WO1998011357A1 - Actionneur compact, unite de commande et appareil de pompage afferents - Google Patents

Actionneur compact, unite de commande et appareil de pompage afferents Download PDF

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Publication number
WO1998011357A1
WO1998011357A1 PCT/US1997/015608 US9715608W WO9811357A1 WO 1998011357 A1 WO1998011357 A1 WO 1998011357A1 US 9715608 W US9715608 W US 9715608W WO 9811357 A1 WO9811357 A1 WO 9811357A1
Authority
WO
WIPO (PCT)
Prior art keywords
pump
fluid
valve
actuation member
actuator
Prior art date
Application number
PCT/US1997/015608
Other languages
English (en)
Inventor
Thomas T. Hansen
Robert R. Clifford
Thomas D. Pierce
Carter B. Cartwright
Bruce G. Johnson
Gary D. Zunkel
Original Assignee
Etrema Products, Inc.
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 Etrema Products, Inc. filed Critical Etrema Products, Inc.
Priority to CA002269585A priority Critical patent/CA2269585A1/fr
Priority to AU42517/97A priority patent/AU4251797A/en
Priority to EP97940828A priority patent/EP0925457A4/fr
Publication of WO1998011357A1 publication Critical patent/WO1998011357A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/02—Generating seismic energy
    • G01V1/143—Generating seismic energy using mechanical driving means, e.g. motor driven shaft
    • G01V1/147—Generating seismic energy using mechanical driving means, e.g. motor driven shaft using impact of dropping masses
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/18—Combined units comprising both motor and pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/40—Seismology; Seismic or acoustic prospecting or detecting specially adapted for well-logging
    • G01V1/52—Structural details

Definitions

  • This invention pertains generally to fluidic actuators and, more particularly, to compact fluidic actuators
  • hydraulic power is still the preferred method of gaining mechanical advantage
  • loads such as primary controls, flaps, slats, landing gear retraction and extension, brakes and steering, thrust reversers and weapons bay doors
  • Hydraulic power distribution typically involves routing fluid supply and return lines to connect sources to loads throughout the airframe, often with redundancy requirements to reduce vulnerability
  • this power comes with the penalties of high weight, size, large acoustic signature, cost and maintenance due to the system's distributed nature and redundancy requirements
  • Another object of the invention is to provide a pumping apparatus for use with an actuator of the above character which utilizes the momentum of the pump piston to enhance the efficiency of inlet and/or exhaust valves of the pump
  • FIG 1 is a fragmentary cross-sectional view of a portion of a wing assembly utilizing the compact actuator of the present invention
  • FIG 2 is a perspective view of the compact actuator of FIG 1
  • FIG 3 is a perspective view similar to FIG 2 of the compact actuator of FIG 1 which has been cut away at various portions
  • FIG 4 is a cross-sectional view taken along the line 4-4 of FIG 2 of the compact actuator of FIG 1
  • FIG 5 is a cross-sectional view taken along the line 5-5 of FIG 2 of the compact actuator of FIG 1
  • FIG 6 is a schematic view of the compact actuator of FIG 1
  • FIG 7 is another schematic view of compact actuator of FIG 1
  • FIG 8 is a fragmentary view of another embodiment of a normally open flow control valve for use with the compact actuator of FIG 1
  • FIG 9 is a fragmentary view, similar to FIG 8, ot another embodiment of a normally closed flow control valve for use with the compact actuator of FIG 1
  • FIG 10 is a schematic view of another embodiment of the compact actuator of the present invention.
  • FIG 11 is a flow chart depicting the operation of the compact actuator of FIG 10
  • FIG 12 is a series of time synchronized graphs showing time histories of sample input currents to the pump and flow control valves of the compact actuator of FIG 10
  • FIG 13 is a fragmentary view of another embodiment of a pump for use with the compact actuator of FIG 1
  • FIG 14 is a fragmentary view of a further embodiment of a pump for use with the compact actuator of FIG 1
  • FIG 15 is a fragmentary view of yet another embodiment of a pump for use with the compact actuator of FIG 1
  • a compact actuator for use with a fluid and including a housing having a predetermined geometry is provided
  • An actuation member is mounted in the housing for movement between first and second positions for performing work
  • the actuation member has first and second faces
  • Means within the housing provides fluid to the first face for moving the actuation member to the first position and to the second face for moving the actuation member to the second position
  • Said means includes at least one transducer having an active element and means for producing an electromagnetic field which extends through at least a portion of the active element
  • the active element is changeable between a first shape when in the absence of the electromagnetic field and a second shape when in the presence of the electromagnetic field
  • a controller and pumping apparatus for use with the actuator are provided
  • Wing 22 includes an air foil 23 having a flap 26 at the trailing edge thereof
  • the segmented flap 26 has a forward portion 26a and an aft portion 26b pivotally coupled to forward portion 26a
  • a guide pin 27 is connected to the aft portion 26b and rides within a track 28 for moving the aft portion outwardly and downwardly from a first or inline position shown in solid lines in FIG 1 to a second or deflected position shown in dashed lines in FIG 1
  • One or more actuators 21 is carried by forward portion 26a for moving aft portion 26b between its inline and deflected positions
  • Compact actuation apparatus or solid state smart material actuator 21 has a housing 31 formed with a predetermined geometry
  • the shape of housing 31 can be tailored to fit in irregularly-shaped envelopes
  • the housing 31 is made from any suitable material such as hard anodized aluminum or steel and has a weight ranging from 0 1 to 200 pounds and preferably ranging from 20 to 30 pounds and an envelope or displaced volume ranging from 0 5 to 1000 in 3 and preferably ranging from 15 to 25 in 3
  • the housing 31 shown m FIGS 2-4 has a weight of less than five pounds Housing 31 is shaped as a parallelepiped, having a length, width and depth of approximately six, two and two inches, respectively
  • the segmented housing 31 is formed from a plurality of plate-like members secured together by any suitable fastening means such as bolts and nuts (not shown) These plate members include a top plate 32, a second plate 33, a third plate 36 and a bottom plate 37
  • the exterior of housing 31 is formed by outer surface 38
  • Ram 41 is cylindrical in shape and made from any suitable material such as steel or titanium
  • the ram 41 has an enlarged head 42 formed integral with a rod 43.
  • the rod 43 has a threaded end 43a accessible from the exterior of housing 31 and is shown in FIG. 1 as being connected to aft portion 26b of flap 26.
  • Head 42 has first and second opposite planar faces consisting of upper face or surface 46 and lower face or surface 47.
  • Rod 43 is joined to head 42 at lower surface 47.
  • Third plate 36 of housing 31 is provided with a cylindrical bore or chamber 56 for slidably receiving ram head 42.
  • the cylindrical internal surface of housing 31 forming chamber 56 is diametrically sized slightly larger than head 42
  • An access bore 57 extends thiough bottom plate 37 and communicates with chamber 56.
  • Rod 43 slidably extends through access bore 57
  • Conventional fluid sealing means (not shown) is provided between head 42 and the inner cylindrical surface of third plate 36 for inhibiting the flow of fluid between surfaces 46 and 47 of ram 41. Head 42 thus divides ram chamber 56 into first and second portions 56a and 56b.
  • conventional sealing means (not shown) is provided between the outer surface of rod 43 and the inner cylindrical surface forming bore 57 in bottom plate 37.
  • ram 41 is movable between a first or extended position, shown in solid lines in FIG. 5, and a second or retracted position, shown in dashed lines in FIG. 5.
  • Self-contained fluid means or system 61 is provided within housing 31 and coupled to ram 41 for causing movement of the ram between its first and second positions
  • Fluid or hydraulic system 61 is shown schematically in FIGS. 6 and 7 and includes at least one transducer for providing liquid to upper surface 46 of ram head 42 for moving ram 41 to the first position and, alternatively, for providing liquid to lower surface 47 for moving ram 41 to the second position.
  • hydraulic system 61 includes a positive displacement pump 62, a first control valve 63 at the inlet of the pump 62 and a second control valve 64 at the outlet of the pump 62.
  • Each of these three components has a transducer therein
  • Pump 62 as shown most clearly m FIGS. 3 and 4 and schematically in FIG.
  • a suitable liquid for use in actuator 21 shown in FIGS. 2-5 is a fire-resistant phosphate ester hydraulic fluid or a petroleum based hydraulic fluid and the actuator 21 operates with a volume of such liquid ranging from 0.05 to 1 liter and preferably ranging from 0.20 to 0.25 liter. Liquid metals can also be used for the fluid or liquid of actuator 21.
  • Piston or rod 71 is made from a suitable active or smart material which changes shape when energized by being placed in an electromagnetic field.
  • Such materials can include electrost ⁇ ctive materials, piezoelectric materials and magnetost ⁇ ctive materials
  • a preferred electrost ⁇ ctive material is lead magnesium mobate and its variants and a preferred piezoelectric material is lead zirconate titanate and its variants Magnetost ⁇ ctive materials change shape in response to an applied magnetic field.
  • rod 71 is changeable between a first or shortened shape when in the absence of a magnetic field and a second or elongated shape when in the presence of a magnetic field.
  • a giant magnetost ⁇ ctive material is preferred because such a material can tolerate high mechamcal stress so as to have a relatively high energy density. High energy density enables more mechamcal power output from a given electrical power input and volume of smart mate ⁇ al which thus reduces the size and weight of actuator 21.
  • Preferred giant magnetost ⁇ ctive materials are rare earth materials, rare earth-transition metal materials and compositions having rare earth materials, transition metals and other elements.
  • Preferred rare earth materials for operating temperatures ranging from 0° to 200° K are rare earth binary alloys such as Tb x Dy ! x , where x ranges from 0 to 1.
  • Other rare earth elements can be added or substituted for either terbium or dysprosium in this base alloy
  • holmium, erbium or gadolinium can be used in place of either terbium or dysprosium
  • Other rare earth elements, such as holmium, erbium or gadolinium can be added or substituted for either terbium or dysprosium in these body centered cubic intermetallic compounds
  • Preferred rare earth-transition metal materials are rare earth-iron materials such as TERFENOL based alloys. These alloys are suited for operating temperatures ranging from 0° to 700° K. One of these alloys is TbFej. Particularly preferred rare earth-iron materials for operating in the 0° to 700° K temperature range are disclosed in U S.
  • a preferred formula for TERFENOL-D is Tb x Dy ! x Fe ! Struktur,., 95 , where x ranges from 0 25 to 1 0
  • a giant magnetost ⁇ ctive material having the rare earth materials R' xl , R 2 ⁇ , R 3 x3 R " ⁇ can be provided where R ,' R , 2 R 3 R constitute rare earth materials and xl + x2 + x3 + xn 1
  • transition metals such as manganese, cobalt or nickel
  • a giant magnetost ⁇ ctive material having the elements T' j ,,, T 2 ⁇ , T 3 y3 T" yjit can be provided where
  • Giant magnetost ⁇ ctive materials which contract and thus exhibit negative magnetostriction when placed m a magnetic field can be used for the material of rod 71 and be within the scope of the present invention
  • These negative magnetost ⁇ ctive materials have formulations similar to the giant magnetost ⁇ ctive materials described above except that they include the rare earth element samarium
  • Preferred negative magnetost ⁇ ctive materials for operating temperatures ranging from 0° to 700° K are SAMFENOL based alloys such as SiriFej
  • SAMFENOL-D is also disclosed in U S Patent Nos 4,308,474, 4,609,402, 4,770,704, 4,849,034 or 4,818,304 and has the formula Sm x Dy, x Fe 2 w , where x ranges from 0 to 1 and w ranges from 0 to 1
  • Other rare earth materials such as cerium, praseodymium, neodymium, holmium, erbium or gadolinium, can be added or
  • Means which includes coil 72 is provided in motor 69 for producing an electromagnetic field which extends through at least a portion of drive member or rod 71
  • Coil 72 is made from any suitable material such as copper or aluminum and is concentrically disposed about rod 71 for producing a magnetic field having a flux which extends through the rod 71
  • Coil 72 is mounted within third plate 36, as shown in FIG 4
  • Rod 71 has an end 71a which extends from one end of coil 72 to abut the center of a diaphragm 76 made from any suitable material such as stainless steel The other end of rod 71 is secured to the inside of coil
  • Diaphragm 76 extends across an opening in the form of cylindrical bore 77 provided in third plate 36 and is generally cup-like in shape In this regard, diaphragm 76 extends upwardly from coil 72 at its outer periphery to sealably secure to the third plate
  • a plate member or disk 81 made from any suitable material such as a noncorrosive stainless steel alloy overlies diaphragm 76 and is sealably secured at its outer periphery to the diaphragm 76 In this manner, disk 81 and diaphragm 76 form a pumping chamber 82 therebetween
  • valves 63 and 64 respectively control the flow of liquid into and out of pumping chamber 82 in a single direction and are included withm the means of actuator 21 for selectively directing pressurized liquid between pump 62 and ram 41
  • valves 63 and 64 have respective motors 83 and 84 which include respective actuation elements in the form of rods or pistons 86 and 87 made from any suitable material such as the materials discussed above with respect to rod 71
  • pistons or drive members 86 and 87 are each made from a magnetost ⁇ ctive material and more preferably from a giant magnetost ⁇ ctive material such as TERFENOL-D Coils 88 and 89, each substantially similar to coil 72, are included in motors 83 and 84 and are concentrically mounted about respective pistons 86 and 87 Coils 88 and 89 serve to energize pistons 86 and 87 by producing a magnetic field which extends through the pistons 86 and 87
  • Valves 63 and 64 each utilize a poppet valve configuration. Specifically, a cylindrical member or valve rod 98 is secured to the end of amplifier rod 93 The lower portion of valve rod 98 is formed as a valve head 99. A cylindrical member or valve rod 101 is similarly secured to the end of amplifier rod 94 of outlet valve 64 Valve rod 101 has a lower portion formed as a valve head 102 Rods 98 and 101 are each made from any suitable material such as a noncorrosive stainless steel alloy.
  • Valve heads or plugs 99 and 102 seat respectively in spaced-apart openings or orifices 103 and 104 provided in disk 81
  • the orifices 103 and 104 commumcate with pumping chamber 82
  • Caps 106 and 107 are provided for retaining inlet and outlet control valves 63 and 64 within top plate 32
  • the elastic modulus of the smart material and the bulk modulus of the fluid within system 61 determine the stiffness matching geometry of pumping chamber 82 and the smart material driver or piston 71
  • the maximum fluid power point (pressure and flow) is optimized for a given electrical input, size, weight, thermal environment and/or startup transient for actuator 21.
  • Plugs 99 and 102 and orifices 103 and 104 are shaped and contoured to optimize fluid flow characterization and thus maximize the performance of actuator 21.
  • the maximized fluid power is matched with ram 41 so that the minimum and maximum physical geometries of plugs 99 and 102 and orifices 103 and 104, as well as the mimmum and maximum physical geometries of pumping chamber 82 and piston 71, can be determined Additional design considerations are the output pressure and flow and frequency response over the desired temperature range
  • Hydraulic system 61 further includes a spool valve or servo valve 111 which serves as means for directing the flow of liquid between inlet and outlet control valves 63 and 64 and the ram 41.
  • Servo valve 111 is shown in FIG. 5 and schematically in FIG 7.
  • An inlet line 112 connects mlet control valve 63 to the servo valve 111 and an outlet line 113 connects outlet control valve 64 to the servo valve 11.
  • First and second lines 116 and 117 connect the servo valve 111 to respective first and second portions 56a and 56b of ram chamber 56
  • Servo valve 111 has a central chamber 118 provided in top plate 32 which communicates with each of lines 112 and 113 and lines 116 and 117 Chamber 118 is generally cylindrical in shape.
  • Servo valve 111 includes means in the form of a transducer or motor 129 for driving rod 121 between its first and second longitudinal positions within chamber 118
  • Motor 129 includes a cylindrical rod-like element in the form of actuation element 131 made from any suitable material such as the materials discussed above with respect to rod 71
  • actuation element 131 is made from a magnetost ⁇ ctive material and more preferably from a giant magnetost ⁇ ctive mate ⁇ al such as TERFENOL-D.
  • a coil 132 substantially similar to coil 72 is concentrically carried or disposed about actuation element 131.
  • An amplifier 133 is included within servo valve 111 for amplifying the stroke of actuation element 131 of motor 129 Stroke amplifier 133, not cross sectioned in the drawings, is of a conventional type and substantially similar to stroke amplifiers 91 and 92.
  • the amplifier has an output rod 134 slidably carried therein and movable longitudinally as a function of the longitudinal movement of actuation element 131
  • the output rod 134 has an end secured to one end of rod 121
  • Caps 136 and 137 are provided for respectively retaining rod 121 and motor 129 within top plate 32
  • Fluid system 61 in compact actuator 21 further includes a conventional high pressure accumulator 138 and a conventional low pressure reservoir 139, as shown schematically m FIGS 6 and 7
  • Both high pressure accumulator 138 and low pressure reservoir 139 are similar in configuration and have a temperature compensating variable volume chamber 141 which is separated from a fluid storage chamber 142 by a flexible membrane 143 Chamber 141 is filled with pressurized gas for accommodating pressure changes due to such factors as piston motion or thermal changes
  • Low pressure liquid in fluid system 61 is routed to low pressure reservoir 139 where it is ready for recycling through the fluid system
  • the elements of each of high pressure accumulator 138 and low pressure reservoir 139 are carried inside third plate 36 of housing 31, as shown in FIG 5 with respect to low pressure reservoir 139
  • control electronics or controller 146 is electrically coupled to coils 72, 88-89 and 132
  • the multiple-input, multiple-output controller is built from conventional off-the-shelf parts As shown most clearly in FIGS 6 and 7, electrical lead 147 couples controller 146 to pump motor 69 and leads 148 and 149 respectively couple the controller to inlet and outlet control valve motors 83 and 84
  • the controller 146 is electrically coupled to motor 129 of servo valve 111 by means of lead 151
  • Controller 146 is provided with a power and signal connector 152 accessible at the exterior of housing 31 for permitting an external power supply 153 to be electrically coupled to controller 146 and for permitting commanded signals to be provided to the controller and other electrical communications therewith
  • the controller 146 contains power conditioning electronics for directing electrical energy to the coils and thus causing each of the coils to generate an electromagnetic and specifically a magnetic field around the coil The magnetic fields actuate and thus control the movement of the respective actuation elements
  • Sensing or measuring means is carried by housing 31 for determining the external axial force being exerted on threaded end 43a of ram 41 and the position of ram 41 within chamber 56
  • a first pressure transducer or sensor 161 communicates with first line 116 and a second pressure transducer or sensor 162 communicates with second line 117 for determining the liquid pressure in such lines and thus the pressure in first and second chamber portions 56a and 56b on each side of ram head 42
  • the differential pressure across ram head 42 can thus be determined by controller 146
  • Conventional pressure sensors 161 and 162 can be of the type manufactured by Kulite Tungsten Corporation of East Rutherford, New Jersey
  • a position sensor in the form of a linear variable differential transformer or stroke transducer 163 is carried by housing 31 and coupled to ram 41 for determining the position of ram 41 and its threaded end 43a relative to housing 31
  • Conventional stroke transducer 163 can be of the type manufactured by Trans-Tek, Inc of Ellington, Connecticut Ram 41 includes a force sensor in
  • compact hydraulic actuator 21 can be used for moving or pivoting aft portion 26b of flap 26 relative to forward portion 26a of the flap and thus change the camber of wing 22
  • controller 146 which in turn supplies electrical energy to pump 62, inlet and outlet control valve 63, 64 and servo valve 111 at the appropriate durations and levels to cause these components to provide liquid to either upper surface 46 or lower surface 47 of ram head 42 and thus move ram 41 within chamber 56
  • Controller 146 of actuator 21 can be electrically coupled by means of connector 152 to any suitable computer such as a personal computer (not shown)
  • Actuator 21 can be electronically configured by the personal computer to function a prescribed manner for the given application
  • the length of movement or displacement of ram 41 , the speed or velocity at which the ram 41 is moved and the force that is available at threaded end 43a of ram 41 can be set
  • Other parameters of actuator 21 which can be so set include the characterization of the ram 41 in relation to the input control signal to actuator 21, the response time or acceleration of ram 41 , the damping ratio of ram 41 , the accuracy of the desired position of ram 41 , and the type of control strategy (for example, phase-locked-loop or frequency-locked-loop) the actuator 21 will execute and the functional parameters of the control strategy
  • Additional actuator parameters which can be set include the communications parameters (for example, peer-to-peer, supervisory, report by exception, networked or stand alone), the alarm and shutdown parameters such as operating temperature limits on the internal diagnostic
  • pump 62 and valves 63, 64 and 111 are substantially similar in that these components are each activated by an electrical signal from controller 146 Controller 146 operates at the fixed frequency of a standard power supply, for example 400 Hz for an aircraft
  • Controller 146 operates at the fixed frequency of a standard power supply, for example 400 Hz for an aircraft
  • Pump 62 and valves 63, 64 and 111 are each driven by an actuation member made from TERFENOL-D
  • These magnetost ⁇ ctive actuation elements are changeable between a first condition in the absence of a magnetic field and a second elongated or extended condition in the presence of a magnetic field for performing work in said components
  • the amount of elongation of an actuation element is proportional to the amplitude of the electrical current signal to actuation coil 72, 88-89 or 132 and the resulting strength of the magnetic field generated by the coil
  • the frequency of elongation corresponds to the frequency of the electrical signal to the coil
  • the mechanical resonant frequency of pump 62 is determined by the size and weight of the magnetost ⁇ ctive piston 71, the amplitude of the drive signal to piston 71 , the prestressmg and other mechanical loading of the piston 71
  • the optimal resonant frequency is a function of both the power level and the pump load characteristics, which can change during operation.
  • the drive frequency is fixed, thus requiring a tradeoff to determine the single frequency that provides the best efficiency given the operation power levels and pump load characteristics.
  • the output of pump 62 is controlled by the amplitude of the drive current to piston 71.
  • Pump 62 appears to the drive electronics or circuit as an inductor and a resistor in series.
  • the drive electronics within controller 146 must supply both real and reactive power to pump motor 69
  • the efficiency of the drive electronics can be increased if designed to advantageously use the inductive features of the magnetrost ⁇ ctive motor 69.
  • the drive electronics consist of a sinusoidal voltage source in series with a capacitor.
  • the value of the capacitor is chosen to provide a resonant circuit with the inductance of the magnetost ⁇ ctive motor 69 when operated at the mechanical resonant frequency of the pump 62. That is, the capacitor is chosen to produce in conjunction with the inductance of the magnetost ⁇ ctive motor 69 an electromc resonance at the desired drive frequency.
  • the voltage source need only provide real power, and not reactive power, to pump 62 so as to reduce the cost and increase the efficiency of the drive electronics
  • the drive electronics can use switched mode electronics
  • the drive electronics can use the inductive load of pump motor 69 for power smoothing
  • Increased performance and decreased cost can be obtained by designing these switched-mode drive electronics for the specific load characteristics of pump motor 69 and the chosen drive frequency
  • Pump 62 can operate at one frequency independent of the fluid demands within actuator 21 As can be appreciated, for a fixed surface area of piston head 42, the flow through pump 62 is determined by the frequency and stroke length of the piston head. When the frequency of the input signal to pump motor 69 is fixed, the flow through the pump is thus determined by the stroke length of the piston head 42
  • the stroke of pump 62 is a function of the magnetic field strength applied by drive coil 72, which is determined by the current in the coil 72 This current is a function of the voltage across the drive coil 72 since the impedance of drive coil 72 is generally constant at a fixed frequency In this manner, the power to pump 62 can be switched on and off at the fixed frequency between zero volts and the control voltage to produce the reciprocating stroke of the pump
  • the foregoing simplifies power control to ON/OFF and flow control to voltage control Inlet and outlet control valves 63 and 64 actively control the flow of liquid from pump 62 to accumulator 138 and from the reservoir 139 to the pump 62 Valves 63 and 64 are driven by a
  • outlet flow control valve 64 is directed by controller 146 to open and the remaining stroke length is used to pump out the pressurized liquid At the end of this pump stroke, valve 64 is directed to close before piston 71 begins to retract. Since the entire pumping chamber 82 cannot be evacuated at the end of the output stroke, the amount of remaining liquid within chamber 82 expands once piston 71 retracts After chamber 82 is depressurized, inlet flow control valve 63 opens to admit a new liquid charge.
  • the amplitude of the electrical signal to coils 88 and 89 can be equal to or different than the amplitude of the actuation signal to pump coil 72
  • valves 63 and 64 enable the valves to open and close at the precise times corresponding to the optimized pressure and flow needed to meet the output requirements of compact actuator 21
  • controller 146 can synchronously open and close the flow control valves 63 and 64 with the motion of piston 71 so that the valves open and close with near zero pressure differential across them Active control valves 63 and 64 thus contribute to maximizing the efficiency of pump 62 and actuator 21
  • the waveform shaping of active flow control valves 63 and 64 permits the valves to open fast and close softly so as to reduce valve seat wear This is particularly important at higher frequencies
  • the TERFENOL-D composition of valve pistons 86 and 87 permits relatively large displacements of the pistons over a wide frequency range Valves 63 and 64 open and close at precise times corresponding to peak pump pressures, independent of the system pressure
  • This precise electrical control of each of the valves 63 and 64 enables suppression of pump ripple, present in most hydraulic systems having passive valves therein, thus removing the need for large ripple suppression equipment and integration with load characteristics to suppress water hammer
  • a small volume of liquid is pumped through outlet control valve 64 to servo valve 111
  • the servo valve 111 alternatively directs the pressurized liquid from outlet control valve 64 to the desired surface 46 or 47 of ram 41 so as to cause the ram to move in the desired direction relative to housing 31 and/or to change the relative pressure across head 42 and thus the external force being applied by ram 41 Controller 146
  • the compact hydraulic actuator 21 of the present invention is a modular, self-contained linear motion device capable of producing dynamic output strokes similar to those of conventional hydraulic actuators yet at higher frequency and at significantly reduced weight, complexity and volume All of the components of umtized actuator 21 are located inside hermetically sealed housing 31 so as to be protected from moisture and contamination
  • the integrated package of actuator 21 ensures dynamic stability of the components thereof and eliminates the need for multiple attachment points
  • actuator 21 utilizes a high authority smart material such as TERFENOL-D
  • the smart material motors for pump 62 and valves 63, 64 and 111 have no moving parts such as linkages, cams and the like
  • actuator 21 offers the advantages of reduced cost, longer life, improved maintainability and increased reliability
  • the compactness and integration of actuator 21 facilitates its removal and replacement from wing 22 thus reducing installation and maintenance costs
  • Actuator 21 utilizes actuation members made from a magnetost ⁇ ctive material such as TERFENOL-D in pump 62, flow control valves 63 and 64 and servo valve
  • actuator 21 can remain off for long periods of time before being quickly actuated Pump 62 is relatively simple in comparison to conventional rotating pumps having a multitude of moving parts Pump
  • Pump 62 consists only of a diaphragm 76 driven directly by motor 69 This direct drive of the diaphragm eliminates seal friction present in conventional pump designs
  • Pump 62 in concert with flow control valve 63 and 64 is capable of generating pressures in excess of 2,000 psi and, under certain configurations, in excess of 4,000 psi More specifically, pump 62 produces a pressure withm fluid system 61 ranging from 1 to 10,000 psi and preferably ranging from 2500 to 3500 psi and a flow rate ranging from 0 to 100 ⁇ n 3 /m ⁇ nute and preferably ranging from 10 to 20 in 3 /minute
  • the power requirements of actuator 21 range from zero to 5000 watts and preferably from 100 to 200 watts Preliminary calculations show that before flow losses and without storage, an actuator
  • 21 measuring 12"x9"x3 and weighing under 20 pounds can generate 1 GPM at 5000 psi pressure differential from 5 kVA rms of 400 Hz ac line power Size can be further reduced by increasing the output pressure differential to around 8000 to 10,000 psi and again by increasing operating frequency
  • the operating power level can be reduced by providing enough internal pressurized fluid storage to cover a duty cycle
  • the current from controller 146 actuating coil 132 in servo valve 111 results in effective positioning of spools 122 and 123 by the magnetostriction of actuation element 131 This direct positioning of spools 122 and 123 by a drive current allows for significantly higher bandwidths in servo valve 111 than can be achieved with conventional solenoid-based servo valves
  • a compact actuator can be provided having one active flow control valve of the type disclosed above and one passive flow control valve Alternatively, two passive flow control valves can be used m place of active valves 63 and 64
  • a compact actuator can also be provided having a pump and/or a servo valve which does not include an active actuation element Pump 62 can further include a stroke amplifier similar to amplifiers 91 , 92 and 133 for amplifying the movement of piston 71 It should be further appreciated that pump 62 and flow control valves 63 and 64, each utilizing magnetost ⁇ ctive or other smart material actuation elements, can be produced as separate stand alone devices
  • Actuator 21 is easily scalable for use in other applications
  • actuator 21 is easily reshaped and reconfigured to suit the particular application
  • Further aeronautics applications include helicopter rotor blade noise and vibration control and steering and brake actuation systems
  • Other exemplary applications include process control applications that are remote operating, such as well head control, gauge stations and pipeline valves that only have electric power available for operation These control valves can be remotely activated by means of an electric signal with the self-contained actuation apparatus herein, which provides as advantages improved control and reduced size
  • the actuators herein are useful for well applications such as submersible pumps for oil and water and downhole drill bit operation and seismic sources They are also useful for micropositiomng applications such as precision drug delivery and ink control on computer printers where accurate metering and delivery is required
  • Automotive applications include hydraulic clutches, hydraulic clamps, hydraulic or pneumatic brakes, power steering pumps, fuel injection, brake, suspension and steering systems Since the actuators of the present invention have little vibration and thus a low acoustic signature, they are well
  • valve 171 is disposed inside housing 31 and has a motor 172 substantially identical to motors 83 and 84 Motor 172 has an electrical connector 173 for electrically coupling the motor to controller 146
  • An amplifier 176 is included within valve 171 for amplifying the stroke of the smart material actuation element or piston of motor 172 Stroke amplifier 176, not cross sectioned in the drawings, is of a conventional type and substantially similar to stroke amplifiers 91, 92 and 133.
  • the amplifier has an output rod 177 slidably carried therein and movable longitudinally as a function of the longitudinal movement of the piston within motor 172.
  • Flow control valve 171 has a poppet valve 178 which includes an elongate cylindrical valve stem 181.
  • the stem 181 extends through a plug 182 disposed within a bore 183 provided in actuator housing 31
  • Fluid system 61 of actuator 21 has a first or inlet passageway portion 186 and a second or outlet passageway portion 187 which communicate with each other by means of poppet valve 178.
  • Valve stem 181 extends across outlet passageway portion 187
  • a conventional seal 191 made from any suitable material such as a compliant polymer material is carried by the plug 182.
  • Valve stem and plug 181 and 192 are each made from any suitable noncorrosive material such as a stainless steel alloy or a polymer material.
  • Plug 192 is sized and shaped to sealably engage a valve seat 193 secured within a bore 196 extending between passageway portions 186 and 187
  • Valve seat 193 has an orifice 197 which permits the liquid within fluid system 61 to flow from inlet passageway portion 186 to outlet passageway portion 187
  • normally open flow control valve 171 permits the liquid within fluid system 61 to flow through orifice 197 in the absence of power to motor 172
  • Valve stem and plug 181 and 192 are movable from their first or open positions, shown in FIG. 8, to second or closed positions (not shown) upon actuation of motor 172 In the closed positions, valve plug 192 engages valve seat 193 to close off orifice 197 and thus preclude fluid from flowing between passageway portions 186 and 187.
  • Stroke amplifier 176 provides the necessary longitudinal movement of valve stem 181 , without the need for increasing the size of the piston in motor 172, for operation of poppet valve 178
  • Stroke amplifier 176 may be particularly preferred in a two-stage valve
  • Valve 204 is substantially similar to valve 171 and thus like reference numerals have been used in FIG. 9 to identify like components in valves 204 and 171
  • Flow control valve 204 has a poppet valve 206 which includes a valve seat 207 made from the same material as valve seat 193 and disposed within bore 196
  • Poppet valve 206 further includes an elongate valve stem 208 substantially similar to valve stem 181.
  • Valve seat and stem 207 and 208 are made from the same materials as valve seat and stem 193 and 181
  • Valve seat 207 is provided with an orifice 209 sized and shaped to permit valve stem 208 to extend therethrough
  • a valve plug 212 made from the same material as valve plug 192, is secured to the end of valve stem 208 and is disposed within outlet passageway portion 187
  • a further bore 213 is provided in housing 31 and is longitudinally aligned with bores 196 and 183 to permit access to the poppet valve 206 and plug 182
  • flow control valve 204 is in its normally closed position shown in FIG 9 when motor 172 is not being energized. As such, the liquid of fluid system 61 is precluded from traveling through passageway portions 186 and 187 of the valve 204.
  • valve plug 212 Upon actuation of motor 172, valve plug 212 disengages from seat 207 and moves into inlet passageway portion 186 to permit liquid to flow through orifice 209 provided in the valve seat 207
  • FIG. 10 a schematic of a compact actuator 221 is shown in FIG. 10 which is substantially identical to compact actuator 21 Like reference numerals have been used in FIG. 10 to describe the like components of actuators 221 and 21
  • Pump 62 of compact actuator 221 is bi-directional in comparison to unidirectional pump 62 of compact actuator 21
  • Flow control valves 63 and 64 of actuator 221 can alternatively serve as inlet valve or outlet valves to pump 62
  • First flow control valve 63 is fluidly connected to first line 116 and second flow control valve 64 is fluidly connected to second line 117
  • Controller 146 is programmed to cause the bi-directional flow control valves 63 and 64 to alternatively move the liquid within fluid system 61 in a first direction through a pump 62, m which the liquid flows out of second flow control valve 64 to second portion 56b of ram chamber 56, or in a second direction opposite of the first direction, in which the liquid flows out of first flow control valve 63 to first portion 56a of the ram chamber
  • actuator 221 has a single hydraulic tank 222 coupled to first and second lines 116 and 117 by means of respective lines 226 and 227
  • Tank 222 is vented, however a low-pressure gas or spring accumulator could also be used
  • Conventional poppet valves 228 and 229 regulate the flow of liquid between lines 112 and 113 and the hydraulic tank 222 and allow the tank 222 to provide liquid, as needed, to the low pressure side of fluid system 61 and isolate the tank from the high pressure side of the system 61
  • Controller 146 synchronizes the drive currents to pump 62 and first and second flow control valves 63 and 64 to achieve pumping in either direction within fluid system 61
  • FIG 12 shows time histories for the synchronized input signals to pump 62 and valves 63 and 64 for pumping liquid out second valve 64
  • a sinusoidal current is shown driving pump 62, although other periodic wave forms can be used m the alternative
  • the output rate of pump 62 is preferably controlled by modulating the amplitude of the input wave form Alternatively, frequency control of the input wave form to pump 62 can also be used for determimng the output rate of the pump
  • the time history for the position of pump piston 71 is similar to the input wave form for the pump, varying slightly due to the non-linear nature of the magnetost ⁇ ctive material of piston 71 and the drive load exerted on the piston 71
  • the second and third time histories shown in FIG 12 are for the first and second check valves 63 and 64
  • the input signals for each of the valves 63 and 64 is similar to a square wave, except that the current ramps upwardly to and downwardly from the maximum current First check valve 63 is acting as the input check valve and opens during the downward stroke of pump 62 so as to allow liquid to be drawn into pumping chamber 82
  • the first check valve 63 closes just as pump piston 71 reaches its minimum position, in which pumping chamber 82 has maximum volume
  • Second check valve 64 is acting as the output check valve in the synchronization shown in FIG 12, and opens during the upward, pressurizing motion of pump piston 71
  • Second check valve 64 closes as the pump stroke reaches its maximum value, in which pumping chamber 82 has minimum volume
  • Controller 146 directs ram 41 to move to an extended position by causing pump 62 to move the liquid of fluid system 61 through first flow control valve 63 and line 116 The liquid enters first chamber portion 56a and engages upper surface 46 of ram head 42 to thus cause threaded end 43 of the ram 41 to extend outwardly from housing 31
  • controller 146 resynchromzes the signals to check valve motors 83 and 84 Liquid within fluid system 61 now flows from second flow control valve 64 into second line 117 and then second chamber portion 56b to increase the hydraulic pressure upon lower surface 47
  • the closed looped fluid system 61 is simultaneously moving liquid from first chamber portion 56a so as to reduce the hydraulic pressure on upper surface 46 of ram head 42 In this manner, the redistribution of pressure across head 42 causes rod 43 to retract relative to housing 31
  • the schematic of FIG 11 includes a flow chart depicting the operation of controller 146
  • the inputs to controller 146 include the commanded position signal 231 for ram 41, the measured position for the
  • the commanded force signal 241 is passed through a pressure estimator 242, which in a pressure estimation step derives a commanded pressure signal 243
  • the pressure estimator is, in general, a dynamic signal processing element which, in its simplest form, divides the commanded force signal 241 by the hydraulic actuator area to determine the commanded pressure signal 243
  • a pressure difference error signal 247 is determined from a comparison of the commanded pressure signal 243 to the differential pressure on upper and lower surfaces 46 and 47 of ram head 42 as measured by first and second pressure sensors 161 and 162 The measured pressures from sensors 161 and 162 are differenced to provide the differential pressure acting on piston head 42
  • the pressure difference error signal 247 is used as the input to pressure controller and pump and check valve drive electronics 248
  • the pressure difference error signal 247 has both sign and magnitude so as to indicate to pressure controller or filter 248 both the amount of desired pressure that pump 62 must produce and which output of the pump should be at higher pressure
  • controller 146 The signal flow portions of controller 146 are implemented by any suitable means such as one or more microcontrollers or digital signal processing hardware/software
  • the drive currents are produced by any suitable means such as power semiconductor technologies
  • pump 62 permits compact actuator 221 to be relatively smaller, simpler and less expensive than compact actuator 21
  • the direction of liquid through pump 62 is changed by merely changing the phasing of the electrical signals to flow control valves 63 and 64 Pump 62 requires no operating point adjustment
  • first and second pressure sensors 161 and 162 provides a closed loop pressure control system m compact actuator 221 which allows more accurate control of the power delivered to the hydraulic load
  • This closed loop pressure control system compensates for the influence of operation conditions such as temperature, wear and hydraulic load variations by delivering controlled pressure to the hydraulic load in the presence of these variations
  • This system allows controller 146 to deliver power only when required to maintain desired pressure levels, thus increasing the efficiency of actuator 221
  • the closed loop or pressure control system described above can be used to provide force control of the output at ram 41 of the hydraulic system of compact actuator 221
  • the force, and even torque, output of the hydraulic system can be regulated by controlling by means of controller 146, as described above, the input pressure to ram 41 from the feedback signals of sensors 161-162
  • position sensor 163 with the closed loop pressure control system described above provides a closed loop motion control system in compact actuator 221
  • the inner pressure or force loop derived from pressure sensors 161-162 and lines 166, shown in FIG 11 is controlled by an outer position loop derived from position sensor 163 and the related line 166
  • the use of these two loops to provide position control allows the outer position loop to be designed without detailed knowledge of the generally nonlinear dynamics of compact actuator 221
  • the high bandwidth of the inner force loop shields the outer position loop from these undesirable dynamics
  • Actuator 221 so configured as a motion controller can be specialized to the case where feed-forward information about the desired motion profile is available
  • an integrated electric actuator of the present invention can be provided having only closed loop pressure control, that is no position sensor 163 for providing motion control, or alternatively open loop control, that is no sensors 161-163 for providing pressure and motion control
  • the simplified controller 146 has as input electrical power and a desired pump output flow rate
  • Other implementations of the integrated electric actuator herein can be
  • FIG 13 a pump and valve apparatus 301 having inlet and outlet passive, spring-loaded check valves is provided in a housing 302 substantially similar to housing 31 A portion of actuator housing 302 is shown in FIG 13 An elongate cylindrical cavity or pumping chamber 303 extending along a longitudinal axis 304 is provided in housing 302 Pumping chamber 303 is formed from an inner cylindrical surface 306 and a generally planar end surface 307 extending perpendicularly to cylindrical surface 306 A cylindrical piston member or piston 311 is disposed in pumping chamber 303 Housing 302 and piston 311 are each made from any suitable material such as stainless steel Piston 311 has an outer cylindrical surface 312 and a planar end surface 313 extending at a right angle to outer cylindrical 312 The diameter of the outer cylindrical surface 312 is slightly smaller than the diameter of inner cylindrical surface 306 Piston 311 is shdable along longitudinal axis 304 between a first position in which end
  • a first or inlet poppet valve 331 is provided in piston 311 for controlling the flow of liquid from inlet line 112 into pumping chamber 303
  • a cylindrical valve chamber 332 extends through end surface 313 along longitudinal axis 304 and terminates at a valve seat 333 formed in the piston 311
  • a fluid passageway 334 extends longitudinally through valve seat 333 and then transversely through piston 311 and outer cylindrical surface 312 thereof
  • Inlet line 312 extends through inner cylindrical surface 306 to commumcate with fluid passageway 333
  • a channel 336 extends longitudinally from fluid passageway 333 along outer cylindrical surface 312 toward piston end surface 313 for permitting communication between the fluid passageway 333 and inlet line 112 throughout the slidable movement of piston 311 in pumping chamber 303
  • a valve head in the form of ball 337 is disposed in valve chamber 332 for engaging valve seat 333 and inhibiting the flow of liquid from fluid passageway 334 into valve chamber 332
  • Ball 337 is movable along longitudinal axis 304 within valve chamber 332 between a first or closed position in engagement with valves 333, shown in solid lines in FIG 13, and a second or open position spaced longitudinally from valve seat 333, shown in phantom lines in FIG 13
  • Inlet valve 331 has means which includes helical spring 341 for urging ball 337 to its closed position within the valve seat 333
  • Spring 341 is longitudinally disposed within valve chamber 332 and has one end engaging ball 337 and a second opposite end engaging a tubular retainer 342 press fit or otherwise suitably secured within chamber 332 flush with piston end surface 313
  • the tubular retainer 342 is provided with a bore 343 extending longitudinally therethrough for permitting liquid to pass from valve chamber 332 through end surface 313 into pumping chamber 303
  • Annular sealing means in the form of first and second longitudinally spaced-apart O-nngs 351 and 352 are carried by piston 311 for precluding liquid passing from inlet line 112 into fluid passageway 334 from flowing around the ends of piston 311 O- ⁇ ngs 351 and 352 are disposed within respective first and second annular grooves 353 and 354 extending circumferentially around outer cylindrical surface 312 of piston 311
  • a second or exhaust valve 361 is provided within housing 302 for permitting liquid to flow out of pumping chamber 303 into outlet line 313
  • Exhaust or outlet poppet valve 361 is substantially similar to inlet valve 331 and includes a longitudinally- extending valve chamber 362 formed with a valve seat 363 at one end thereof
  • a fluid passageway 364 extends longitudinally through valve seat 363 and end surface 307 for permitting communication between valve chamber 362 and pumping chamber 303
  • a ball 366 is disposed in valve chamber 362 for longitudinal movement therein between a closed position in engagement with valve seat 363 and an open position spaced apart from the valve seat 363
  • a helical spring 367 serves to retain ball 366 within valve chamber 362 and urge the ball against valve seat 363
  • Helical spring 367 is retained in place by a tubular retainer 368 secured within valve chamber 362 and provided with a bore extending longitudinally therethrough for permitting fluid communication between the valve chamber 362 and outlet valve 113
  • Ball 366, spring 367 and retainer 368 are substantially
  • inlet valve 331 controls the flow of liquid from inlet line 112 into pumping chamber 303 and exhaust valve 361 controls the flow of the pressurized fluid from the pumping chamber into outlet line 113
  • Ball 337 unseats from valve seat 333 when the pressure in inlet line 112 exceeds the pressure in pumping chamber 303
  • ball 366 of exhaust valve 361 unseats from valve seat 363 when the pressure within pumping chamber 303 exceeds the pressure in outlet line 113
  • inlet valve 331 increases the efficiency of pump and valve apparatus 301 Specifically, the longitudinal movement of ball 337 in valve chamber 332 is aligned and in the same direction with the longitudinal movement of piston 311 in pumping chamber 303 so that the longitudinal motion of piston assists in unseating and seating ball 337 with respect to valve seat 333 For example, when piston 311 is changing its direction from its downward stroke to its upward stroke m FIG 13, the downward momentum of ball 337 and the liquid within both valve chamber 332 and fluid passageway 334 assists in unseating the ball 337 from valve seat 333
  • the stiffness of spring 341 can thus be increased without increasing the differential fluid pressure required to open inlet valve 331
  • the time required to open valve 331 is decreased As such, the motion of piston 311 enhances the operation of valve 331 and increases the allowable operating frequency of pump and valve apparatus 301
  • the efficiency of pump and valve apparatus 301 is particularly enhanced when operated at its resonant frequency Since the operating frequency of pump and valve apparatus 301 correlates directly with the flow rate, increased flow
  • motor 316 is shown with a stroke amplifier 321, it should be appreciated that a motor having an actuation element 317 and drive coil 318 can be provided without a stroke amplifier and be within the scope of the present invention
  • motors or means for moving piston longitudinally within pumping chamber 303 can be utilized
  • an annular groove can be provided around piston 311 in place of channel 336 to ensure continued fluid communication between fluid passageway 333 and inlet line 112 throughout the stroke of the piston
  • the annular groove would be disposed between O- ⁇ ngs 351 and 352 and would have a length and depth similar to the length and depth of channel 336 Such an annular groove would eliminate the need for spline 346 and groove 347
  • FIG 14 Pump and valve apparatus 381 therein is substantially similar to pump and valve apparatus 301 and like reference numerals have been used to describe like components of apparatus 301 and 381
  • Inlet valve 331 is longitudinally centered on a longitudinal axis 382 spaced-apart from and aligned parallel to central longitudinal axis 304
  • Second or exhaust valve 386 is incorporated in piston 311 and extends along another longitudinal axis 387 spaced-apart and parallel to both axes 382 and 304
  • Exhaust valve includes a cylindrical valve chamber 388 which opens onto end surface 313 of piston 311
  • An annular shoulder 391 forms the terminus of valve chamber 388 within piston 311
  • a fluid passageway 392 has a longitudinal portion which opens into valve chamber 388 at shoulder 391 and a transverse portion which extends through outer cylindrical surface 312 of piston 311
  • Outlet line 113 opens into inner cylindrical surface 306 of pumping chamber 303 to communicate with fluid passageway 392
  • pump and valve apparatus 381 and specifically inlet valve 331 thereof, is substantially similar to the operation of pump and valve apparatus 301 Incorporation of exhaust valve 386 into piston 311 further enhances the operating efficiency of pump and valve apparatus 381 Exhaust valve 386 operates in substantially the same manner as inlet valve 331 In this regard, when piston 311 changes directions between its upward stroke and its downward stroke in FIG 14, the change in momentum of ball 406 and the liquid in valve chamber 388 and bore 397 provide an additional force for unseating ball 406 from valve seat 398
  • FIG 15 is similar in certain respects to pump and valve apparatus 301 and 381 and like reference numerals have been used to describe like components of apparatus 301 , 361 and 421
  • Pump and valve apparatus 421, shown somewhat schematically in FIG 15, is formed from a pump housing 422 having a removable end cap 423
  • Pump housing 422 and end cap 423 are each made from any suitable material such as stainless steel and are part of housing 302 described above
  • Pump housing 422 is provided with a cylindrical pumping chamber 426 extending along a central longitudinal axis 427 Chamber 426 is formed in part by an inner cylindrical surface 428
  • End cap 423 has a cylindrical portion 431 formed with an outer cylindrical surface 432 and a planar end surface 433 extending at a right angle to cylindrical surface 432 Cylindrical portion 431 is disposed in housing
  • Annular seal means in the form of an O- ⁇ ng 436 disposed within an annular groove 437 provided in outer cylindrical surface 432 provides a fluid-tight seal between the outer and inner cylindrical surfaces 432 and 428
  • a cylindrical piston 441 substantially similar to piston 311 described above and having an outer cylindrical surface 442 and a planar end surface 432 extending perpendicularly to outer surface 442 is disposed within pumping chamber 426
  • Piston 441 is longitudinally movable by motor 316 from a first position where end surface 443 thereof is in close proximity to end surface 433 and a second position in which piston end surface 443 is moved away from end surface 433
  • First and second O- ⁇ ngs 451 and 452 disposed within respective first and second annular grooves 453 and 454 provided in outer cylindrical surface 442 provide a fluid-tight seal between piston 441 and inner cylindrical surface 428 of pump housing 422
  • a first or inlet valve 456 is provided in cylindrical portion 431 for controlling the flow of liquid from inlet line 112 into pumping chamber 426
  • Inlet valve 456 is aligned along longitudinal axis 427 and includes a longitudinally-extending valve chamber 458 extending through end surface 433 to a valve seat 459 formed within cylindrical portion 431
  • a valve head 466 made from steel or any other suitable material is disposed within valve chamber 458 for longitudinal movement and cooperative engagement with valve seat 459
  • Means tor moving valve head 466 between opened and closed positions relative to valve seat 459 includes a motor 467 substantially similar to motor 83 and having an active drive element or piston 471 energized by a coil 472 concentrically carried thereabout
  • Piston 471 can be made from any of the materials discussed above with respect to piston 71 , and is preferably made from a giant magnetost ⁇ ctive material such as TERFENOL-D
  • Motor 467 is diamet ⁇ cally sized smaller than valve chamber 458 so that liquid passing through valve seat 459 travels between motor 467 and the inner surface of valve chamber 458 to second fluid passageway 462
  • Motor 467 is mounted on a cylindrical plug 473 made from stainless steel or any other suitable material Plug 473 is secured within the end of valve chamber 458 flush with end surface 433 by any suitable means
  • a second or exhaust valve 481 is longitudinally disposed within piston 441
  • Exhaust valve 481 has a valve chamber 482 which extends longitudinally through piston end surface 443
  • Valve chamber 482 is longitudinally aligned with valve chamber 458
  • a tubular member or retainer 483 made from stainless steel or any other suitable material is secured within valve chamber 482 flush with end surface 443
  • the inner end of tubular retainer 483 is formed as a valve seat 486
  • a central bore 487 extends longitudinally through valve seat 486 and tubular retainer 483
  • a valve head 491 made from steel or any other suitable material is provided for sealable engagement with valve seat 486
  • Means for moving valve head 491 from a first or closed position in engagement with valve seat 486 and a second or open position spaced away from valve seat 486 includes a motor 492 substantially identical to motor 467
  • Motor 492 has a cylindrical piston 493 and a coil 494 concentrically disposed about piston 493 Piston 493 is in its de-energized state and
  • Pump and valve apparatus 421 operates in substantially the same manner as described above with respect to pump and valve apparatus 301 and 381
  • motors 467 and 492 serve to close respective inlet and exhaust valves 456 at appropriate times and for appropriate durations for the operation of pump and valve apparatus 421
  • the operating efficiency of exhaust valve 481 is enhanced by its disposition within piston 441 As discussed above, the change in momentum of valve head 491 and the liquid within bore 487 and valve chamber 482 provide an additional force for opening valve head 491 when piston 441 changes direction from moving upwardly in FIG 15 to moving downwardly
  • pump and valve apparatus 421 is shown as having only exhaust valve 481 disposed within piston 441 , it should be appreciated that one or both of inlet and exhaust valves 456 and 481 can be provided in piston 441 and be within the scope of the present invention
  • the integrated electric actuator herein can have means for prestressmg and/or magnetically biasing the magnetost ⁇ ctive drive element, as described in copending U S patent application Serial No 08/855,228 filed May 13, 1997 (File No A-64718) incorporated herein by this reference, and be within the scope of the present invention
  • ac magnetic flux return means can be provided in the actuator of the present invention
  • the fluidic or integrated electric actuator is relatively compact in size and is easily scalable for different applications
  • the actuator provides hydraulic power with little acoustic noise It has relatively few moving parts and uses electricity as a power source
  • a self-contained fluid system having a relatively small volume of fluid is utilized in the actuator
  • An output of relatively long stroke and high force is provided by the actuator
  • the actuator utilizes motors having smart material actuation elements made from TERFENOL-D
  • a method for operating the actuator is provided
  • the actuator can have a pumping apparatus which utilizes the momentum of the pump piston to enhance the efficiency of inlet and/or exhaust valves of the pump

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Abstract

L'invention concerne un actionneur compact (21) destiné à être utilisé avec un fluide, qui comprend un logement (31) présentant une géométrie prédéterminée. Un élément actionneur (41) est monté dans le logement de façon à se déplacer entre la première et la seconde position pour effectuer un certain travail. L'élément actionneur présente une première face (46) et une seconde face (47). Le logement présente un ensemble (61) destiné à fournir un fluide sur la première face de façon à placer l'élément actionneur en première position et sur la seconde face de façon à placer l'élément actionneur en seconde position. L'ensemble comprend au moins un émetteur-récepteur (69, 83 et/ou 84) comportant un élément actif (71, 86 et/ou 87) pouvant passer d'une première forme en l'absence d'un champ électromagnétique à une seconde forme en présence d'un champ électromagnétique. L'invention se rapporte également à une unité de commande (146) et à un appareil de pompage (301) destinés à être utilisés avec l'actionneur.
PCT/US1997/015608 1996-09-12 1997-09-05 Actionneur compact, unite de commande et appareil de pompage afferents WO1998011357A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CA002269585A CA2269585A1 (fr) 1996-09-12 1997-09-05 Actionneur compact, unite de commande et appareil de pompage afferents
AU42517/97A AU4251797A (en) 1996-09-12 1997-09-05 Compact actuator and controller and pumping apparatus for same
EP97940828A EP0925457A4 (fr) 1996-09-12 1997-09-05 Actionneur compact, unite de commande et appareil de pompage afferents

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US2609996P 1996-09-12 1996-09-12
US60/026,099 1996-09-12
US92048197A 1997-08-29 1997-08-29
US08/920,481 1997-08-29

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WO1998011357A1 true WO1998011357A1 (fr) 1998-03-19

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PCT/US1997/015608 WO1998011357A1 (fr) 1996-09-12 1997-09-05 Actionneur compact, unite de commande et appareil de pompage afferents

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EP (1) EP0925457A4 (fr)
AU (1) AU4251797A (fr)
CA (1) CA2269585A1 (fr)
WO (1) WO1998011357A1 (fr)

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EP1418343A1 (fr) * 2002-11-07 2004-05-12 Ksb S.A.S Dispositif de commande d'un actionneur électro-hydraulique intégré
EP1580440A1 (fr) * 2004-03-24 2005-09-28 Demolition and Recycling Equipment B.V. Méthode et appareil pour le contrôle des paramètres d'un outil hydraulique
WO2007029009A1 (fr) * 2005-09-09 2007-03-15 Em Digital Limited Actionneur electrohydraulique
WO2007036721A2 (fr) * 2005-09-29 2007-04-05 Read Well Services Limited Appareil et procede
EP1999489A2 (fr) * 2006-03-27 2008-12-10 Input/Output, Inc. Appareil et procede pour produire un signal de source sismique
CN102834617A (zh) * 2010-02-05 2012-12-19 贺尔碧格自动化技术控股股份有限公司 在配件上流体操纵的伺服驱动装置
EP3112699A1 (fr) * 2015-06-30 2017-01-04 Goodrich Actuation Systems SAS Actionneurs électro-hydrauliques
US10935055B2 (en) 2017-08-16 2021-03-02 Kyntronics, Inc. Electrohydraulic actuator

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KR101055681B1 (ko) * 2002-11-07 2011-08-09 카에스베 에스.아.에스. 통합형 전자 유압 액추에이터 제어 장치
FR2847116A1 (fr) * 2002-11-07 2004-05-14 Ksb Sas Dispositif de commande d'un actionneur electro-hydraulique integre
JP2004156785A (ja) * 2002-11-07 2004-06-03 Ksb Sas 一体型の電気−油圧アクチュエータ制御装置
CN100398844C (zh) * 2002-11-07 2008-07-02 Ksb联合股份公司 集成的电动液压致动器的控制装置
EP1418343A1 (fr) * 2002-11-07 2004-05-12 Ksb S.A.S Dispositif de commande d'un actionneur électro-hydraulique intégré
JP4589616B2 (ja) * 2002-11-07 2010-12-01 カー エス ベー エス．アー．エス． 一体型の電気−油圧アクチュエータ制御装置
EP1580440A1 (fr) * 2004-03-24 2005-09-28 Demolition and Recycling Equipment B.V. Méthode et appareil pour le contrôle des paramètres d'un outil hydraulique
WO2007029009A1 (fr) * 2005-09-09 2007-03-15 Em Digital Limited Actionneur electrohydraulique
WO2007036721A2 (fr) * 2005-09-29 2007-04-05 Read Well Services Limited Appareil et procede
WO2007036721A3 (fr) * 2005-09-29 2007-06-28 Read Well Services Ltd Appareil et procede
EP1999489A2 (fr) * 2006-03-27 2008-12-10 Input/Output, Inc. Appareil et procede pour produire un signal de source sismique
EP1999489A4 (fr) * 2006-03-27 2011-12-28 Inova Ltd Appareil et procede pour produire un signal de source sismique
US8134891B2 (en) 2006-03-27 2012-03-13 Inova Ltd. Apparatus for generating a seismic source signal
CN102834617A (zh) * 2010-02-05 2012-12-19 贺尔碧格自动化技术控股股份有限公司 在配件上流体操纵的伺服驱动装置
CN102834617B (zh) * 2010-02-05 2016-03-02 贺尔碧格自动化技术控股股份有限公司 在配件上流体操纵的伺服驱动装置
EP3112699A1 (fr) * 2015-06-30 2017-01-04 Goodrich Actuation Systems SAS Actionneurs électro-hydrauliques
US10087962B2 (en) 2015-06-30 2018-10-02 Goodrich Actuation Systems Sas Electro hydrostatic actuators
US10611464B2 (en) 2015-06-30 2020-04-07 Goodrich Actuation Systems Sas Electro hydrostatic actuators
US10935055B2 (en) 2017-08-16 2021-03-02 Kyntronics, Inc. Electrohydraulic actuator

Also Published As

Publication number Publication date
EP0925457A4 (fr) 1999-12-29
AU4251797A (en) 1998-04-02
EP0925457A1 (fr) 1999-06-30
CA2269585A1 (fr) 1998-03-19

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