FR2468936A1 - Electromechanical transducer for automatic pilot - uses dual parallel controls comprising permanent magnet DC motor driving pinion and screw to give linear motion control - Google Patents

Electromechanical transducer for automatic pilot - uses dual parallel controls comprising permanent magnet DC motor driving pinion and screw to give linear motion control Download PDF

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Publication number
FR2468936A1
FR2468936A1 FR7927305A FR7927305A FR2468936A1 FR 2468936 A1 FR2468936 A1 FR 2468936A1 FR 7927305 A FR7927305 A FR 7927305A FR 7927305 A FR7927305 A FR 7927305A FR 2468936 A1 FR2468936 A1 FR 2468936A1
Authority
FR
France
Prior art keywords
amplifier
shaft
permanent magnet
screw
automatic pilot
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.)
Pending
Application number
FR7927305A
Other languages
French (fr)
Inventor
Jean Dreville
Philippe Gouze
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.)
Societe de Fabrication dInstruments de Mesure SFIM SA
Original Assignee
Societe de Fabrication dInstruments de Mesure SFIM 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 Societe de Fabrication dInstruments de Mesure SFIM SA filed Critical Societe de Fabrication dInstruments de Mesure SFIM SA
Priority to FR7927305A priority Critical patent/FR2468936A1/en
Publication of FR2468936A1 publication Critical patent/FR2468936A1/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transmission Devices (AREA)

Abstract

In response to an error voltage derived from the feedback control system and applied to the input of two high gain differential amplifiers, two permanent magnet DC electric motors on a common shaft drive a pinion and screw to produce transverse motion in a second shaft which actuates the aircraft controls. Connected to the transverse shaft are the sliders of two potentiometers which have their ends connected to a positive and a negative supply. The sliders are connected to the other input of the amplifiers which have the error voltage connected to them. If the loop gam of each amplifier is very large, the amplifier can be saturated by a weak signal, which corresponds to an equally small displacement.

Description

L'invention concerne un dispositif pour transformer une
tension électrique de commande en un déplacement d'un organe
mécanique.The invention relates to a device for transforming a
electrical control voltage in a displacement of an organ
mechanical.

Ce dispositif comprend deux chaînes de pilotage identiques
et parallèles comportant chacune un amplificateur différentiel
d'asservissement dont une entrée est alimentée par ladite tension
électrique de commande, un moteur à courant continu a aimant
permanent commandé par la sortie de l'amplificateur et dont
l'arbre est relié mécaniquement audit organe pour commander le
déplacement de l'organe et un.potentiornètre dont le curseur. est
astreint à suivre ce déplacement et qui délivre une tension
électrique correspondante a l'autre entrée de l'amplificateur
pour que le moteur soit arrêté lorsque la tension de commande est
nulle, les deux moteurs d'une part et les deux potentiomètres
d'autre part étant couplés mécaniquement, en sorte que l'effet
d'un incident sur une chaîne soit neutralisé par l'autre chaîne.This device includes two identical control chains
and parallel each having a differential amplifier
servo whose input is supplied by said voltage
electric control, a DC motor with magnet
permanent controlled by the amplifier output and whose
the shaft is mechanically connected to said member to control the
movement of the organ and a potentiometer including the cursor. East
compelled to follow this movement and which releases a tension
corresponding to the other amplifier input
so that the engine is stopped when the control voltage is
null, the two motors on the one hand and the two potentiometers
on the other hand being mechanically coupled, so that the effect
of an incident on one chain is neutralized by the other chain.

Le dispositif convient particulièrement au pilotage automatique d'unaéronef, notamment à l'installation de stabilisa
tion d'un hélicoptère, la tension électrique de commande étant par
exemple représentative d'un écart et l'organe mécanique étant
alors destiné à agir sur les commandes de vol de l'aéronef pour
corriger cet écart.The device is particularly suitable for the automatic piloting of an aircraft, in particular for the installation of stabila
tion of a helicopter, the electrical control voltage being by
representative example of a deviation and the mechanical member being
then intended to act on the flight controls of the aircraft for
correct this discrepancy.

On décrira ci-après un dispositif conforme a l'invention,
faisant apparaître certains avantages de ce dispositif, en réfé
rence à la figure unique du dessin joint qui est un schéma du
dispositif.A device according to the invention will be described below,
showing certain advantages of this device, in reference
Reference to the single figure of the attached drawing which is a diagram of the
device.

Le dispositif représenté comprend deux moteurs M,M' a
courant continu à aimant permanent bobinés sur un arbre commun 1
relié mécaniquement à un arbre 2 en sorte que la rotation de
l'arbre 1 provoque une translation de l'arbre 2. La transmission
rotation/translation est assurée par des moyens connus et comprend
par exemple un écrou 4 entraîné par le pignon 3 de l'arbre 1 et en
prise avec la vis sans fin 2.The device shown comprises two motors M, M 'a
direct current with permanent magnet wound on a common shaft 1
mechanically connected to a shaft 2 so that the rotation of
the shaft 1 causes a translation of the shaft 2. The transmission
rotation / translation is ensured by known means and comprises
for example a nut 4 driven by the pinion 3 of the shaft 1 and in
taken with the worm screw 2.

Les moteurs et les arbres constituent ensemble un vérin
électro-mécanique dont la tige est l'arbre 2.Motors and shafts together constitute a cylinder
electro-mechanical whose stem is the shaft 2.

Chaque moteur fonctionne a mi-puissance. Each engine runs at half power.

Les moteurs sont commandés par des amplificateurs respectifs
A et A' à grand gain qui reçoivent chacun une tension d'entrée
Ve et une tension Vp.The motors are controlled by respective amplifiers
A and A 'with high gain which each receive an input voltage
Ve and a voltage Vp.

La tension d'entrée représente un signal d'erreur sur la cause duquel doit agir la tige 2 en sorte que l'erreur soit annulée. The input voltage represents an error signal on the cause of which the rod 2 must act so that the error is canceled.

Ce signal d'erreur représente par exemple une erreur de pilotage et la tige 2 agit sur une commande de vol pour corriger cette erreur, de façon en soi connue, dans un pilote automatique. This error signal represents for example a piloting error and the rod 2 acts on a flight control to correct this error, in a manner known per se, in an automatic pilot.

Le signal Vp est le signal de sortie d'un potentiomètre linéaire, respectivement P et P', dont le curseur 5 (5') suit le déplacement de la tige 2 (ou suit une copie de ce déplacement). The signal Vp is the output signal of a linear potentiometer, respectively P and P ', whose cursor 5 (5') follows the movement of the rod 2 (or follows a copy of this movement).

La comparaison de ce signal Vp au signal d'entrée Ve dans l'amplificateur A (ou A') permet finalement à la tige 2 de se stabiliser dans une position après un déplacement proportionnel à ye. The comparison of this signal Vp with the input signal Ve in the amplifier A (or A ') finally allows the rod 2 to stabilize in a position after a displacement proportional to ye.

Si l'une des chaînes A-M-P et A'-M'-P' est coupée ou si l'un des moteurs M et M' est en court-circuit, l'autre chaîne prend le reniais. If one of the chains A-M-P and A'-M'-P 'is cut or if one of the motors M and M' is short-circuited, the other chain takes over.

Si l'une des chaînes est en saturation, le moteur correspondant aurait tendance à amener la tige 2 en fin de course à vitesse maximale, ce qui pourrait avoir des conséquences néfastes sur le pilotage mais, du fait du couplage mécanique entre les moteurs (par l'arbre 1) et entre les potentiomètres (par la tige 2), le moteur et le potentiomètre de l'autre chaine sont entrainés avec pour résultat la mise en saturation de l'amplificateur de l'autre chaîne, ce qui a pour effet de contrer le couple du moteur qui a déclenché le processus. If one of the chains is in saturation, the corresponding motor would tend to bring the rod 2 at the end of the race at maximum speed, which could have harmful consequences on the steering but, due to the mechanical coupling between the motors (by the shaft 1) and between the potentiometers (by the rod 2), the motor and the potentiometer of the other chain are driven with for result the saturation of the amplifier of the other chain, which has the effect counter the engine torque that started the process.

Si le gain de boucle de chaque amplificateur est très grand, l'amplificateur peut être saturé pour une tension très faible, ce qui correspond à un déplacement également très faible. If the loop gain of each amplifier is very large, the amplifier can be saturated for a very low voltage, which corresponds to a displacement also very small.

L'invention n'est pas limitée à la réalisation qui a été décrite. Ainsi, le vérin peut être un vérin rotatif au lieu d'être un vérin linéaire et les potentiomètres peuvent être rotatifs au lieu d'être des potentiomètres linéaires.  The invention is not limited to the embodiment which has been described. Thus, the cylinder can be a rotary cylinder instead of being a linear cylinder and the potentiometers can be rotary instead of being linear potentiometers.

L'invention n'est pas non plus limitée à l'application qui a été décrite. Elle s'applique notamment à toutes applications où des performances statiques et dynamiques élevées doivent être associées à d'excellentes qualités de sureté de fonctionnement.  The invention is also not limited to the application which has been described. It applies in particular to all applications where high static and dynamic performance must be associated with excellent qualities of operational safety.

Claims (6)

REVENDICATIONS 1. Dispositif pour transformer une tension de commande en un déplacement d'un organe mécanique, caractérisé en ce qu'il comprend deux chaines de pilotage identiques et parallèles comportant chacune un amplificateur différentiel d'asservissement (A,A') dont une entrée est alimentée par ladite tension électrique de commande (vie), un moteur à courant continu à aimant permanent (M,M') commandé par la sortie de l'amplificateur et dont l'arbre (1) est relié mécaniquement audit organe (2) pour commander le déplacement de l'organe et un potentiomètre (P,P') dont le curseur (5,5') est astreint à suivre ce déplacement et qui délivre une tension électrique correspondante (Vp) à l'autre entrée de l'amplificateur pour que le moteur soit arrêté lorsque la tension de commande est nulle, les deux moteurs d'une part et les deux potentiomètres d'autre part étant couplés mécaniquement, en sorte que l'effet d'un incident sur une chaîne soit neutralisé par l'autre chaîne. 1. Device for transforming a control voltage into a displacement of a mechanical member, characterized in that it comprises two identical and parallel control chains each comprising a differential servo amplifier (A, A '), one input of which is powered by said electric control voltage (life), a permanent magnet direct current motor (M, M ') controlled by the output of the amplifier and whose shaft (1) is mechanically connected to said member (2) for control the movement of the organ and a potentiometer (P, P ') whose cursor (5.5') is required to follow this movement and which delivers a corresponding electrical voltage (Vp) to the other input of the amplifier so that the motor is stopped when the control voltage is zero, the two motors on the one hand and the two potentiometers on the other hand being mechanically coupled, so that the effect of an incident on a chain is neutralized by l other channel. 2. Dispositif selon la revendication 1, caractérisé en ce que l'organe mécanique (2) est une tige à déplacement linéaire.2. Device according to claim 1, characterized in that the mechanical member (2) is a rod with linear displacement. 3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que les curseurs (5,5') des potentiomètres (P,P') sont entraînés mécaniquement par l'organe mécanique (2).3. Device according to claim 1 or 2, characterized in that the sliders (5,5 ') of the potentiometers (P, P') are mechanically driven by the mechanical member (2). 4. Dispositif selon l'une des revendications 1 à 3, caractérisé en ce que les deux moteurs (M,M') entraînent l'organe mécanique (2) par l'intermédiaire d'un arbre commun (1).4. Device according to one of claims 1 to 3, characterized in that the two motors (M, M ') drive the mechanical member (2) via a common shaft (1). 5. Dispositif selon la revendication 4, caractérisé en ce que l'arbre commun (1) est un arbre sur lequel sont bobinés les deux moteurs (I4,M1) qui fonctionnent chacun à mi-puissance.5. Device according to claim 4, characterized in that the common shaft (1) is a shaft on which are wound the two motors (I4, M1) which each operate at half power. 6. Application d'un dispositif selon l'une des revendications 1 à 5 à un pilote automatique. 6. Application of a device according to one of claims 1 to 5 to an automatic pilot.
FR7927305A 1979-11-06 1979-11-06 Electromechanical transducer for automatic pilot - uses dual parallel controls comprising permanent magnet DC motor driving pinion and screw to give linear motion control Pending FR2468936A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR7927305A FR2468936A1 (en) 1979-11-06 1979-11-06 Electromechanical transducer for automatic pilot - uses dual parallel controls comprising permanent magnet DC motor driving pinion and screw to give linear motion control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7927305A FR2468936A1 (en) 1979-11-06 1979-11-06 Electromechanical transducer for automatic pilot - uses dual parallel controls comprising permanent magnet DC motor driving pinion and screw to give linear motion control

Publications (1)

Publication Number Publication Date
FR2468936A1 true FR2468936A1 (en) 1981-05-08

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FR7927305A Pending FR2468936A1 (en) 1979-11-06 1979-11-06 Electromechanical transducer for automatic pilot - uses dual parallel controls comprising permanent magnet DC motor driving pinion and screw to give linear motion control

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FR (1) FR2468936A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0251535A2 (en) * 1986-06-20 1988-01-07 Gec-Marconi (Holdings) Limited Parallel redundant actuator systems

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2686285A (en) * 1949-08-18 1954-08-10 Meredith Frederick William Multiple channel safety controls for automatic aircraft pilots
FR1212835A (en) * 1957-09-05 1960-03-25 Smith & Sons Ltd S Torque Balancing Feedback Multi-Circuit Servo Mechanism
GB853674A (en) * 1957-02-07 1960-11-09 Short Brothers & Harland Ltd Improved fault detection means in servo control systems
FR1375444A (en) * 1963-11-22 1964-10-16 Ferranti Ltd Multiple servo system enhancements
US3405337A (en) * 1965-04-13 1968-10-08 Sperry Rand Corp Fail operational control system for redundant servos with torque signal equalization
FR1562444A (en) * 1967-04-12 1969-04-04
US3457479A (en) * 1965-07-27 1969-07-22 Bendix Corp Linear actuator and quadruple redundant type fail operative closed loop servo system
US3469162A (en) * 1965-04-13 1969-09-23 Hawker Siddeley Dynamics Ltd Multiplex-type control apparatus
US3640183A (en) * 1970-02-02 1972-02-08 Ltv Electrosystems Inc Force summing multiplex actuator

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2686285A (en) * 1949-08-18 1954-08-10 Meredith Frederick William Multiple channel safety controls for automatic aircraft pilots
GB853674A (en) * 1957-02-07 1960-11-09 Short Brothers & Harland Ltd Improved fault detection means in servo control systems
FR1212835A (en) * 1957-09-05 1960-03-25 Smith & Sons Ltd S Torque Balancing Feedback Multi-Circuit Servo Mechanism
FR1375444A (en) * 1963-11-22 1964-10-16 Ferranti Ltd Multiple servo system enhancements
US3405337A (en) * 1965-04-13 1968-10-08 Sperry Rand Corp Fail operational control system for redundant servos with torque signal equalization
US3469162A (en) * 1965-04-13 1969-09-23 Hawker Siddeley Dynamics Ltd Multiplex-type control apparatus
US3457479A (en) * 1965-07-27 1969-07-22 Bendix Corp Linear actuator and quadruple redundant type fail operative closed loop servo system
FR1562444A (en) * 1967-04-12 1969-04-04
US3640183A (en) * 1970-02-02 1972-02-08 Ltv Electrosystems Inc Force summing multiplex actuator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0251535A2 (en) * 1986-06-20 1988-01-07 Gec-Marconi (Holdings) Limited Parallel redundant actuator systems
EP0251535A3 (en) * 1986-06-20 1989-01-25 Gec-Marconi (Holdings) Limited Parallel redundant actuator systems

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