Electronic stopper in actuator control

Patent metadata

Field	Value
Publication number	US-10401875-B2
Application number	US-201414448134-A
Country	US
Kind code	B2
Filing date	Jul 31, 2014
Priority date	Jul 31, 2014
Publication date	Sep 3, 2019
Grant date	Sep 3, 2019

Abstract

A system and method of controlling a position of a structure. A position command indicating a desired position for the structure and a position feedback signal indicating the position of the structure are received. A position control signal is generated based on a difference between the desired position and the position indicated by the position feedback signal. A stop feedback signal relative to the position of the structure is received. A stop control signal is generated based on the stop feedback signal and a stop condition for the structure. One of the position control signal and the stop control signal is selected. The selected one of the position control signal and the stop control signal is provided to an actuator for controlling the position of the structure.

First claim

What is claimed is:

1. A method of controlling a position of a structure, comprising:
using an actuator controller to perform the steps of:
receiving a position command indicating a desired position for the structure, wherein the structure comprises a flight control structure on an aircraft, and wherein the structure is configured to move over a mechanical range of positions;
receiving a position feedback signal indicating the position of the structure;
generating a position control signal based on a difference between the desired position and the position of the structure indicated by the position feedback signal;
receiving a stop feedback signal indicating a current condition of the structure relative to the position of the structure;
generating a stop control signal based on a difference between the stop feedback signal and a stop condition for the structure, wherein the stop condition defines a stop for the structure;
selecting a one of the position control signal and the stop control signal as an actuator control signal by selecting the position control signal to be the actuator control signal in response to a determination that a magnitude of the position control signal is smaller than a magnitude of the stop control signal and selecting the stop control signal to be the actuator control signal in response to a determination that the magnitude of the stop control signal is smaller than the magnitude of the position control signal, wherein the actuator control signal indicates a direction and magnitude of movement of an actuator in response to the actuator control signal; and
providing the actuator control signal to the actuator for controlling the position of the structure, wherein the actuator moves the structure toward the desired position when the actuator control signal provided to the actuator is the position control signal and moves the structure toward a position corresponding to the stop condition when the actuator control signal provided to the actuator is the stop control signal.

2. The method of claim 1 , wherein:
the position feedback signal indicates a position of the actuator; and
the stop feedback signal indicates the position of the structure other than by identifying the position of the actuator.

3. The method of claim 1 , wherein the stop feedback signal and the stop condition are selected from:
the stop feedback signal indicates an angle of the structure and the stop condition indicates a stop angle for the structure;
the stop feedback signal indicates a distance of a surface of the structure from a reference and the stop condition indicates a stop distance from the reference; and
the stop feedback signal indicates a force on the structure and the stop condition indicates an allowed force on the structure.

4. The method of claim 1 , wherein the actuator is selected from a linear actuator and a rotary actuator.

5. The method of claim 1 , wherein the structure comprises one or more of an aileron, an elevator, a rudder, a spoiler, a flap, a slat, or an air brake.

6. An apparatus, comprising:
a position controller configured to receive a position command indicating a desired position for a structure, wherein the structure comprises a flight control structure on an aircraft and wherein the structure is configured to move over a mechanical range of positions, receive a position feedback signal indicating a position of the structure, and generate a position control signal based on a difference between the desired position and the position indicated by the position feedback signal;
a stop controller configured to receive a stop feedback signal indicating a condition of the structure relative to the position of the structure and generate a stop control signal based on a difference between the stop feedback signal and a stop condition for the structure, wherein the stop condition defines a stop for the structure; and
a control signal selector configured to select a one of the position control signal and the stop control signal as an actuator control signal by selecting the position control signal to be the actuator control signal in response to a determination that a magnitude of the position control signal is smaller than a magnitude of the stop control signal and selecting the stop control signal to be the actuator control signal in response to a determination that the magnitude of the stop control signal is smaller than the magnitude of the position control signal, wherein the actuator control signal indicates a direction and magnitude of movement of an actuator in response to the actuator control signal, and provide the actuator control signal to the actuator for controlling the position of the structure, wherein the actuator moves the structure toward the desired position when the actuator control signal provided to the actuator is the position control signal and moves the structure toward a position corresponding to the stop condition when the actuator control signal provided to the actuator is the stop control signal.

7. The apparatus of claim 6 , wherein:
the position feedback signal indicates a position of the actuator; and
the stop feedback signal indicates the position of the structure other than by identifying the position of the actuator.

8. The apparatus of claim 6 , wherein the stop feedback signal and the stop condition are selected from:
the stop feedback signal indicates an angle of the structure and the stop condition indicates a stop angle for the structure;
the stop feedback signal indicates a distance of a surface of the structure from a reference and the stop condition indicates a stop distance from the reference; and
the stop feedback signal indicates a force on the structure and the stop condition indicates an allowed force on the structure.

9. The apparatus of claim 6 , wherein the actuator is selected from a linear actuator and a rotary actuator.

10. A method of controlling a position of a structure, comprising:
using an actuator controller to perform the steps of:
receiving a position command indicating a desired position for the structure, wherein the structure is configured to move over a mechanical range of positions;
receiving a position feedback signal indicating the position of the structure;
generating a position control signal based on a difference between the desired position and the position of the structure indicated by the position feedback signal;
receiving a stop feedback signal indicating a condition of the structure relative to the position of the structure;
generating a stop control signal based on a difference between the stop feedback signal and a stop condition for the structure, wherein the stop condition defines a stop for the structure;
selecting a one of the position control signal and the stop control signal as an actuator control signal by selecting the position control signal to be the actuator control signal in response to a determination that a magnitude of the position control signal is larger than a magnitude of the stop control signal and selecting the stop control signal to be the actuator control signal in response to a determination that the magnitude of the stop control signal is larger than the magnitude of the position control signal, wherein the actuator control signal indicates a direction and magnitude of movement of an actuator in response to the actuator control signal; and
providing the actuator control signal to the actuator for controlling the position of the structure, wherein the actuator moves the structure toward the desired position when the actuator control signal provided to the actuator is the position control signal and moves the structure toward a position corresponding to the stop condition

Assignees

• Boeing Co

Inventors

• Matsui Gen

Classifications

• G05B2219/42104

  Loop switch, speed loop then position loop, mode switch · CPC title

• G05B19/19

  characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path · CPC title

• G05B5/01 Primary

  electric · CPC title

• G05D3/20 Primary

  using a digital comparing device · CPC title

• G05D3/00 Primary

  Control of position or direction (G05D1/00 takes precedence; numerical control to execute positioning G05B19/18) · CPC title