EP2630034A2 - System for motorized displacement of a mobile element, method of driving such a system and method of testing such a system - Google Patents

System for motorized displacement of a mobile element, method of driving such a system and method of testing such a system

Info

Publication number
EP2630034A2
EP2630034A2 EP11833883.9A EP11833883A EP2630034A2 EP 2630034 A2 EP2630034 A2 EP 2630034A2 EP 11833883 A EP11833883 A EP 11833883A EP 2630034 A2 EP2630034 A2 EP 2630034A2
Authority
EP
European Patent Office
Prior art keywords
actuators
actuator
individual
effort
movable element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11833883.9A
Other languages
German (de)
French (fr)
Inventor
Franck Bonny
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Safran Electronics and Defense SAS
Original Assignee
Sagem Defense Securite SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sagem Defense Securite SA filed Critical Sagem Defense Securite SA
Publication of EP2630034A2 publication Critical patent/EP2630034A2/en
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01B—MACHINES OR ENGINES, IN GENERAL OR OF POSITIVE-DISPLACEMENT TYPE, e.g. STEAM ENGINES
    • F01B25/00—Regulating, controlling, or safety means

Definitions

  • the invention relates to a motorized movement system for a mobile element, for example a motorized displacement system intended for the motorized moving system. displacement of mobile flying surfaces in an aircraft, such as control surfaces.
  • the invention also relates to a method for controlling such a system and a method for testing such a system.
  • An example of a motorized moving device moving system is a system comprising two actuators connected to the movable element and dimensioned to be able to maneuver only the movable element.
  • the system also comprises a central control unit which is connected to the two actuators to send each actuator a position command.
  • the control unit sends a position setpoint to one of the actuators said main actuator that responding to the position setpoint will generate a displacement force of the movable member.
  • the second actuator said emergency actuator is not powered.
  • the control unit sends a position command to the emergency actuator which will replace the main actuator to move the movable element.
  • each actuator could alternatively act as a main actuator and an emergency actuator, but this would complicate the operation of the actuators.
  • the emergency actuator is inactive and then generates a force at its connection to the movable element which tends to counter the force developed by the main actuator. to move the movable element.
  • the main actuator must be dimensioned to be able to withstand this resisting force without affecting the movement of the movable element.
  • a motorized displacement system for a movable element comprising two actuators which are each provided with means of their connection to the mobile element.
  • the system comprises a central control unit which, in a nominal situation, sends a command setpoint to one of the actuators so that said actuator maneuvers only the movable element.
  • the central control unit sends a control setpoint to each of the actuators so that the two actuators simultaneously maneuver the movable element.
  • the use of one or two actuators thus depends solely on the power required to be able to maneuver the mobile element.
  • An object of the invention is to provide a motorized moving system of a movable element obviant at least in part to the aforementioned problems.
  • a motorized moving system of a movable element comprising at least two actuators which are provided each means of their connection to the movable element and are dimensioned to be able to maneuver only the movable element, a central control unit being connected to the two actuators to send to one or the other of the actuators a position command.
  • the system comprises control means for simultaneously controlling the two actuators in response to the position instruction addressed to one of the actuators.
  • the control means the effort to be developed to move the movable member is distributed between the two actuators so that neither of the two actuators is overly more stressed than the other.
  • the other actuator is able to move alone the movable element.
  • each actuator is substantially identical.
  • the size and weight of the actuators are lower than those of actuators of a motorized movement system of the prior art comprising a single actuator since the fatigue design of the actuators of the invention is less restrictive.
  • Another advantage is that there is less heating of the actuators than in a device of the prior art.
  • the system according to the invention makes it possible to distribute the position reference coming from the central control unit between the two actuators without having to modify an operating algorithm of a current central control unit which is traditionally connected. with two actuators for sending a position setpoint destined for only one of the actuators in a nominal situation.
  • the distribution of the position setpoint into a first effort setpoint and a second setpoint effort is made downstream of the generation of the position command to one of the actuators.
  • the invention also relates to a method for controlling such a system and a method for testing such a system.
  • FIG. 1 is a schematic view of a motorized moving system of a movable element 1 according to the invention
  • FIG. 2 is a schematic view of a motorized moving system of a movable element according to a second embodiment of the invention
  • FIG. 3 is a schematic view of a motorized moving system of a movable element according to a third embodiment.
  • a motorized displacement system 100 here allows, in an aircraft, the transmission of a movement of a steering element, such as the handle, to a movable member 200, such as a rudder.
  • the displacement system comprises a first actuator 1 and a second actuator 2.
  • Each actuator 1, 2 here comprises an electric motor, for example a brushless motor, having an output shaft driving a screw-nut assembly so that a rotation of the screw under the action of the motor causes a linear displacement without rotation of the nut.
  • the nut of the screw-nut assembly of each actuator 1, 2 allows an attachment of one actuator corresponding to the movable member 200.
  • actuator 1, 2 is dimensioned to be able to maneuver only the mobile element 200.
  • the first actuator 1 is associated with a first sensor 4 for measuring a force exerted by the first actuator 1 on the movable element 200 in order to move said movable element 200.
  • the second actuator 2 is associated with a second sensor 5 to measure a force exerted by the second actuator 2 on the movable member 200.
  • the sensors 4, 5 are here axial force sensors integrated in the system 100.
  • the system 100 also comprises a central control unit 3 connected to the first actuator 1 and the second actuator 2 so that the central control unit 3 can send to each of the actuators a position command Posi, P0S2.
  • the system 100 also comprises at least one position sensor of the movable element 100 for measuring an actual position of the movable element 200.
  • the system 100 comprises two position sensors 6, 7 which measure one as the real position of the mobile element 200 for a greater redundancy of said system 100.
  • the measurement made by a first 6 of the two position sensors is therefore substantially equal to the measurement made by the second 7 of the two position sensors, under normal operating conditions of the two position sensors. If one of the two position sensors is faulty, the second position sensor can always provide only information representative of the position of the mobile element 200.
  • the central unit 3 is thus connected to the two position sensors 6, 7 of the movable element.
  • a first 6 of the two position sensors is integrated in the first actuator 1 and the second 7 of the two position sensors is integrated in the second actuator 2.
  • the central control unit 3 addresses a Posi position setpoint only to the first actuator 1 said master actuator.
  • the central control unit 3 then relies on the second actuator 2 said slave actuator to move the movable member 200.
  • the central control unit 3 addresses the second actuator a position command P0S 2 .
  • the system 100 comprises control means which, in use, make it possible to drive the two actuators 1, 2 simultaneously in response to the position instruction sent to one of the actuators by the central unit
  • the control means comprise a first and a second individual control member 10, 20 respectively connected to the first and second actuators 1, 2.
  • the two control members 10, 20 are also connected to the unit.
  • control unit 3 to the force sensors 4, 5 respectively and to the position sensors 6, 7 respectively.
  • the individual control members 10, 20 are arranged in the system 100 to be able to communicate with each other.
  • the central control unit 3 In use, from a moving order of the movable member 200 from one of the control members 10, 20, the central control unit 3 generates a position command Posi to the first actuator 1.
  • the first individual control member 10 then translates the position setpoint Posi into a force setpoint and communicates with the second individual control member 20 so that the first and second control members 10, 20 simultaneously generate two sets of instructions.
  • Effi individual effort, Eff 2 respectively to the first actuator 1 and the second actuator 2.
  • the individual effort instructions Effi, Eff 2 are calculated so that the first and second actuators produce an individual effort respectively Fi, F 2 on the movable element 200, the sum of the individual forces Fi + F 2 corresponding to a total effort to provide to reach the Posi position setpoint and the efforts Fi, F 2 being substantially equal.
  • a measurement of the position Pos m of said movable element is carried out simultaneously by the position sensors 6, 7.
  • the two individual control members 10, 20 determine the two individual effort setpoints Effi, Eff 2 taking into account an error between the Posi position setpoint and the Pos m measured position when the two actuators 1, 2 respectively exert the forces Fi and F 2 on the movable element 200.
  • the individual forces Fi and F 2 we obtain the sum of the individual forces Fi + F 2 corresponding to the total effort required to achieve the Posi position setpoint, at least under normal operating conditions of the system 100.
  • control unit 3 also receives the measured position Pos m of the mobile element 200.
  • the control unit 3 can change the Posi position setpoint to reduce said gap.
  • the other position sensor can still provide information representative of the position of the movable member 200 to the control unit 3 and the one of the two individual control organs which will then communicate with the other individual organs to share said information.
  • a measurement of the force Fi m exerted by the first actuator 1 on the movable member 200 is performed by the first sensor 4.
  • a measurement of the force F 2m exerted by the second actuator 2 on the movable element 200 is performed by the second sensor 5.
  • the first and second individual control members 10, 20 determine the individual effort setpoints Effi, Eff 2 to reduce the error between the Posi position setpoint and the Pos m measured position when the two actuators 1, 2 respectively exert the efforts Fi and F 2 on the movable element 200.
  • one of the actuators can develop only a limited effort preventing the achievement of the instruction of effort that is requested.
  • This failure can be detected by the force sensor for example.
  • a fault signal, Def 2 is sent by the first actuator 1 or the second actuator 2 concerned to the corresponding individual control member 10, 20.
  • the control members 10, 20 then take account of this failure. to generate Effi, Eff 2 , individual effort set points, making it possible to get as close as possible to the total effort required to reach the Posi position setpoint.
  • the failure signal may also be sent by the actuator concerned to the central control unit 3 which will take account of this signal to rely on the non-faulty actuator to move the element. 200. If the first actuator 1 is defective, the central control unit 3 will rely on the second actuator 2, the system 100 then operating in an identical manner that when the position command is sent to the first actuator 1.
  • control means thus arranged in the system 100 make it possible to maintain programming of the central control unit 3 identical to that existing in the prior art.
  • the central control unit 3 generates a position setpoint for one of the actuators as in a device of the prior art.
  • control means communicate with each other in order to distribute this position setpoint in force instructions to the various actuators.
  • the control means are thus programmed independently of the programming of the central control unit 3 for the generation of the position command to one of the actuators.
  • Another advantage is that the two individual control members 10, 20 monitor the state of the two actuators 1, 2 as the central control unit which increases the reliability of the system 100. There is thus a double monitoring at the both from a global point of view at the central control unit 3 and from a local point of view at the level of the control means.
  • FIG. 2 illustrates a second embodiment of the motorized displacement system according to the invention.
  • the control means are directly integrated in said central control unit 3.
  • the central control unit 3 is then programmed to perform the functions of the individual control members of the first embodiment.
  • the central control unit 3 In use, from an order of movement of the movable member 200 from one of the control elements, such as the handle, the central control unit 3 initially calculates a posi position command to the first actuator 1. In a second time, from the Posi position setpoint, the control means simultaneously generate two individual effort orders Effi, Eff 2 respectively for the first and the second actuator 1, 2. The individual effort instructions Effi, Eff 2 are calculated so that the first and the second actuator produce an individual effort respectively Fi, F 2 on the movable member 200, the sum of the individual forces Fi + F 2 corresponding to a total effort to be provided to reach the position command Posi and the forces Fi, F 2 being substantially equal.
  • a measurement of the position Pos m of said movable element is performed by the position sensors 6, 7. From the measured position Pos m and the setpoint of Posi position, the control means determine the two sets of individual effort Effi, Eff 2 taking into account an error between the Posi position setpoint and the Pos m measured position when the two actuators 1, 2 respectively exert the efforts Fi and F 2 on the movable member 200.
  • control unit 3 also receives the measured position Pos m of the mobile element 200.
  • the control unit 3 can change the Posi position setpoint to reduce said gap.
  • a measurement of the force Fi m exerted by the first actuator 1 on the movable member 200 is performed by the first sensor 4.
  • a measurement of the force F 2m exerted by the second actuator 2 on the movable element 200 is performed by the second sensor 5.
  • the means of control determine the individual effort setpoints Effi, Eff 2 to reduce the error between the position setpoint Posi and the measured position Pos m when the two actuators 1, 2 respectively exert the forces Fi and F 2 on the movable element 200.
  • a fault signal, Def 2 is sent by the first actuator 1 or the second actuator 2 concerned to the central control unit 3 which takes account of this signal to rely on the non-faulting actuator so that to move the movable member 200. If the first actuator 1 is defective, the central control unit 3 will rely on the second actuator 2, the system 100 then operating identically that when the position command is sent to the first actuator 1.
  • the control means thus integrated in the central control unit 100 allow to maintain a programming of the central control unit 3 identical to that existing in the prior art. Said programming is only completed to integrate the functions of the individual control members of the first embodiment.
  • the central control unit 3 generates a position setpoint for one of the actuators as in a device of the prior art.
  • the control means communicate with each other in order to distribute this position setpoint in force instructions to the various actuators.
  • the control means are thus programmed independently of the programming of the central control unit 3 for the generation of the position command to one of the actuators.
  • Another advantage is that the control means monitor the state of the two actuators 1, 2 as the rest of the central control unit which increases the reliability of the system 100. There is thus a double monitoring both of a global point of view at the level of the central control unit 3 and from a local point of view at the level of the control means.
  • the central control unit 3 generates a position setpoint for one of the actuators and allows servo positioning of this setpoint.
  • the control means integrate this servocontrol in position and superimpose there a servocontrol in effort. There is thus enslavement from a total point of view at the central control unit 3 and from a local point of view at the control means which allows to maneuver very finely the movable element.
  • the actuator 1 considered as the master actuator by the central control unit 3, exerts a force on the mobile element 200 not equal to that initially requested by the central unit control 3 but a reduced effort of the force exerted by the second actuator 2 on the movable member 200.
  • the life of the actuator 1 is thereby elongated.
  • the system 100 can have additional functions to the displacement of the mobile element 200.
  • the system 100 according to the invention can make it possible to carry out a test of the actuators directly on the aircraft during pre-flight tests.
  • the test can by example to break down into two phases to test in turn the two actuators 1, 2.
  • the test will include the steps of:
  • control means simultaneously with the preceding step, starting from a position / stress resistant profile and the position setpoint, generating, at the destination of the second actuator, said slave actuator, a resistant effort setpoint;
  • test will comprise exactly the same steps but by switching the roles of slave and master of the two actuators so that each actuator in turn generates a resistant force.
  • the test will evaluate each actuator in turn to deduce their performance and detect possible failures. By specific algorithms for exploiting test results, it will also be possible to anticipate future failures of these actuators.
  • actuators 1, 2 are linear actuators, the actuators can of course be rotary actuators.
  • actuators 1, 2 are electromechanical actuators, the actuators may be hydraulic actuators as shown in Figure 3.
  • system 100 is here illustrated with two actuators simultaneously controlled effort, one It may be envisaged that the system 100 comprises a greater number of actuators, the control means then simultaneously controlling all the actuators in response to the position instruction addressed to one of the actuators.
  • the individual control members 10, 20 generate individual effort orders Effi, Eff 2 substantially equal so that the first and second actuators produce an individual effort Fi, F 2 on the movable element such that Fi is substantially equal to F 2 .
  • the individual effort instructions are calculated so that the first and second actuators produce an individual effort respectively Fi, F 2 on the movable element 200, the sum of the individual forces Fi + F 2 corresponding to a total effort to provide to reach the Posi position setpoint, without necessarily Fi being substantially equal to F 2 .
  • the motorized displacement system 100 will, however, be less optimized: for example, the life of the actuator 1 will be less extended than when the actuator 1 exerts a force Fi on the movable element substantially equal to the force F 2 exerted by the second actuator 2.
  • the motorized displacement system 100 has only one position sensor of the mobile element 200, said position sensor will be connected both to the central control unit 3 and to the two individual control members 10, 20 for the first embodiment and will be connected to the central control unit 3 for the second embodiment. Although in the first embodiment, each individual control member 10, 20 is connected to only one of the position sensors, the individual control members 10, 20 may each be connected to the two position sensors 6, 7.

Abstract

The invention relates to a system (100) for motorized displacement of a mobile element (200), comprising at least two actuators (1, 2) which are each provided with means for linking them to the mobile element and which are dimensioned so as to be able to manoeuvre only the mobile element, a central control unit (3) being connected to the two actuators so as to send each of the actuators a position setpoint (Pos1, Pos2). According to the invention, the system comprises control means (10, 20) for simultaneously controlling the two actuators in terms of load in response to the position setpoint dispatched to one of the actuators. The invention also relates to a method of driving such a system and a method of testing such a system.

Description

Système de déplacement motorisé d'un élément mobile, procédé de pilotage d'un tel système et procédé de test d'un tel système L' invention concerne un système de déplacement motorisé d'un élément mobile par exemple un système de déplacement motorisé destiné au déplacement de surfaces mobiles de vol dans un aéronef, comme les gouvernes. L'invention concerne également un procédé de pilotage d'un tel système et un procédé de test d'un tel système.  The invention relates to a motorized movement system for a mobile element, for example a motorized displacement system intended for the motorized moving system. displacement of mobile flying surfaces in an aircraft, such as control surfaces. The invention also relates to a method for controlling such a system and a method for testing such a system.
ARRIERE PLAN TECHNOLOGIQUE DE L'INVENTION  BACKGROUND OF THE INVENTION
Un exemple de système de déplacement motorisé d'un élément mobile est un système comportant deux actionneurs reliés à l'élément mobile et dimensionnés pour pouvoir manœuvrer seul l'élément mobile. Le système comporte également une unité centrale de commande qui est reliée aux deux actionneurs pour envoyer à chacun des actionneurs une consigne de position. En service, l'unité de pilotage envoie une consigne de position à l'un des actionneurs dit actionneur principal qui en répondant à la consigne de position va engendrer un effort de déplacement de l'élément mobile. Le second actionneur dit actionneur de secours n'est pas alimenté. En cas de défaillance de l' actionneur principal, l'unité de pilotage envoie une consigne de position à l' actionneur de secours qui va se substituer à 1' actionneur principal pour déplacer l'élément mobile.  An example of a motorized moving device moving system is a system comprising two actuators connected to the movable element and dimensioned to be able to maneuver only the movable element. The system also comprises a central control unit which is connected to the two actuators to send each actuator a position command. In use, the control unit sends a position setpoint to one of the actuators said main actuator that responding to the position setpoint will generate a displacement force of the movable member. The second actuator said emergency actuator is not powered. In the event of failure of the main actuator, the control unit sends a position command to the emergency actuator which will replace the main actuator to move the movable element.
Toutefois, la durée de vie d'un actionneur étant directement liée aux efforts qu' il doit développer, 1' actionneur principal s'use rapidement puisqu'il doit manœuvrer seul l'élément mobile dans des conditions normales de fonctionnement. Il pourrait être prévu, pour cette raison, que chaque actionneur joue alternativement le rôle d' actionneur principal et d' actionneur de secours mais ceci compliquerait la gestion du fonctionnement des actionneurs. Il demeure en outre nécessaire de dimensionner les actionneurs pour pouvoir développer l'effort maximum sur de très longues périodes de sorte que les actionneurs sont relativement lourds et encombrants. However, since the life of an actuator is directly related to the forces that it must develop, the main actuator wears rapidly since it must maneuver only the movable element under normal operating conditions. For this reason, each actuator could alternatively act as a main actuator and an emergency actuator, but this would complicate the operation of the actuators. In addition, it remains necessary to size the actuators to be able to develop the maximum effort over very long periods so that the actuators are relatively heavy and bulky.
De plus, dans des conditions normales de fonctionnement de l'actionneur principal, l'actionneur de secours est inactif et génère alors un effort au niveau de sa liaison à l'élément mobile qui tend à contrer l'effort développé par l'actionneur principal pour déplacer l'élément mobile. L'actionneur principal doit donc être dimensionné pour pouvoir supporter cet effort résistant sans conséquence sur le déplacement de l'élément mobile.  In addition, under normal operating conditions of the main actuator, the emergency actuator is inactive and then generates a force at its connection to the movable element which tends to counter the force developed by the main actuator. to move the movable element. The main actuator must be dimensioned to be able to withstand this resisting force without affecting the movement of the movable element.
Il est connu des documents FR 2 908 107, US 2004/075020, EP 0 864 491, WO 2007/002311, un système de déplacement motorisé d'un élément mobile comportant deux actionneurs qui sont pourvus chacun de moyens de leur liaison à l'élément mobile. Le système comprend une unité centrale de commande qui, dans une situation nominale, adresse une consigne de commande à l'un des actionneurs de sorte que ledit actionneur manœuvre seul l'élément mobile. Dans une situation plus critique, par exemple en cas de turbulences s' opposant au déplacement de l'élément mobile, l'unité centrale de commande adresse une consigne de commande à chacun des actionneurs de sorte que les deux actionneurs manœuvrent simultanément l'élément mobile. L'utilisation d'un seul ou de deux actionneurs dépend ainsi uniquement de la puissance nécessaire pour pouvoir manœuvrer l'élément mobile.  It is known from documents FR 2 908 107, US 2004/075020, EP 0 864 491, WO 2007/002311, a motorized displacement system for a movable element comprising two actuators which are each provided with means of their connection to the mobile element. The system comprises a central control unit which, in a nominal situation, sends a command setpoint to one of the actuators so that said actuator maneuvers only the movable element. In a more critical situation, for example in case of turbulence opposing the displacement of the movable element, the central control unit sends a control setpoint to each of the actuators so that the two actuators simultaneously maneuver the movable element. . The use of one or two actuators thus depends solely on the power required to be able to maneuver the mobile element.
OBJET DE L'INVENTION  OBJECT OF THE INVENTION
Un but de l'invention est de proposer un système de déplacement motorisé d'un élément mobile obviant au moins en partie aux problèmes précités.  An object of the invention is to provide a motorized moving system of a movable element obviant at least in part to the aforementioned problems.
BREVE DESCRIPTION DE L'INVENTION  BRIEF DESCRIPTION OF THE INVENTION
En vue de la réalisation de ce but, on propose un système de déplacement motorisé d'un élément mobile, comportant au moins deux actionneurs qui sont pourvus chacun de moyens de leur liaison à l'élément mobile et sont dimensionnés pour pouvoir manœuvrer seul l'élément mobile, une unité centrale de commande étant reliée aux deux actionneurs pour envoyer à l'un ou l'autre des actionneurs une consigne de position. In view of achieving this goal, there is provided a motorized moving system of a movable element, comprising at least two actuators which are provided each means of their connection to the movable element and are dimensioned to be able to maneuver only the movable element, a central control unit being connected to the two actuators to send to one or the other of the actuators a position command.
Selon l'invention, le système comporte des moyens de commande pour commander en effort simultanément les deux actionneurs en réponse à la consigne de position adressée à l'un des actionneurs.  According to the invention, the system comprises control means for simultaneously controlling the two actuators in response to the position instruction addressed to one of the actuators.
Grâce aux moyens de commande, l'effort à développer pour déplacer l'élément mobile est réparti entre les deux actionneurs de sorte qu'aucun des deux actionneurs ne soit exagérément plus sollicité que l'autre. En outre, en cas de défaillance de l'un des actionneurs, l'autre actionneur est capable de déplacer seul l'élément mobile.  Thanks to the control means, the effort to be developed to move the movable member is distributed between the two actuators so that neither of the two actuators is overly more stressed than the other. In addition, in case of failure of one of the actuators, the other actuator is able to move alone the movable element.
Ainsi, la durée de vie de chaque actionneur est sensiblement identique. De façon avantageuse, l'encombrement et la masse des actionneurs s'avèrent plus faibles que ceux d' actionneurs d'un système de déplacement motorisé de l'art antérieur comportant un unique actionneur puisque le dimensionnement en fatigue des actionneurs de l'invention est moins contraignant.  Thus, the life of each actuator is substantially identical. Advantageously, the size and weight of the actuators are lower than those of actuators of a motorized movement system of the prior art comprising a single actuator since the fatigue design of the actuators of the invention is less restrictive.
Un autre avantage est qu'il y a moins d' échauffement des actionneurs que dans un dispositif de l'art antérieur.  Another advantage is that there is less heating of the actuators than in a device of the prior art.
De façon avantageuse, le système selon l'invention permet de répartir la consigne de position provenant de l'unité centrale de commande entre les deux actionneurs sans avoir besoin de modifier un algorithme de fonctionnement d'une unité centrale de commande actuelle qui est traditionnellement reliée à deux actionneurs pour envoyer une consigne de position à destination uniquement de l'un des actionneurs dans une situation nominale. Dans l'invention, la répartition de la consigne de position en une première consigne d'effort et une deuxième consigne d'effort s'effectue en aval de la génération de la consigne de position à destination de l'un des actionneurs. Advantageously, the system according to the invention makes it possible to distribute the position reference coming from the central control unit between the two actuators without having to modify an operating algorithm of a current central control unit which is traditionally connected. with two actuators for sending a position setpoint destined for only one of the actuators in a nominal situation. In the invention, the distribution of the position setpoint into a first effort setpoint and a second setpoint effort is made downstream of the generation of the position command to one of the actuators.
L'invention a également pour objet un procédé de pilotage d'un tel système et un procédé de test d'un tel système.  The invention also relates to a method for controlling such a system and a method for testing such a system.
BREVE DESCRIPTION DES DESSINS  BRIEF DESCRIPTION OF THE DRAWINGS
L' invention sera mieux comprise à la lumière de la description qui suit d'un mode de réalisation particulier non limitatif de l'invention.  The invention will be better understood in the light of the following description of a particular non-limiting embodiment of the invention.
II sera fait référence aux dessins annexés, parmi lesquels :  Reference will be made to the appended drawings, among which:
- la figure 1 est une vue schématique d'un système de déplacement motorisé d'un élément mobile selon 1 ' invention ;  - Figure 1 is a schematic view of a motorized moving system of a movable element 1 according to the invention;
- la figure 2 est une vue schématique d'un système de déplacement motorisé d'un élément mobile selon un deuxième mode de réalisation de l'invention ;  - Figure 2 is a schematic view of a motorized moving system of a movable element according to a second embodiment of the invention;
- la figure 3 est une vue schématique d'un système de déplacement motorisé d'un élément mobile selon un troisième mode de réalisation.  - Figure 3 is a schematic view of a motorized moving system of a movable element according to a third embodiment.
DESCRIPTION DETAILLEE DE L'INVENTION  DETAILED DESCRIPTION OF THE INVENTION
En référence aux figures 1 et 2, un système de déplacement motorisé 100 permet ici, dans un aéronef, la transmission d'un mouvement d'un élément de pilotage, comme le manche, à un élément mobile 200, comme une gouverne.  Referring to Figures 1 and 2, a motorized displacement system 100 here allows, in an aircraft, the transmission of a movement of a steering element, such as the handle, to a movable member 200, such as a rudder.
Le système de déplacement comporte un premier actionneur 1 et un deuxième actionneur 2. Chaque actionneur 1, 2 comporte ici un moteur électrique, par exemple un moteur sans balais, ayant un arbre de sortie entraînant un ensemble vis-écrou de sorte qu'une rotation de la vis sous l'action du moteur provoque un déplacement linéaire sans rotation de l'écrou. L'écrou de l'ensemble vis-écrou de chaque actionneur 1, 2 permet un attachement de 1' actionneur correspondant à l'élément mobile 200. Chaque actionneur 1, 2 est dimensionné pour pouvoir manœuvrer seul l'élément mobile 200. The displacement system comprises a first actuator 1 and a second actuator 2. Each actuator 1, 2 here comprises an electric motor, for example a brushless motor, having an output shaft driving a screw-nut assembly so that a rotation of the screw under the action of the motor causes a linear displacement without rotation of the nut. The nut of the screw-nut assembly of each actuator 1, 2 allows an attachment of one actuator corresponding to the movable member 200. actuator 1, 2 is dimensioned to be able to maneuver only the mobile element 200.
Le premier actionneur 1 est associé à un premier capteur 4 pour mesurer un effort exercé par le premier actionneur 1 sur l'élément mobile 200 afin de déplacer ledit élément mobile 200. De la même façon, le deuxième actionneur 2 est associé à un deuxième capteur 5 pour mesurer un effort exercé par le deuxième actionneur 2 sur l'élément mobile 200. Les capteurs 4, 5 sont ici des capteurs d'effort axial intégrés au système 100.  The first actuator 1 is associated with a first sensor 4 for measuring a force exerted by the first actuator 1 on the movable element 200 in order to move said movable element 200. In the same way, the second actuator 2 is associated with a second sensor 5 to measure a force exerted by the second actuator 2 on the movable member 200. The sensors 4, 5 are here axial force sensors integrated in the system 100.
Le système 100 comporte également une unité centrale de commande 3 reliée au premier actionneur 1 et au deuxième actionneur 2 de sorte que l'unité centrale de commande 3 puisse adresser à chacun des actionneurs une consigne de position Posi, P0S2.  The system 100 also comprises a central control unit 3 connected to the first actuator 1 and the second actuator 2 so that the central control unit 3 can send to each of the actuators a position command Posi, P0S2.
Le système 100 comporte également au moins un capteur de position de l'élément mobile 100 pour mesurer une position réelle de l'élément mobile 200. De préférence, le système 100 comporte deux capteurs de position 6, 7 qui mesurent l'un comme l'autre la position réelle de l'élément mobile 200 pour une redondance plus importante dudit système 100. La mesure effectuée par un premier 6 des deux capteurs de position est donc sensiblement égale à la mesure effectuée par le deuxième 7 des deux capteurs de position, dans des conditions normales de fonctionnement des deux capteurs de position. Si l'un des deux capteurs de position est défaillant, le deuxième capteur de position pourra toujours fournir seul une information représentative de la position de l'élément mobile 200.  The system 100 also comprises at least one position sensor of the movable element 100 for measuring an actual position of the movable element 200. Preferably, the system 100 comprises two position sensors 6, 7 which measure one as the real position of the mobile element 200 for a greater redundancy of said system 100. The measurement made by a first 6 of the two position sensors is therefore substantially equal to the measurement made by the second 7 of the two position sensors, under normal operating conditions of the two position sensors. If one of the two position sensors is faulty, the second position sensor can always provide only information representative of the position of the mobile element 200.
L'unité centrale 3 est ainsi relié aux deux capteurs de position 6, 7 de l'élément mobile. Ici un premier 6 des deux capteurs de position est intégré au premier actionneur 1 et le deuxième 7 des deux capteurs de position est intégré au deuxième actionneur 2. En référence à la figure 1, selon un premier mode de réalisation, dans des conditions normales de fonctionnement des deux actionneurs 1, 2, l'unité centrale de commande 3 adresse une consigne de position Posi uniquement au premier actionneur 1 dit actionneur maître. En cas de défaillance du premier actionneur 1, l'unité centrale de commande 3 s'appuie alors sur le deuxième actionneur 2 dit actionneur esclave pour déplacer l'élément mobile 200. A cet effet, l'unité centrale de commande 3 adresse au deuxième actionneur une consigne de position P0S2. The central unit 3 is thus connected to the two position sensors 6, 7 of the movable element. Here a first 6 of the two position sensors is integrated in the first actuator 1 and the second 7 of the two position sensors is integrated in the second actuator 2. Referring to Figure 1, according to a first embodiment, under normal operating conditions of the two actuators 1, 2, the central control unit 3 addresses a Posi position setpoint only to the first actuator 1 said master actuator. In case of failure of the first actuator 1, the central control unit 3 then relies on the second actuator 2 said slave actuator to move the movable member 200. For this purpose, the central control unit 3 addresses the second actuator a position command P0S 2 .
Selon l'invention, le système 100 comporte des moyens de commande qui, en service, permettent un pilotage en effort des deux actionneurs 1, 2 simultanément, en réponse à la consigne de position adressée à l'un des actionneurs par l'unité centrale de commande 3. Ici, les moyens de commande comportent un premier et un deuxième organe individuel de pilotage 10, 20 relié respectivement au premier et au deuxième actionneur 1, 2. Les deux organes de pilotage 10, 20 sont également reliés à l'unité centrale de commande 3 aux capteurs d'effort 4, 5 respectivement et aux capteurs de position 6, 7 respectivement. Les organes de pilotage individuels 10, 20 sont agencés dans le système 100 pour pouvoir communiquer entre eux.  According to the invention, the system 100 comprises control means which, in use, make it possible to drive the two actuators 1, 2 simultaneously in response to the position instruction sent to one of the actuators by the central unit Here, the control means comprise a first and a second individual control member 10, 20 respectively connected to the first and second actuators 1, 2. The two control members 10, 20 are also connected to the unit. control unit 3 to the force sensors 4, 5 respectively and to the position sensors 6, 7 respectively. The individual control members 10, 20 are arranged in the system 100 to be able to communicate with each other.
En service, à partir d'un ordre de déplacement de l'élément mobile 200 provenant d'un des organes de pilotage 10, 20, l'unité centrale de commande 3 génère à destination du premier actionneur 1 une consigne de position Posi.  In use, from a moving order of the movable member 200 from one of the control members 10, 20, the central control unit 3 generates a position command Posi to the first actuator 1.
Le premier organe individuel de pilotage 10 traduit alors la consigne de position Posi en une consigne d'effort et communique avec le deuxième organe individuel de pilotage 20 de sorte que le premier et le deuxième organe de pilotage 10, 20 génèrent simultanément deux consignes d'effort individuel Effi, Eff2 à destination respectivement du premier actionneur 1 et du deuxième actionneur 2. Les consignes d'effort individuel Effi, Eff2 sont calculées pour que le premier et le deuxième actionneur produisent un effort individuel respectivement Fi, F2 sur l'élément mobile 200, la somme des efforts individuels Fi + F2 correspondant à un effort total à fournir pour atteindre la consigne de position Posi et les efforts Fi, F2 étant sensiblement égaux. De préférence, A cet effet, à tout instant du déplacement de l'élément mobile 200, une mesure de la position Posm dudit élément mobile est effectuée simultanément par les capteurs de position 6, 7. A partir de la position mesurée Posm et de la consigne de position Posi, les deux organes de pilotage individuels 10, 20 déterminent les deux consignes d'effort individuel Effi, Eff2 en tenant compte d'une erreur entre la consigne de position Posi et la position mesurée Posm lorsque les deux actionneurs 1, 2 exercent respectivement les efforts Fi et F2 sur l'élément mobile 200. Par une régulation des efforts individuels Fi et F2 on obtient la somme des efforts individuels Fi + F2 conforme à l'effort total à fournir pour atteindre la consigne de position Posi, au moins dans des conditions normales de fonctionnement du système 100. The first individual control member 10 then translates the position setpoint Posi into a force setpoint and communicates with the second individual control member 20 so that the first and second control members 10, 20 simultaneously generate two sets of instructions. Effi individual effort, Eff 2 respectively to the first actuator 1 and the second actuator 2. The individual effort instructions Effi, Eff 2 are calculated so that the first and second actuators produce an individual effort respectively Fi, F 2 on the movable element 200, the sum of the individual forces Fi + F 2 corresponding to a total effort to provide to reach the Posi position setpoint and the efforts Fi, F 2 being substantially equal. Preferably, for this purpose, at any instant of the displacement of the movable element 200, a measurement of the position Pos m of said movable element is carried out simultaneously by the position sensors 6, 7. From the measured position Pos m and of the Posi position setpoint, the two individual control members 10, 20 determine the two individual effort setpoints Effi, Eff 2 taking into account an error between the Posi position setpoint and the Pos m measured position when the two actuators 1, 2 respectively exert the forces Fi and F 2 on the movable element 200. By a regulation of the individual forces Fi and F 2 we obtain the sum of the individual forces Fi + F 2 corresponding to the total effort required to achieve the Posi position setpoint, at least under normal operating conditions of the system 100.
De façon avantageuse, l'unité de commande 3 reçoit également la position mesurée Posm de l'élément mobile 200. En cas d'écart entre la consigne de position Posi que l'unité de commande 3 a initialement générée et la position mesurée, l'unité de commande 3 pourra modifier la consigne de position Posi pour réduire ledit écart. Advantageously, the control unit 3 also receives the measured position Pos m of the mobile element 200. In the event of a discrepancy between the position command Posi that the control unit 3 has initially generated and the position measured, the control unit 3 can change the Posi position setpoint to reduce said gap.
On remarquera que si l'un des deux capteurs de position 6, 7 est défaillant, l'autre capteur de position pourra toujours fournir une information représentative de la position de l'élément mobile 200 à l'unité de commande 3 et à l'un des deux organes individuels de pilotage qui communiquera alors avec l'autre des organes individuels pour partager ladite information. Ici, à tout instant du déplacement de l'élément mobile 200, une mesure de l'effort Fim exercé par le premier actionneur 1 sur l'élément mobile 200 est effectuée par le premier capteur 4. De la même façon, à tout instant du déplacement de l'élément mobile 200, une mesure de l'effort F2m exercé par le deuxième actionneur 2 sur l'élément mobile 200 est effectuée par le deuxième capteur 5. A partir également des efforts mesurés Fim, F2m, le premier et le deuxième organe individuel de pilotage 10, 20 déterminent les consignes d'effort individuel Effi, Eff2 permettant de diminuer l'erreur entre la consigne de position Posi et la position mesurée Posm lorsque les deux actionneurs 1, 2 exercent respectivement les efforts Fi et F2 sur l'élément mobile 200. Note that if one of the two position sensors 6, 7 is faulty, the other position sensor can still provide information representative of the position of the movable member 200 to the control unit 3 and the one of the two individual control organs which will then communicate with the other individual organs to share said information. Here, at any instant of the displacement of the movable member 200, a measurement of the force Fi m exerted by the first actuator 1 on the movable member 200 is performed by the first sensor 4. In the same way, at any time of displacement of the movable element 200, a measurement of the force F 2m exerted by the second actuator 2 on the movable element 200 is performed by the second sensor 5. Also from the measured forces F im , F 2m , the first and second individual control members 10, 20 determine the individual effort setpoints Effi, Eff 2 to reduce the error between the Posi position setpoint and the Pos m measured position when the two actuators 1, 2 respectively exert the efforts Fi and F 2 on the movable element 200.
II se peut cependant que l'un des actionneurs ne puisse développer qu'un effort limité empêchant de réaliser la consigne d'effort qui lui est demandé. Cette défaillance peut être détectée par le capteur d'effort par exemple. Dans ce cas, un signal de défaillance Défi, Déf2 est envoyé par le premier actionneur 1 ou le deuxième actionneur 2 concerné à l'organe individuel de pilotage correspondant 10, 20. Les organes de pilotage 10, 20 tiennent alors compte de cette défaillance pour générer des consignes d'effort individuel Effi, Eff2 permettant de s'approcher au mieux de l'effort total à fournir pour atteindre la consigne de position Posi. It is possible, however, that one of the actuators can develop only a limited effort preventing the achievement of the instruction of effort that is requested. This failure can be detected by the force sensor for example. In this case, a fault signal, Def 2, is sent by the first actuator 1 or the second actuator 2 concerned to the corresponding individual control member 10, 20. The control members 10, 20 then take account of this failure. to generate Effi, Eff 2 , individual effort set points, making it possible to get as close as possible to the total effort required to reach the Posi position setpoint.
Selon un mode de réalisation privilégié, le signal de défaillance pourra également être envoyé par l' actionneur concerné à l'unité centrale de commande 3 qui tiendra compte de ce signal pour s'appuyer sur l' actionneur non défaillant afin de déplacer l'élément mobile 200. Si le premier actionneur 1 est défaillant, l'unité centrale de commande 3 s'appuiera sur le deuxième actionneur 2, le système 100 fonctionnant alors de façon identique que lorsque la consigne de position est envoyée au premier actionneur 1. According to a preferred embodiment, the failure signal may also be sent by the actuator concerned to the central control unit 3 which will take account of this signal to rely on the non-faulty actuator to move the element. 200. If the first actuator 1 is defective, the central control unit 3 will rely on the second actuator 2, the system 100 then operating in an identical manner that when the position command is sent to the first actuator 1.
De façon avantageuse, les moyens de commande ainsi agencés dans le système 100 permettent de conserver une programmation de l'unité centrale de commande 3 identique à celle existante dans l'art antérieur. Ainsi, l'unité centrale de commande 3 génère une consigne de position à destination de l'un des actionneurs comme dans un dispositif de l'art antérieur. Selon l'invention, les moyens de commande communiquent entre eux pour répartir cette consigne de position en consignes d'effort à destination des différents actionneurs. Les moyens de commande sont ainsi programmés indépendamment de la programmation de l'unité centrale de commande 3 pour la génération de la consigne de position à destination d'un seul des actionneurs.  Advantageously, the control means thus arranged in the system 100 make it possible to maintain programming of the central control unit 3 identical to that existing in the prior art. Thus, the central control unit 3 generates a position setpoint for one of the actuators as in a device of the prior art. According to the invention, the control means communicate with each other in order to distribute this position setpoint in force instructions to the various actuators. The control means are thus programmed independently of the programming of the central control unit 3 for the generation of the position command to one of the actuators.
Un autre avantage est que les deux organes individuels de pilotage 10, 20 surveillent l'état des deux actionneurs 1, 2 tout comme l'unité centrale de commande ce qui augmente la fiabilité du système 100. Il y a ainsi une double surveillance à la fois d'un point de vue global au niveau de l'unité centrale de commande 3 et d'un point de vue local au niveau des moyens de commande.  Another advantage is that the two individual control members 10, 20 monitor the state of the two actuators 1, 2 as the central control unit which increases the reliability of the system 100. There is thus a double monitoring at the both from a global point of view at the central control unit 3 and from a local point of view at the level of the control means.
La figure 2 illustre un second mode de réalisation du système de déplacement motorisé selon l'invention. Dans ce mode de réalisation, les moyens de commande sont directement intégrés dans ladite unité centrale de commande 3. L'unité centrale de commande 3 est alors programmée pour assurer les fonctions des organes individuels de pilotage du premier mode de réalisation.  FIG. 2 illustrates a second embodiment of the motorized displacement system according to the invention. In this embodiment, the control means are directly integrated in said central control unit 3. The central control unit 3 is then programmed to perform the functions of the individual control members of the first embodiment.
En service, à partir d'un ordre de déplacement de l'élément mobile 200 provenant d'un des éléments de pilotage, comme le manche, l'unité centrale de commande 3 calcule dans un premier temps une consigne de position Posi à destination du premier actionneur 1. Dans un deuxième temps, à partir de la consigne de position Posi, les moyens de commande génèrent simultanément deux consignes d'effort individuel Effi, Eff2 à destination respectivement du premier et du deuxième actionneur 1, 2. Les consignes d'effort individuel Effi, Eff2 sont calculées pour que le premier et le deuxième actionneur produisent un effort individuel respectivement Fi, F2 sur l'élément mobile 200, la somme des efforts individuels Fi + F2 correspondant à un effort total à fournir pour atteindre la consigne de position Posi et les efforts Fi, F2 étant sensiblement égaux . In use, from an order of movement of the movable member 200 from one of the control elements, such as the handle, the central control unit 3 initially calculates a posi position command to the first actuator 1. In a second time, from the Posi position setpoint, the control means simultaneously generate two individual effort orders Effi, Eff 2 respectively for the first and the second actuator 1, 2. The individual effort instructions Effi, Eff 2 are calculated so that the first and the second actuator produce an individual effort respectively Fi, F 2 on the movable member 200, the sum of the individual forces Fi + F 2 corresponding to a total effort to be provided to reach the position command Posi and the forces Fi, F 2 being substantially equal.
A cet effet, à tout instant du déplacement de l'élément mobile 200, une mesure de la position Posm dudit élément mobile est effectuée par les capteurs de position 6, 7. A partir de la position mesurée Posm et de la consigne de position Posi, les moyens de commande déterminent les deux consignes d'effort individuel Effi, Eff2 en tenant compte d'une erreur entre la consigne de position Posi et la position mesurée Posm lorsque les deux actionneurs 1, 2 exercent respectivement les efforts Fi et F2 sur l'élément mobile 200. For this purpose, at any instant of the displacement of the movable element 200, a measurement of the position Pos m of said movable element is performed by the position sensors 6, 7. From the measured position Pos m and the setpoint of Posi position, the control means determine the two sets of individual effort Effi, Eff 2 taking into account an error between the Posi position setpoint and the Pos m measured position when the two actuators 1, 2 respectively exert the efforts Fi and F 2 on the movable member 200.
De façon avantageuse, l'unité de commande 3 reçoit également la position mesurée Posm de l'élément mobile 200. En cas d'écart entre la consigne de position Posi que l'unité de commande 3 a initialement générée et la position mesurée, l'unité de commande 3 pourra modifier la consigne de position Posi pour réduire ledit écart. Advantageously, the control unit 3 also receives the measured position Pos m of the mobile element 200. In the event of a discrepancy between the position command Posi that the control unit 3 has initially generated and the position measured, the control unit 3 can change the Posi position setpoint to reduce said gap.
Ici, à tout instant du déplacement de l'élément mobile 200, une mesure de l'effort Fim exercé par le premier actionneur 1 sur l'élément mobile 200 est effectuée par le premier capteur 4. De la même façon, à tout instant du déplacement de l'élément mobile 200, une mesure de l'effort F2m exercé par le deuxième actionneur 2 sur l'élément mobile 200 est effectuée par le deuxième capteur 5. A partir également des efforts mesurés Fim, F2m, les moyens de commande déterminent les consignes d'effort individuel Effi, Eff2 permettant de diminuer l'erreur entre la consigne de position Posi et la position mesurée Posm lorsque les deux actionneurs 1, 2 exercent respectivement les efforts Fi et F2 sur l'élément mobile 200. Here, at any instant of the displacement of the movable member 200, a measurement of the force Fi m exerted by the first actuator 1 on the movable member 200 is performed by the first sensor 4. In the same way, at any time displacement of the movable element 200, a measurement of the force F 2m exerted by the second actuator 2 on the movable element 200 is performed by the second sensor 5. Also from the measured forces F im , F 2m , the means of control determine the individual effort setpoints Effi, Eff 2 to reduce the error between the position setpoint Posi and the measured position Pos m when the two actuators 1, 2 respectively exert the forces Fi and F 2 on the movable element 200.
Il se peut cependant que l'un des actionneurs ne puisse développer qu'un effort limité empêchant de réaliser la consigne d'effort qui lui est demandé. Dans ce cas, un signal de défaillance Défi, Déf2 est envoyé par le premier actionneur 1 ou le deuxième actionneur 2 concerné à l'unité centrale de commande 3 qui tient compte de ce signal pour s'appuyer sur l' actionneur non défaillant afin de déplacer l'élément mobile 200. Si le premier actionneur 1 est défaillant, l'unité centrale de commande 3 s'appuiera sur le deuxième actionneur 2, le système 100 fonctionnant alors de façon identique que lorsque la consigne de position est envoyée au premier actionneur 1. It is possible, however, that one of the actuators can develop only a limited effort preventing the achievement of the instruction of effort that is requested. In this case, a fault signal, Def 2, is sent by the first actuator 1 or the second actuator 2 concerned to the central control unit 3 which takes account of this signal to rely on the non-faulting actuator so that to move the movable member 200. If the first actuator 1 is defective, the central control unit 3 will rely on the second actuator 2, the system 100 then operating identically that when the position command is sent to the first actuator 1.
Tout comme pour le premier mode de réalisation, les moyens de commande ainsi intégrés dans l'unité centrale de commande 100 permettent de conserver une programmation de l'unité centrale de commande 3 identique à celle existante dans l'art antérieur. Ladite programmation est seulement complétée pour intégrer les fonctions des organes individuels de pilotage du premier mode de réalisation. Ainsi, l'unité centrale de commande 3 génère une consigne de position à destination de l'un des actionneurs comme dans un dispositif de l'art antérieur. Selon l'invention, les moyens de commande communiquent entre eux pour répartir cette consigne de position en consignes d'effort à destination des différents actionneurs. Les moyens de commande sont ainsi programmés indépendamment de la programmation de l'unité centrale de commande 3 pour la génération de la consigne de position à destination d'un seul des actionneurs. Un autre avantage est que les moyens de commande surveillent l'état des deux actionneurs 1, 2 tout comme le reste de l'unité centrale de commande ce qui augmente la fiabilité du système 100. Il y a ainsi une double surveillance à la fois d'un point de vue global au niveau de l'unité centrale de commande 3 et d'un point de vue local au niveau des moyens de commande. As for the first embodiment, the control means thus integrated in the central control unit 100 allow to maintain a programming of the central control unit 3 identical to that existing in the prior art. Said programming is only completed to integrate the functions of the individual control members of the first embodiment. Thus, the central control unit 3 generates a position setpoint for one of the actuators as in a device of the prior art. According to the invention, the control means communicate with each other in order to distribute this position setpoint in force instructions to the various actuators. The control means are thus programmed independently of the programming of the central control unit 3 for the generation of the position command to one of the actuators. Another advantage is that the control means monitor the state of the two actuators 1, 2 as the rest of the central control unit which increases the reliability of the system 100. There is thus a double monitoring both of a global point of view at the level of the central control unit 3 and from a local point of view at the level of the control means.
Quelque soit le mode de réalisation de l'invention, l'unité centrale de commande 3 génère une consigne de position à destination de l'un des actionneurs et permet un asservissement en position de cette consigne. Selon l'invention, les moyens de commande intègrent cet asservissement en position et y superposent un asservissement en effort. Il y a ainsi un asservissement d'un point de vue global au niveau de l'unité centrale de commande 3 et d'un point de vue local au niveau des moyens de commande ce qui permet de manœuvrer très finement l'élément mobile.  Whatever the embodiment of the invention, the central control unit 3 generates a position setpoint for one of the actuators and allows servo positioning of this setpoint. According to the invention, the control means integrate this servocontrol in position and superimpose there a servocontrol in effort. There is thus enslavement from a total point of view at the central control unit 3 and from a local point of view at the control means which allows to maneuver very finely the movable element.
Grâce aux moyens de commande, l'actionneur 1, considéré comme l'actionneur maître par l'unité centrale de commande 3, exerce un effort sur l'élément mobile 200 non pas égal à celui demandé dans un premier temps par l'unité centrale de commande 3 mais un effort diminué de l'effort exercé par le deuxième actionneur 2 sur l'élément mobile 200. La durée de vie de l'actionneur 1 s'en trouve ainsi allongée .  Thanks to the control means, the actuator 1, considered as the master actuator by the central control unit 3, exerts a force on the mobile element 200 not equal to that initially requested by the central unit control 3 but a reduced effort of the force exerted by the second actuator 2 on the movable member 200. The life of the actuator 1 is thereby elongated.
L'invention n'est pas limitée à ce qui vient d'être décrit et englobe toute variante entrant dans le cadre défini par les revendications.  The invention is not limited to what has just been described and encompasses any variant within the scope defined by the claims.
En particulier, on pourra envisager que le système 100 puisse avoir des fonctions supplémentaires au déplacement de l'élément mobile 200. Par exemple, pour le domaine aéronautique, le système 100 selon l'invention peut permettre de réaliser un test des actionneurs directement sur l'aéronef lors des tests de prévol. Le test pourra par exemple se décomposer en deux phases pour tester tour à tour les deux actionneurs 1, 2. Dans une première phase, le test comportera ainsi les étapes de : In particular, it can be envisaged that the system 100 can have additional functions to the displacement of the mobile element 200. For example, for the aeronautical field, the system 100 according to the invention can make it possible to carry out a test of the actuators directly on the aircraft during pre-flight tests. The test can by example to break down into two phases to test in turn the two actuators 1, 2. In a first phase, the test will include the steps of:
- traduire une consigne de position de l'élément mobile en une consigne d'effort ;  translate a position instruction of the movable element into a force instruction;
- à l'aide des moyens de commande, générer la consigne d'effort à destination de l'un des actionneurs dit actionneur maître ;  - Using the control means, generate the effort setpoint to one of the actuators said master actuator;
- à l'aide des moyens de commande, simultanément à l'étape précédente, à partir d'un profil position/effort résistant et de la consigne de position, générer à destination du deuxième actionneur dit actionneur esclave une consigne d'effort résistant ;  using the control means, simultaneously with the preceding step, starting from a position / stress resistant profile and the position setpoint, generating, at the destination of the second actuator, said slave actuator, a resistant effort setpoint;
- mesurer la position de l'élément mobile ;  - measure the position of the movable element;
- comparer la position de l'élément mobile à la consigne de position.  - compare the position of the movable element to the position setpoint.
Dans une deuxième phase, le test comportera exactement les mêmes étapes mais en permutant les rôles d'esclave et de maître des deux actionneurs afin que chaque actionneur à son tour génère un effort résistant.  In a second phase, the test will comprise exactly the same steps but by switching the roles of slave and master of the two actuators so that each actuator in turn generates a resistant force.
Le test permettra ainsi d'évaluer tour à tour chaque actionneur pour en déduire leur performance et déceler d'éventuelles défaillances. Par des algorithmes spécifiques d'exploitation de résultats du test, il sera également possible d'anticiper de futures défaillances de ces actionneurs .  The test will evaluate each actuator in turn to deduce their performance and detect possible failures. By specific algorithms for exploiting test results, it will also be possible to anticipate future failures of these actuators.
Bien qu'ici les actionneurs 1, 2 soient des actionneurs linéaires, les actionneurs pourront bien entendu être des actionneurs rotatifs. En outre, bien qu'ici les actionneurs 1, 2 soient des actionneurs électromécaniques, les actionneurs pourront être des actionneurs hydrauliques comme illustré à la figure 3.  Although here the actuators 1, 2 are linear actuators, the actuators can of course be rotary actuators. In addition, although here the actuators 1, 2 are electromechanical actuators, the actuators may be hydraulic actuators as shown in Figure 3.
Bien que le système 100 soit ici illustré comportant deux actionneurs commandés simultanément en effort, on pourra envisager que le système 100 comporte un plus grand nombre d'actionneurs, les moyens de commande commandant alors en effort simultanément l'ensemble des actionneurs en réponse à la consigne de position adressée à l'un des actionneurs. Although the system 100 is here illustrated with two actuators simultaneously controlled effort, one It may be envisaged that the system 100 comprises a greater number of actuators, the control means then simultaneously controlling all the actuators in response to the position instruction addressed to one of the actuators.
De façon privilégiée, les organes individuels de commande 10, 20 génèrent des consignes d'effort individuel Effi, Eff2 sensiblement égales pour que le premier et le deuxième actionneur produisent un effort individuel Fi, F2 sur l'élément mobile tels que Fi soit sensiblement égal à F2. Il est envisageable que les consignes d'effort individuel soient calculées pour que le premier et le deuxième actionneur produisent un effort individuel respectivement Fi, F2 sur l'élément mobile 200, la somme des efforts individuels Fi + F2 correspondant à un effort total à fournir pour atteindre la consigne de position Posi, sans que nécessairement Fi soit sensiblement égal à F2. Le système de déplacement motorisé 100 sera toutefois moins optimisé : par exemple, la durée de vie de l' actionneur 1 sera moins allongée que lorsque l' actionneur 1 exerce une force Fi sur l'élément mobile sensiblement égale à la force F2 exercée par le deuxième actionneur 2. In a preferred manner, the individual control members 10, 20 generate individual effort orders Effi, Eff 2 substantially equal so that the first and second actuators produce an individual effort Fi, F 2 on the movable element such that Fi is substantially equal to F 2 . It is conceivable that the individual effort instructions are calculated so that the first and second actuators produce an individual effort respectively Fi, F 2 on the movable element 200, the sum of the individual forces Fi + F 2 corresponding to a total effort to provide to reach the Posi position setpoint, without necessarily Fi being substantially equal to F 2 . The motorized displacement system 100 will, however, be less optimized: for example, the life of the actuator 1 will be less extended than when the actuator 1 exerts a force Fi on the movable element substantially equal to the force F 2 exerted by the second actuator 2.
Si le système de déplacement motorisé 100 ne comporte qu'un capteur de position de l'élément mobile 200, ledit capteur de position sera à la fois relié à l'unité centrale de commande 3 et aux deux organes individuels de pilotage 10, 20 pour le premier mode de réalisation et sera relié à l'unité centrale de commande 3 pour le deuxième mode de réalisation. Bien que dans le premier mode de réalisation, chaque organe individuel de pilotage 10, 20 soit relié à un seul des capteurs de position, les organes individuels de pilotage 10, 20 pourront être reliés chacun aux deux capteurs de position 6, 7.  If the motorized displacement system 100 has only one position sensor of the mobile element 200, said position sensor will be connected both to the central control unit 3 and to the two individual control members 10, 20 for the first embodiment and will be connected to the central control unit 3 for the second embodiment. Although in the first embodiment, each individual control member 10, 20 is connected to only one of the position sensors, the individual control members 10, 20 may each be connected to the two position sensors 6, 7.

Claims

REVENDICATIONS
1. Système (100) de déplacement motorisé d'un élément mobile (200) , comportant au moins deux actionneurs (1, 2) qui sont pourvus chacun de moyens de leur liaison à l'élément mobile et qui sont dimensionnés pour pouvoir manœuvrer seul l'élément mobile, une unité centrale de commande (3) étant reliée aux deux actionneurs pour pouvoir envoyer à l'un ou l'autre des actionneurs une consigne de position (Pos1, Pos2) , le système étant caractérisé en ce qu'il comporte des moyens de commande (10,20) pour commander en effort simultanément les deux actionneurs en réponse à la consigne de position adressée à l'un des actionneurs. 1. System (100) motorized movement of a movable element (200), comprising at least two actuators (1, 2) which are each provided with means of their connection to the movable element and which are dimensioned to be able to maneuver alone the mobile element, a central control unit (3) being connected to the two actuators in order to be able to send to one or other of the actuators a position command (Pos 1 , Pos 2 ), the system being characterized in that it comprises control means (10, 20) for simultaneously controlling the two actuators in response to the position command addressed to one of the actuators.
2. Système selon la revendication 1, dans lequel les moyens de commande sont intégrés à l'unité centrale de commande (3) .  2. System according to claim 1, wherein the control means are integrated in the central control unit (3).
3. Système selon la revendication 1, dans lequel les moyens de commande sont indépendants de l'unité centrale de commande (3) .  3. System according to claim 1, wherein the control means are independent of the central control unit (3).
4. Système selon la revendication 3, dans lequel les moyens de commande comportent deux organes individuels de pilotage (10, 20) associés chacun à l'un des actionneurs (1, 2) , les deux organes de pilotage individuels étant agencés pour communiquer entre eux.  4. System according to claim 3, wherein the control means comprise two individual control members (10, 20) each associated with one of the actuators (1, 2), the two individual control members being arranged to communicate between them.
5. Système selon la revendication 1, dans lequel les actionneurs (1, 2) sont des actionneurs électromécaniques .  5. System according to claim 1, wherein the actuators (1, 2) are electromechanical actuators.
6. Système selon la revendication 1, dans lequel les actionneurs (1, 2) sont des actionneurs hydrauliques.  6. System according to claim 1, wherein the actuators (1, 2) are hydraulic actuators.
7. Procédé de test mis en œuvre dans un système de déplacement motorisé d'un élément mobile selon la revendication 1, le procédé comportant l'étape de :  7. A test method implemented in a motorized moving element moving system according to claim 1, the method comprising the step of:
- traduire une consigne de position de l'élément mobile en une consigne d'effort ; - à l'aide des moyens de commande, générer la consigne d'effort à destination de l'un des actionneurs dit actionneur maître ; translate a position instruction of the movable element into a force instruction; - Using the control means, generate the effort setpoint to one of the actuators said master actuator;
- à l'aide des moyens de commande, simultanément à l'étape précédente, à partir d'un profil position/effort résistant et de la consigne de position, générer à destination du deuxième actionneur dit actionneur esclave une consigne d'effort résistant ;  using the control means, simultaneously with the preceding step, starting from a position / stress resistant profile and the position setpoint, generating, at the destination of the second actuator, said slave actuator, a resistant effort setpoint;
- mesurer la position de l'élément mobile ;  - measure the position of the movable element;
- comparer la position de l'élément mobile à la consigne de position.  - compare the position of the movable element to the position setpoint.
8. Procédé de pilotage simultané en position d'au moins l'un de deux actionneurs (1, 2), chaque actionneur étant dimensionné pour pouvoir manœuvrer seul un même élément mobile (200), le procédé comportant l'étape de : en réponse à une consigne de position (Pos^ Pos2) adressée à l'un des actionneurs dit actionneur maître, mettre en œuvre une boucle d'asservissement ayant pour entrée la consigne de position et générant simultanément à destination de l' actionneur maître et du deuxième actionneur dit actionneur esclave deux consignes d'effort individuel (Eff1( Eff2) de sorte que chaque actionneur produise un effort individuel [Flf F2) et que la somme des efforts individuels corresponde à un effort total à fournir pour atteindre la consigne de position. 8. A method for simultaneous control in position of at least one of two actuators (1, 2), each actuator being dimensioned to be able to maneuver only the same mobile element (200), the method comprising the step of: in response to a position setpoint (Pos ^ Pos 2 ) addressed to one of the actuators known as the master actuator, implementing a control loop having for input the position setpoint and simultaneously generating at the destination of the master and the second actuator actuator said slave actuator two individual effort setpoints (Eff 1 ( Eff 2 ) so that each actuator produces an individual effort [F lf F 2 ) and that the sum of the individual forces corresponds to a total effort required to reach the set point position.
9. Procédé selon la revendication 8, dans lequel la boucle d'asservissement génère simultanément à destination de l' actionneur maître et de l' actionneur esclave deux consignes d'effort individuel (Eff^ Eff2) pour qu'en outre les deux efforts individuels, produits par les deux actionneurs (1, 2) , soient sensiblement égaux. 9. A method according to claim 8, wherein the servo loop simultaneously generates two individual effort instructions (Eff Eff 2 ) for the two master forces and the slave actuator simultaneously. The individual products produced by the two actuators (1, 2) are substantially equal.
EP11833883.9A 2010-10-18 2011-10-18 System for motorized displacement of a mobile element, method of driving such a system and method of testing such a system Withdrawn EP2630034A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1058486A FR2966124B1 (en) 2010-10-18 2010-10-18 MOTORIZED DISPLACEMENT SYSTEM OF A MOBILE ELEMENT, METHOD FOR CONTROLLING SUCH A SYSTEM, AND METHOD FOR TESTING SUCH A SYSTEM
PCT/EP2011/068190 WO2012052438A2 (en) 2010-10-18 2011-10-18 System for motorized displacement of a mobile element, method of driving such a system and method of testing such a system

Publications (1)

Publication Number Publication Date
EP2630034A2 true EP2630034A2 (en) 2013-08-28

Family

ID=44017144

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11833883.9A Withdrawn EP2630034A2 (en) 2010-10-18 2011-10-18 System for motorized displacement of a mobile element, method of driving such a system and method of testing such a system

Country Status (8)

Country Link
US (1) US9422813B2 (en)
EP (1) EP2630034A2 (en)
CN (1) CN103201171B (en)
BR (1) BR112013007105A2 (en)
CA (1) CA2813655C (en)
FR (1) FR2966124B1 (en)
RU (1) RU2531998C1 (en)
WO (1) WO2012052438A2 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6036420B2 (en) * 2013-03-14 2016-11-30 株式会社Ihi Actuator control device
FR3020036B1 (en) * 2014-04-16 2017-11-24 Airbus Operations Sas ACTUATOR SYSTEM FOR AN AIRCRAFT GOVERNOR.
FR3050552B1 (en) * 2016-04-20 2019-04-05 Safran Electronics & Defense METHOD FOR MONITORING THE CONDITION OF AN ELECTRO-MECHANICAL ACTUATOR
US20170305530A1 (en) * 2016-04-25 2017-10-26 The Boeing Company System and method for controlling aircraft wing flap motion
GB2557273A (en) * 2016-12-02 2018-06-20 Airbus Operations Ltd Actuator testing
US10501201B2 (en) * 2017-03-27 2019-12-10 Hamilton Sundstrand Corporation Aerodynamic control surface movement monitoring system for aircraft
US11407496B1 (en) * 2021-08-17 2022-08-09 Beta Air, Llc Systems and methods for redundant flight control in an aircraft

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1964771A2 (en) * 2007-02-27 2008-09-03 Honeywell International Inc. Load optimized redundant flight control surface actuation system and method

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3638820A1 (en) * 1986-09-12 1988-03-24 Messerschmitt Boelkow Blohm RUDDER CONTROL ARRANGEMENT FOR AIRCRAFT
JPS6441498A (en) * 1987-08-07 1989-02-13 Teijin Seiki Co Ltd Controller for rudder surface
FR2760718B1 (en) * 1997-03-14 1999-05-28 Aerospatiale METHOD AND DEVICE FOR CONTROLLING A TILT OR DEPTH GOVERNOR OF AN AIRCRAFT
US6755375B2 (en) * 2002-10-22 2004-06-29 The Boeing Company Method and apparatus for controlling aircraft devices with multiple actuators
DE10313728B4 (en) * 2003-03-27 2011-07-21 Airbus Operations GmbH, 21129 Flap system on the wing of a fixed-wing aircraft
US20070007385A1 (en) * 2005-06-27 2007-01-11 Honeywell International, Inc. Electric flight control surface actuation system electronic architecture
FR2908107B1 (en) * 2006-11-06 2008-12-19 Airbus France Sa METHOD AND DEVICE FOR ESTIMATING THE FORCES EXERCISING ON A CONTROL SURFACE OF AN AIRCRAFT.

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1964771A2 (en) * 2007-02-27 2008-09-03 Honeywell International Inc. Load optimized redundant flight control surface actuation system and method

Also Published As

Publication number Publication date
US9422813B2 (en) 2016-08-23
CA2813655A1 (en) 2012-04-26
CN103201171B (en) 2016-05-11
CA2813655C (en) 2015-04-28
CN103201171A (en) 2013-07-10
WO2012052438A2 (en) 2012-04-26
WO2012052438A3 (en) 2013-03-07
FR2966124A1 (en) 2012-04-20
RU2531998C1 (en) 2014-10-27
BR112013007105A2 (en) 2016-06-14
FR2966124B1 (en) 2013-08-09
US20130192453A1 (en) 2013-08-01

Similar Documents

Publication Publication Date Title
EP2630034A2 (en) System for motorized displacement of a mobile element, method of driving such a system and method of testing such a system
EP2266878B1 (en) Piloting assisting method, piloting assisting means and helicopter piloting assisting device which uses said piloting assisting means for implementing said piloting assisting method
EP0639499B1 (en) Servo control device of an aircraft flight control member
EP3054277B1 (en) Failure detection mechanism for electric actuator, and electric actuator having the same
FR2794835A1 (en) METHOD FOR IMPLEMENTING A GEARBOX DEVICE AND CORRESPONDING DEVICE
FR2952448A1 (en) DEVICE FOR ELECTRONIC CONTROL OF A MULTIFUNCTIONAL MICROCONTROLLER DRIVER, STEERING DEVICE AND AIRCRAFT
CA2803852C (en) Direction control management process for an adjustable part of aircraft landing gear
EP3702269B1 (en) A haptic alert mechanism for alerting an aircraft pilot, and an aircraft
EP0401079B1 (en) Electromechanical control device usable for piloting a vehicle
FR2982239A1 (en) METHOD AND DEVICE FOR DETECTING THE BLOCKING OF AN AIRCRAFT GOVERNMENT
FR2803051A1 (en) Helicopter rotor power pack for power regulation has a rotor speed detector signal with sum and derivative levels comparator applied providing fuel dosage reduction/increase drive level
EP3558816B1 (en) Movable flight surface having at least one integrated actuator
FR2824804A1 (en) Power regulating device for rotary wing aircraft e.g. helicopter, conforms speed of rotation of engine whose main regulating system has failed, to speed of rotation of another engine
FR3051026A1 (en) SERVOVALVE WITH ASYMMETRICALLY REDUNDANT PIEZO ELECTRIC ACTUATOR.
EP3558817B1 (en) Electromechanical actuator for a movable flight surface
EP2653701B1 (en) Control apparatus for a variable section nozzle of an aircraft
FR2994220A1 (en) Device for controlling variable section nozzle of nacelle of engine of aircraft, has regulation system connected to checking element to control actuator, and control device including controller allowing blocking moving parts in position
EP4091938B1 (en) Electromechanical servo control system with swash plate having at least four electromechanical servo controls and rotorcraft
WO2006097418A1 (en) Device for compensating helicopter flight control mechanical clearance
US20230002035A1 (en) Monitoring actuator system health
EP2602601B1 (en) System for monitoring a drive train
CA3146226A1 (en) Control equipment capable of controlling braking in a self-driving vehicle and an associated vehicle
EP3555716A1 (en) Method for automatic calibration and associated actuation device and seat
EP3227981A1 (en) Method for detecting a blocking of a rotor of a motor driving an actuating member
WO2004009425A2 (en) Vehicle steering system

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20130328

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SAGEM DEFENSE SECURITE

DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20140217

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

RIC1 Information provided on ipc code assigned before grant

Ipc: B64C 13/50 20060101AFI20151110BHEP

Ipc: B64C 13/16 20060101ALI20151110BHEP

Ipc: F01B 25/00 20060101ALI20151110BHEP

INTG Intention to grant announced

Effective date: 20151123

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20160405