until a reference value having a new current information is transmitted from the controller in case the current transmitted to the electric motor is equal to the current included in the reference value, transmitting the temperature information to the controller in case the temperature received from the first sensor is greater than the temperature reference by comparing the data received from the first sensor with the temperature reference specified in the reference value, and stopping the electric motor until the temperature is within the temperature reference limits,

[0028] transmitting a temperature warning to the controller when the temperature data is above the determined limit value by comparing the data read with the second sensor with the limit value specified in the reference value,increasing or limiting the voltage via the power card for the voltage value to be within the limit range in case the voltage value transmitted from the power supply to the power card is outside the limit range determined in advance by the user.

[0029] The electromechanical brake system realized to reach the object of the invention is illustrated in the attached figures, in which;

[0030] Figure 1 - The schematic view of the electromechanical brake system.

[0031] Figure 2 - The schematic view of the box, digital card and power card.

[0032] Figure 3 - The schematic view of the disk, pad and electric motor.

[0033] Figure 4 - The schematic view of the disk and pad in the first state (I).

[0034] Figure 5 - The schematic view of the disk and pad in the second state (II).

[0035] Figure 6 - The schematic view of the method steps in which the processor applies the brake commands.

[0036] The parts in the figures are numbered individually and the equivalents of these numbers are given below.

[0037] 1. Electromechanical Brake System

[0038] 2. Controller

[0039] 3. Brake Mechanism

[0040] 310. Disk

[0041] 320. Pad

[0042] 4. Electric Motor

[0043] 410. Motor driver

[0044] 5. Processor

[0045] 6. Digital Card

[0046] 7. Current Sensor

[0047] 8. First Sensor

[0048] 9. Limit Switch

[0049] 10. Power Supply

[0050] 11. Power Card

[0051] 12. Box

[0052] 13. Second Sensor

[0053] 14. Communication InterfaceG. Body

[0054] D. Reference Value

[0055] A. Current Value

[0056] M. Motor Current

[0057] K. Gate

[0058] H. Error Value

[0059] T. Temperature Reference

[0060] I. First State

[0061] II. Second State

[0062] 101. Determining the electric motor (4) type according to the data included in the reference value (D) located in the command coming from the controller (2)

[0063] 102. Determining the communication interface (14) to be used

[0064] 103. Transmitting the current to be transmitted to the electric motor (4) to the electric motor (4) by generating it with PWM by reading the data transmitted from the communication interface (14) according to the reference value (D)

[0065] 104. Controlling the data which are equal from the current sensors (7) according to the reference value (D) by taking the value, in which at least two of them are common, as a basis by comparing the data received from the current sensors (7)

[0066] 105. Increasing or decreasing the current until the value read from the current sensor (7) reaches the current value (A) determined by the user or the controller (2)

[0067] 106. Keeping the current constant until a new command comes from the controller (2) in the case where the current value (A) read from the current sensor (7) is equal to the current value (A) determined by the user or the controller (2)

[0068] 107. Transmitting a warning to the controller (2) and stopping the electric motor (4) in case the temperature data is higher than the reference value (D) by comparing the temperature data received from the first sensor (8) with the temperature limit range included in the reference value (D)108. T ransmitting a warning to the controller (2) in case the data is higher than the reference value (D) by comparing the temperature data indicating the temperature inside the box (12) received from the second sensor (13) with the limit range included in the reference value (D)

[0069] 109. Limiting it by the power card (11) in case it is higher than the reference value (D), or increasing it by the power card (11) in a manner to remain within the limit range in case it is lower than the reference value (D), by comparing the power value received from the power card (11) with the limit range included in the reference value (D)

[0070] The electromechanical brake system (1) comprises a body (G) which is a vehicle, at least one controller (2) located on the body (G) and ensuring the movement control of the body (G), at least one brake mechanism (3) located on the body (G), controlling the speed of the body (G) during its movement on the ground and decelerating or stopping the movement of the body (G), at least one reference value (D) generated by the controller (2), comprising the control data of the brake mechanism (3), being data determined in advance by the user, at least one electric motor (4) located on the brake mechanism (3) and providing the power required for the operation of the brake mechanism (3), and at least one processor (5) controlling the operation of the electric motor (4) by generating the command suitable for the reference value (D) included in the command transmitted from the controller (2), and triggering the brake mechanism (3) according to the power values transmitted to the electric motor (4) via the controller (2). (Figure 1)

[0071] The electromechanical brake system (1) subject of the invention comprises at least one digital card (6) in which the processor (5) is located, being in communication with the controller (2) for the processing of the commands coming from the controller (2), at least one current sensor (7) located on the digital card (6), measuring the current passing through the electric motor (4), transmitting the measured value instantaneously to the processor (5), at least one current value (A) obtained by being measured by the current sensor (7), at least one motor driver (410) located on the electric motor (4), processing the commands of the processor (5) transmitted to direct the electric motor (4), at least one motor current (M) received from the motor driver (410), and a processor (5) determining the electric motor (4) it will trigger according to the reference value (D) transmitted with the command transmitted by the controller (2) to the processor (5), determining the value closest to the reference value (D) by comparing the reference value (D) with the current value (A) and the motor current (M), and ensuring the triggering of the brake mechanism (3) to apply the torque towhich the current included in the reference value (D) corresponds according to the determined closest value. (Figure 1 and Figure 3)

[0072] A controller (2), wherein steering commands are processed, is located inside a body (G) which is a vehicle. The brake mechanism (3) ensures the deceleration and stopping of the body (G) during movement. The controller (2) generates a reference value (D) to control the brake mechanism (3), and information, which are digital data indicating the operating conditions of the brake mechanism (3), is included in this reference value (D). The reference value (D) comprises the data set required for the processor (5) to control the brake mechanism, transmitted to the processor (5) via the controller (2) by the user. The brake mechanism (3) is controlled by at least one electric motor (4). The deceleration or stopping of the body (G) is ensured by triggering the electric motor (4) located inside the brake mechanism (3). At least one processor (5) is located, ensuring the triggering of the electric motor (4) according to the commands coming from the controller (2) and controlling the electric motor (4) according to the data included in the reference value (D). The processor (5) controls the electric motor (4) with the order command system transmitted from the controller (2). (Figure 1)

[0073] Commands coming from the controller (2) are interpreted and processed by the processor (5) located on the digital card (6). The digital card (6) ensures the control of the electric motor (4) according to the brake amount determined by the user by interpreting the reference value (D) data coming from the controller (2) via the processor (5). A current sensor (7) measuring the current passing through the electric motor (4) is located on the digital card (6). Current sensors (7) measure the current value (A) transmitted to the electric motor (4). A motor current (M) indicating the current amount received from the motor driver (410) located in the electric motor (4) is located. The processor (5) ensures the current value (A) or the motor current (M) to be equivalent to the current specified in the reference value (D) by managing in a closed loop by reading the current closest to the current specified in the reference value (D) in order to ensure the electric motor (4) reaches the current specified in the reference value (D) by making a comparison of the current value (A) and the motor current (M). The processor (5) triggers the electric motor (4) with the reference value (D) data until a different reference value (D) comes from the controller (2) in case the current specified in the reference value (D) is equivalent to the current value (A) or the motor current (M). Information comprising the type of the electric motor (4) triggered by the processor (5) and the working conditions of each electric motor (4) is included in the reference value (D) which is a message structure transmitted by the controller (2) to the processor (5), and theprocessor (5) transmits the current corresponding to the braking amount entered into the controller (2) by the user to the electric motor (4) with PWM according to the electric motor (4) working values specified in the reference value (D). Two different values are compared for the selection of the type of the electric motor (4). The motor type is sent to the processor (5) inside the reference value (D) which is a message structure via the controller. The selection of the electric motor (4) can be performed with the status of the discrete lines which are communication lines located in the connections between the electric motor (4) and the processor (5). The processor (5) transmits the necessary power to the electric motor (4) as a result of the matching of the motor information transmitted from the controller (2) with the motor information in the communication line. (Figure 1 and Figure 3)

[0074] In an embodiment of the invention, the electromechanical brake system (1) comprises at least one gate (K) which is a connector and ensuring the communication of the electric motors (4) with the controller (2) and the processor (5), located in the part where a plurality of electric motors (4) operating with requirements same as or different from each other are connected to the processor (5); a controller (2) enabling the command of operating at least one of the electric motors (4) to be sent to the processor (5) by triggering the gate (K) according to the value closest to the reference value (D) by comparing the current value (A) with the motor current (M); and a processor (5) ensuring the triggering of a plurality of electric motors (4) independently from each other by the gate (K) of the command sent by the controller (2) according to the current value (A) coming from each electric motor (4). A gate (K) is located ensuring the communication of the electric motor (4) with the processor (5), where the processor (5) transmits the necessary current to each motor to trigger a plurality of electric motors (4). The gate (K) triggers the electric motor (4) according to the command transmitted from the processor (5) and ensures the transmission of the necessary current separately according to different electric motor (4) types via the gates (K) located for each electric motor (4). With the gates (K) being in interaction with each other, in the case that any gate (K) triggers the electric motor (4), the electric motor (4) which is in interaction with the gate (K) having an error is triggered via the other gate (K). A processor (5) is located providing current control to each electric motor (4) connected to each gate (K) ensuring the transmission of the current closest to the current included in the reference value (D) to the relevant electric motor (4) by comparing the current value (A) with the motor current (M), in a manner different from each other. A processor (5) is located operating in a command-response structure, driving the electric motors with current control, providing the supply of the electric motor (4), having the property of controlling a plurality of electric motors (4) independent or isolated from each other, determining the type of the plurality of electricmotors (4) with the data received from the reference value (D) and ensuring braking is performed by transmitting current according to the electric motor (4) type. In this way, it is ensured that the electric motors (4) having operation requirements different from each other are controlled via a single processor (5) with the data included in the reference value (D) transmitted from the controller (2) to the processor (5) by transmitting separate current for each electric motor (4). (Figure 1)

[0075] In an embodiment of the invention, the electromechanical brake system (1) comprises a processor (5) configured to generate a command of increasing or decreasing the current transmitted to the electric motor (4) according to the read current until the situation of being equal, by comparing the values with the reference value (D) sent from the controller (2) by taking at least two current values (A) and the motor current (M) via a voting method by comparing the current values (A) received from the motor driver (410) and received from a plurality of current sensors (7) located on the digital card (6). The current sensor (7) is located on the digital card (6) and the current received from the plurality of current sensors (7) is compared with the motor current (M) drawn from the supply of the electric motor (4). The compared values are transmitted to the processor (5), and at least two values which are equal are selected by comparing the motor current (M) received from the driver of the electric motor (4) with the values received from the current sensor (7) on the digital card (6) by using the triple modular redundancy (TMR) method which is a voting method by the processor (5), and the current determined by the processor (5) is transmitted to the processor (5). In this way, the control of the electric motor (4) is ensured by taking the current data received from different sources. (Figure 1 and Figure 2)

[0076] In an embodiment of the invention, the electromechanical brake system (1) comprises at least one disk (310) located on the brake mechanism (3) and ensuring the braking of the body (G) by applying force by the brake mechanism (3), at least one pad (320) located on the electric motor (4), triggered by the electric motor (4), ensuring the deceleration and / or stopping of the body (G) by contacting the disk (310), a first sensor (8) located on the electric motor (4), measuring the temperature of the disks (310), a temperature reference (T) which is a limit range determined in advance by the user as the ideal operating temperature of the disk (310), and a processor (5) configured to control the temperature of the disk (310) by transmitting information to the controller (2) in case the temperature value of the disk (310) received from the first sensor (8) exceeds the limit range specified in the temperature reference (T), and by controlling the operation of the electric motor (4) by disabling the electric motor (4) in order to keep the temperature of the disk (310) within the limit rangedetermined in advance by the user. The deceleration or stopping of the body (G) is ensured by triggering the electric motor (4) and contacting the disk (310) located on the brake mechanism (3). The triggered electric motor (4) ensures the deceleration or stopping of the disk (310) by moving the pad (320) towards the disk (310). The temperature of the disk (310) is measured with the first sensor (8) located on the brake mechanism (3) or the electric motor (4). The temperature of the disk (310), heating up in the deceleration situation, is measured with the first sensor (8) and the temperature information is transmitted to the processor (5). The processor (5) compares the temperature information coming from the first sensor (8) with the temperature reference (T) and ensures the cooling of the disk (310) by stopping the electric motor (4) in case the temperature coming from the first sensor (8) is high. The first sensor (8) is preferably an infrared sensor. In this way, the control of the disk (310) temperature exceeding the temperature reference (T) and the control of the electric motor (4) are ensured. (Figure 1)

[0077] In an embodiment of the invention, the electromechanical brake system (1) comprises a first state (I) where there is a distance determined in advance by the user between the pad (320) and the disk (310), at least one second state (II) where the pad (320) contacts the disk (310) partially or fully, and at least one limit switch (9) located on the electric motor (4), transmitting the information that the pad (320) is fully released to the processor (5) when the pad (320) is in the first state (I). In the first state (I), it is positioned such that there is a distance between the disk (310) and the pad (320). In the second state (II), the pad (320) ensures the deceleration or stopping of the body (G) by contacting the disk (310). The electric motor (4) triggered by the processor (5) pushes the pad (320) towards the disk (310) by moving the pad (320). The pad (320), brought from the first state (I) to the second state (II) via the electric motor (4), clamps the disk (310) according to the brake level specified in the reference value (D) transmitted by the user to the processor (5) with the controller (2). It is detected that the pad (320) is in the second state (II) by contacting the disk (310) with the limit switch (9). During braking, the brake release movement is performed according to the status data coming from the limit switch (9) located on the electric motor (4). The brake intensity of the brake control unit having different brake stages can be controlled by making a transition between stages. In order to provide the increasing torque during the transition between stages, when a stage change command comes from the controller (2), the pad (320) is ensured to be brought from the second state (II) to the first state (I), and is brought from the first state (I) to the second state (II) by transmitting the current value (A) corresponding to the desired command. The pad (320) brought to the first state (I) is brought from the first state (I) to the second state by clamping the pad (320) by the stage amountcorresponding to the current determined for the desired stage amount. In order to ensure the brakes are in the first state (I), the electric motor (4) brings the pad (320) from the second state (II) to the first state (I) by transmitting a brake release command defined inside the reference value (D). With the transmission of the release command in the reference value (D), the limit switch (9) transmits the information to the processor (5) that the pad (320) has been brought to the first state (I). In this way, the transmission of the information that the brake is released to the processor (5) is ensured by controlling the contact of the pad (320) with the disk (310). (Figure 4 and Figure 5)

[0078] In an embodiment of the invention, the electromechanical brake system (1) comprises a processor (5) transmitting the current value (A) using pulse width modulation, having multiple stages with current limits included in the reference value (D) determined by the user, ensuring gradual transition between the first state (I) and the second state (II), thereby ensuring the transition between stages according to the command coming from the user or the autonomous system on the controller (2) without overshooting in a manner to remain at the limit value specified in the reference value (D). It ensures the transition of the pad (320) from the first state (I) to the second state (II) by applying the current corresponding to the brake stage information included in the reference value (D) transmitted to the processor (5), and reaches the target without exceeding the brake level specified in the reference value (D) by using pulse width modulation (PWM) for the transmission of the current signal necessary to reach the brake level coming from the user in the second state (II). In this way, the transition to the determined brake intensity is ensured to be performed in a smooth manner without generating excessive oscillation signal. (Figure 4 and Figure 5)

[0079] In an embodiment of the invention, the electromechanical brake system (1) comprises at least one power supply (10) located on the body (G), providing power to the digital card (6), at least one power card (11) controlling the power transmission transferred to the processor (5) to feed the processor (5) with the power received from the power supply (10), at least one box (12) in which the processor (5) and the power card (11) are located, a second sensor (13) located on the digital card (6) and measuring the temperature generated inside the box (12), and a processor (5) configured to send a warning to the controller (2) when the value measured from the second sensor (13) exceeds the limit value specified in the reference value (D) determined in advance by the user. The power card ensures the transmission of the power values needed by the processor (5) located inside the digital card (6) to operate via the power supply (10). The digital card (6) and the power card (11) are protected from environmental factors by being positioned inside the box (12). With themeasurement of the temperature that may occur due to the operation of the processor (5) and / or the digital card (6) via the second sensor (13) located inside the box (12), the data is transmitted to the processor (5) by comparing the ideal operating temperature which is the range determined in advance by the user of the digital card (6) and / or the power card (11). In this way, with the temperature control being performed, the operation of the digital card (6) and / or the power card (11) at the ideal temperature is ensured. (Figure 1)

[0080] In an embodiment of the invention, the electromechanical brake system (1) comprises a processor (5) configured to transmit the command of limiting or increasing the power coming from the power supply (10) to the digital card (6) to the power card (11) when the value transmitted by the power supply (10) to the processor (5) takes a value outside the limit range determined in advance on the user side, and to report the power value information transmitted outside the limit range included in the reference value (D) determined in advance by the user to the controller (2). The power transmitted from the power supply (10) is regulated by the power card (11) for it to be transmitted to the digital card (6) at a stable voltage value and is transmitted to the processor (5). In case the voltage coming from the output of the power supply (10) is not stable, the power card (11) protects the processor (5) from high or low voltage value by limiting or increasing the power transmitted from the power supply (10) when it falls below the limit value or rises above the limit value, for the processor (5) to be operated in the power range which is the limit range determined in advance by the user. In this way, protection is provided against errors that may occur due to electric current for the processor (5) and / or the digital card (6). (Figure 1 and Figure 2)

[0081] In an embodiment of the invention, the electromechanical brake system (1) comprises an error value (H) measured when a disconnection is caused in the communication detected by the digital card (6) during its communication with the processor (5), and a processor (5) allowing switching to the processor (5) inside another digital card (6) by stopping the processor (5) for which the error value (H) is detected. A processor (5) is located ensuring the transmission to another processor (5) which is redundant, with the generation of an error value (H) by the processor (5) regarding the command data included in the reference value (D) transmitted from the controller (2) to the processor (5). In this way, it is ensured that braking is performed by operating another processor (5) with the redundant processor (5) and digital card (6) in the case of the occurrence of an error value (H). (Figure 1 and Figure 2)In an embodiment of the invention, the electromechanical brake system (1) comprises at least one communication interface (14) enabling the controller (2) and the processor (5) to exchange data with each other and enabling command exchange to be performed between the controller (2) and the processor (5) according to the bit value included in the reference value (D), and a processor (5) configured to allow the selection of one of the plurality of communication interface (14) options corresponding to the bit value specified in the message structure inside the reference value (D) according to the command data coming from the controller (2) and the performance of data / command exchange over the selected communication interface (14), to detect the error in case there is an error in the command exchange occurring on the communication interface (14), and to switch between communication interfaces (14) according to the data included in the reference value (D). The reference value (D) comprising command data generated in the controller (2) is transmitted to the processor (5) via the communication interface (14). The active communication type can be changed according to multiple bit values inside the message structure which is the reference value (D) between the controller (2) and the processor (5). It has selectable communication interfaces (14) between the controller (2) and the processor (5). The reference value (D) is transmitted over the required communication interface (14) by the plurality of communication interface (14) being selected by the processor (5), and in case a disconnection occurs in the communication interface (14), data flow is provided over another communication interface (14). More than one serial communication interface (14) of the same and / or different type between the controller (2) and the processor (5) can be selected and activated via the processor (5) which is an FPGA. The flight control computer can select as RS-422 or RS-485 according to the need. The fact that these lines are common provides an advantage in issues such as weight, assembly, and cabling cost inside the air vehicle. Plurality of communication interfaces (14) are located between the controller (2) and the processor (5) in a manner to be redundant to each other. In this way, reliability and redundancy are ensured by using another communication interface (14) in case the communication via the communication interface (14) between the controller (2) and the processor (5) is disconnected. (Figure 1)

[0082] In an embodiment of the invention, the electromechanical brake system (1) comprises a body (G) which is an air vehicle, a controller (2) which is a flight control computer ensuring the control of the air vehicle, a brake mechanism (3) used in the landing gears located on the air vehicle, ensuring the deceleration and stopping of the landing gears, a processor (5) which is an FPGA, thereby ensuring the control of the plurality of electric motor (4), and a plurality of communication interface (14) which is RS422, RS485 and / or controller areanetwork bus (CAN BUS), thereby being in a selectable structure in the case of the possibility of disconnection of the connection between the controller (2) and the processor (5). A body which is an airplane or an unmanned air vehicle is located. It is ensured that the brake mechanism (3) located on the landing gear is controlled by means of the controller (2) which is a flight control computer controlling the movement of the body (G). With the use of the processor (5) which is a Field Programmable Gate Array (FPGA), the control of electric motors (4) different from each other is ensured, the processor being capable of performing more than one operation and / or process simultaneously in a parallel manner. Data exchange is ensured between the controller (2) and the processor (5) over different lines with the communication interface (14) which are communication channels RS422, RS485 and / or controller area network bus (CAN BUS). In this way, it is ensured that the electrically controlled brakes used in the landing gears of the air vehicles are controlled independently from each other over redundant lines. (Figure 1)

[0083] In an embodiment of the invention, the electromechanical brake system (1) comprises a processor (5) enabling the processing of the process steps of;

[0084] determining the electric motor (4) type according to the data included in the reference value (D) located in the command coming from the controller (2) (101), determining the communication interface (14) to be used (102),

[0085] transmitting the current to be transmitted to the electric motor (4) to the electric motor (4) by generating it by reading the data transmitted from the communication interface (14) according to the reference value (D) (103),

[0086] controlling the data which are equal from the current sensors (7) according to the reference value (D) by taking the value, in which at least two of them are common, as a basis by comparing the data received from the current sensors (7) (104), increasing or decreasing the current until the value read from the current sensor (7) reaches the current value (A) determined by the user or the controller (2) (105), keeping the current constant until a new command comes from the controller (2) in the case where the current value (A) read from the current sensor (7) is equal to the current value (A) determined by the user or the controller (2) (106), transmitting a warning to the controller (2) and stopping the electric motor (4) in case the temperature data is higher than the reference value (D) by comparing the temperature data received from the first sensor (8) with the temperature limit range included in the reference value (D) (107),transmitting a warning to the controller (2) in case the data is higher than the reference value (D) by comparing the temperature data indicating the temperature inside the box (12) received from the second sensor (13) with the limit range included in the reference value (D) (108),

[0087] - limiting the power value by the power card (11) in case it is higher than the reference value (D), or increasing it by the power card (11) in a manner to remain within the limit range in case it is lower than the reference value (D), by comparing the power value received from the power card (11) with the limit range included in the reference value (D) (109). (Figure 6)

Claims

CLAIMS1. An electromechanical brake system (1) comprising a body (G) which is a vehicle, at least one controller (2) located on the body (G) and ensuring the movement control of the body (G), at least one brake mechanism (3) located on the body (G), controlling the speed of the body (G) during its movement on the ground and decelerating or stopping the movement of the body (G), at least one reference value (D) generated by the controller (2), comprising the control data of the brake mechanism (3), being data determined in advance by the user, at least one electric motor (4) located on the brake mechanism (3) and providing the power required for the operation of the brake mechanism (3), and at least one processor (5) controlling the operation of the electric motor (4) by generating the command suitable for the reference value (D) included in the command transmitted from the controller (2), and triggering the brake mechanism (3) according to the power values transmitted to the electric motor (4) via the controller (2); characterized in that it comprises at least one digital card (6) in which the processor (5) is located, being in communication with the controller (2) for the processing of the commands coming from the controller (2), at least one current sensor (7) located on the digital card (6), measuring the current passing through the electric motor (4), transmitting the measured value instantaneously to the processor (5), at least one current value (A) obtained by being measured by the current sensor (7), at least one motor driver (410) located on the electric motor (4), processing the commands of the processor (5) transmitted to direct the electric motor (4), at least one motor current (M) received from the motor driver (410), and the processor (5) determining the electric motor (4) it will trigger according to the reference value (D) transmitted with the command transmitted by the controller (2) to the processor (5), determining the value closest to the reference value (D) by comparing the reference value (D) with the current value (A) and the motor current (M), and ensuring the triggering of the brake mechanism (3) to apply the torque to which the current included in the reference value (D) corresponds according to the determined closest value.

2. The electromechanical brake system (1) according to claim 1 , characterized in that it comprises at least one gate (K) which is a connector and ensuring the communication of the electric motors (4) with the controller (2) and the processor (5), located in the part where a plurality of electric motors (4) operating with requirements same as or different from each other are connected to the processor (5); the controller (2) allowing the command of operating at least one of the electricmotors (4) to be sent to the processor (5) by triggering the gate (K) according to the value closest to the reference value (D) by comparing the current value (A) with the motor current (M); and the processor (5) ensuring the triggering of a plurality of electric motors (4) independently from each other by the gate (K) of the command sent by the controller (2) according to the current value (A) coming from each electric motor (4).

3. The electromechanical brake system (1) according to claim 1 or 2, characterized in that it comprises the processor (5) configured to generate a command to increase or decrease the current transmitted to the electric motor (4) according to the read current until the situation of being equal, by comparing it with the reference value (D) sent from the controller (2) by taking at least two current values (A) and the motor current (M) with a voting method by comparing the current values (A) received from the plurality of current sensors (7) located on the digital card (6) and received from the motor driver (410).

4. The electromechanical brake system (1) according to any one of the preceding claims, characterized in that it comprises at least one disk (310) located on the brake mechanism (3) and ensuring the braking of the body (G) by applying force by the brake mechanism (3), at least one pad (320) located on the electric motor (4), triggered by the electric motor (4), ensuring the deceleration and / or stopping of the body (G) by contacting the disk (310), a first sensor (8) located on the electric motor (4), measuring the temperature of the disks (310), a temperature reference (T) which is a limit range determined in advance by the user as the ideal operating temperature of the disk (310), and the processor (5) configured to control the temperature of the disk (310) by transmitting information to the controller (2) in case the temperature value of the disk (310) received from the first sensor (8) exceeds the limit range specified in the temperature reference (T), and by controlling the operation of the electric motor (4) by disabling the electric motor (4) in order to keep the temperature of the disk (310) within the limit range determined in advance by the user.

5. The electromechanical brake system (1) according to claim 4, characterized in that it comprises a first state (I) where there is a distance determined in advance by the user between the pad (320) and the disk (310), at least one second state (II) where the pad (320) contacts the disk (310) partially or fully, and at least one limit switch (9) located on the electric motor (4), transmitting the information that the pad (320) is fully released to the processor (5) when the pad (320) is in the first state (I).

6. The electromechanical brake system (1) according to claim 5, characterized in that it comprises the processor (5) transmitting the current value (A) using pulse width modulation, having multiple stages with the current limits within the reference value (D) determined by the user, ensuring the gradual transition between the first state (I) and the second state (II), thereby ensuring the transition between stages according to the command coming from the user or the autonomous system on the controller (2) in a manner to remain at the limit value specified in the reference value (D) without overshooting.

7. The electromechanical brake system (1) according to any one of the preceding claims, characterized in that it comprises at least one power supply (10) located on the body (G), providing power to the digital card (6), at least one power card (11) controlling the power transmission transferred to the processor (5) to feed the processor (5) with the power received from the power supply (10), at least one box (12) in which the processor (5) and the power card (11) are located, a second sensor (13) located on the digital card (6) and measuring the temperature generated inside the box (12), and the processor (5) configured to send a warning to the controller (2) when the value measured from the second sensor (13) exceeds the limit value specified in the reference value (D) determined in advance by the user.

8. The electromechanical brake system (1) according to claim 7, characterized in that it comprises the processor (5) configured to transmit the command of limiting or increasing the power coming from the power supply (10) to the digital card (6) to the power card (11) when the value transmitted by the power supply (10) to the processor (5) takes a value outside the limit range determined in advance on the user side, and to report the power value information transmitted outside the limit range included in the reference value (D) determined in advance by the user to the controller (2).

9. The electromechanical brake system (1) according to any one of the preceding claims, characterized in that it comprises an error value (H) measured when a disconnection is caused in the communication detected by the digital card (6) during its communication with the processor (5), and the processor (5) allowing switching to the processor (5) inside another digital card (6) by stopping the processor (5) for which the error value (H) is detected.

10. The electromechanical brake system (1) according to any one of the preceding claims, characterized in that it comprises at least one communication interface (14) enabling the controller (2) and the processor (5) to exchange data with each otherand enabling command exchange to be performed between the controller (2) and the processor (5) according to the bit value included in the reference value (D), and the processor (5) configured to allow the selection of one of the plurality of communication interface (14) options corresponding to the bit value specified in the message structure inside the reference value (D) according to the command data coming from the controller (2) and the performance of data / command exchange over the selected communication interface (14), to detect the error in case there is an error in the command exchange occurring on the communication interface (14), and to switch between communication interfaces (14) according to the data included in the reference value (D).

11. The electromechanical brake system (1) according to claim 10, characterized in that it comprises the body (G) which is an air vehicle, the controller (2) which is a flight control computer ensuring the control of the air vehicle, the brake mechanism (3) used in the landing gears located on the air vehicle, ensuring the deceleration and stopping of the landing gears, the processor (5) which is an FPGA, thereby ensuring the control of the plurality of electric motors (4), and the plurality of communication interface (14) which is RS422, RS485 and / or controller area network bus (CAN BUS), thereby being in a selectable structure in the case of the possibility of disconnection of the connection between the controller (2) and the processor (5).

12. The electromechanical brake system (1) according to claim 10 or claim 11, characterized in that it comprises the processor (5) enabling the processing of the process steps of;determining the electric motor (4) type according to the data included in the reference value (D) located in the command coming from the controller (2) (101),determining the communication interface (14) to be used (102), transmitting the current to be transmitted to the electric motor (4) to the electric motor (4) by generating it by reading the data transmitted from the communication interface (14) according to the reference value (D) (103), controlling the data which are equal from the current sensors (7) according to the reference value (D) by taking the value, in which at least two of them are common, as a basis by comparing the data received from the current sensors (7) (104),increasing or decreasing the current until the value read from the current sensor (7) reaches the current value (A) determined by the user or the controller (2) (105),keeping the current constant until a new command comes from the controller (2) in the case where the current value (A) read from the current sensor (7) is equal to the current value (A) determined by the user or the controller (2) (106),transmitting a warning to the controller (2) and stopping the electric motor (4) in case the temperature data is higher than the reference value (D) by comparing the temperature data received from the first sensor (8) with the temperature limit range included in the reference value (D) (107), transmitting a warning to the controller (2) in case the data is higher than the reference value (D) by comparing the temperature data indicating the temperature inside the box (12) received from the second sensor (13) with the limit range included in the reference value (D) (108),limiting the power value by the power card (11) in case it is higher than the reference value (D), or increasing it by the power card (11) in a manner to remain within the limit range in case it is lower than the reference value (D), by comparing the power value received from the power card (11) with the limit range included in the reference value (D) (109).

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