Patent Application
20190031170
The present disclosure relates to electric brakes, and, more specifically, to systems and methods for controlling electric brakes.
Aircraft often include one or more landing gear that comprise one or more wheels. A braking system is coupled to the wheel(s) in order to decelerate or park the aircraft. For electric braking systems, a motor may be located at the wheels of the landing gear and a controller is typically located in the fuselage of the aircraft. Wires may extend between the fuselage and the braking system at the location of the wheels. Electric signals may be sent and received between the motor and the controller.
A controller for an electromechanical brake actuator (EBA) is disclosed herein, in accordance with various embodiments. The controller may comprise an error detector configured to determine an error in a motor angular position signal, and a synthetic angle generator configured to generate a synthetic motor angular position signal, wherein the controller controls an actuator motor via the synthetic motor angular position signal in response to the error in the motor angular position signal being determined.
In various embodiments, the motor angular position signal may be replaced with the synthetic motor angular position signal in response to the error being determined. The synthetic motor angular position signal may cause the actuator motor to retract the EBA. The EBA may be disabled in response to the retraction. The synthetic motor angular position signal may comprise a time-varying angular position. The controller may be for an electromechanical brake.
A brake arrangement is disclosed herein in accordance with various embodiments. The brake arrangement may comprise an actuator motor, a controller in electronic communication with the actuator motor, and a tangible, non-transitory memory configured to communicate with the controller, the tangible, non-transitory memory having instructions stored thereon that, in response to execution by the controller, cause the controller to perform operations comprising: receiving, by the controller, a motor angular position signal; determining, by the controller, an error in the motor angular position signal; generating, by the controller, a synthetic motor angular position signal; and replacing, by the controller, the motor angular position signal with the synthetic motor angular position signal in response to the error in the motor angular position signal being determined.
In various embodiments, the operations may further comprise sending, by the controller, a command signal to the actuator motor based upon the synthetic motor angular position signal. The brake arrangement may further comprise a load cell, in communication with the controller, a current sensor, in communication with the controller, and a position sensor, in communication with the controller and configured to output the motor angular position signal. The controller may comprise an error detector and a synthetic angle generator. The error detector may be configured to determine the error and the synthetic angle generator is configured to generate the synthetic motor angular position signal. The brake arrangement may further comprise an electromechanical brake actuator (EBA), wherein the actuator motor is for the EBA. The operations may further comprise rotating a motor shaft in response to the sending, wherein the rotating causes the EBA to retract at an angular velocity corresponding to the synthetic motor angular position signal. The controller may comprise an EBA controller. The controller may disable the actuator motor in response to the sending. The actuator motor may comprise a three-phase motor. The motor angular position signal may be received by the controller from a position sensor.
A method for controlling an electromechanical actuator is disclosed herein in accordance with various embodiments. The method may comprise: receiving, by a controller, a motor angular position signal; determining, by the controller, an error in the motor angular position signal; generating, by the controller, a synthetic motor angular position signal; replacing, by the controller, the motor angular position signal with the synthetic motor angular position signal in response to the error in the motor angular position signal being determined; and sending, by the controller, a command signal to a motor based upon the synthetic motor angular position signal.
In various embodiments, the method may further comprise rotating a motor shaft in response to the controller sending the command signal. The rotating may cause the electromechanical actuator to retract at an angular velocity corresponding to the synthetic motor angular position signal.
The foregoing features and elements may be combined in various combinations without exclusivity, unless expressly indicated otherwise. These features and elements as well as the operation thereof will become more apparent in light of the following description and the accompanying drawings. It should be understood, however, the following description and drawings are intended to be exemplary in nature and non-limiting.
The subject matter of the present disclosure is particularly pointed out and distinctly claimed in the concluding portion of the specification. A more complete understanding of the present disclosure, however, may best be obtained by referring to the detailed description and claims when considered in connection with the figures, wherein like numerals denote like elements.
All ranges and ratio limits disclosed herein may be combined. It is to be understood that unless specifically stated otherwise, references to “a,” “an,” and/or “the” may include one or more than one and that reference to an item in the singular may also include the item in the plural.
The detailed description of exemplary embodiments herein makes reference to the accompanying drawings, which show exemplary embodiments by way of illustration. While these exemplary embodiments are described in sufficient detail to enable those skilled in the art to practice the exemplary embodiments of the disclosure, it should be understood that other embodiments may be realized and that logical changes and adaptations in design and construction may be made in accordance with this disclosure and the teachings herein. Thus, the detailed description herein is presented for purposes of illustration only and not limitation. The steps recited in any of the method or process descriptions may be executed in any order and are not necessarily limited to the order presented. Furthermore, any reference to singular includes plural embodiments, and any reference to more than one component or step may include a singular embodiment or step. Also, any reference to attached, fixed, connected or the like may include permanent, removable, temporary, partial, full and/or any other possible attachment option. Additionally, any reference to without contact (or similar phrases) may also include reduced contact or minimal contact.
Aircraft often include one or more landing gear that comprise one or more wheels. A braking system is coupled to the wheel(s) in order to decelerate or park the aircraft. For electric braking systems, a motor may be located at the wheels of the landing gear and a controller is typically located in the fuselage of the aircraft. Wires may extend between the fuselage and the braking system at the location of the wheels. Electric signals may be sent and received between the motor and the controller. A position sensor, such as a resolver for example, may be in electronic communication with an actuator motor for an electromechanical brake actuator (EBA). A controller for a brake, as described herein, may monitor the output (e.g., a motor angular position signal) of the position sensor to determine if the output has a fault. In response to the controller determining a fault in the output, the controller may generate a synthetic motor angular position signal whereby the controller operates the actuator motor. In various embodiments, the synthetic motor angular position signal may cause the actuator motor to retract at a predetermined rate in order to disable the EBA from applying pressure to a brake stack (failsafe position off the brake). In this regard, systems and methods, as described herein, may prevent uncommanded braking from occurring in response to a faulty position sensor. Systems and methods, as described herein may allow for an EBA to be retracted to a failsafe condition without feedback from a position sensor.
With reference to
In order to exert this force onto pressure plate 110, actuator motor 102 may cause electromechanical brake actuator (EBA) 104 to actuate. In various embodiments, actuator motor 102 may be a brushless motor, such as a permanent magnet synchronous motor (PMSM), a permanent-magnet motor (PMM) or the like. In various embodiments, and with reference to
Electromechanical brake actuator 104 is actuated in response to current being applied to actuator motor 102. The amount of force applied by electromechanical brake actuator 104 is related to the amount of current applied to actuator motor 102. With reference again to
Application of current to actuator motor 102 causes rotation of motor shaft 204. In various embodiments, electromechanical brake actuator control system 200 may comprise a position sensor 208. Position sensor 208 may be configured so as to measure the rotational speed and position of motor shaft 204. In various embodiments, position sensor 208 may be disposed in or adjacent to electromechanical brake actuator 104, or on or adjacent to actuator motor 102. However, position sensor 208 may be disposed in any location suitable for detection of the rotational speed and position of motor shaft 204. In various embodiments, position sensor 208 may comprise a resolver, tachometer, or the like.
In various embodiments, electromechanical brake actuator control system 200 may comprise a load cell 202. Load cell 202 may be configured so as to measure the amount of force being applied between ball nut 106 and pressure plate 110. In various embodiments, load cell 202 may be disposed in or adjacent to electromechanical brake actuator 104, or on or adjacent to ball nut 106. In various embodiments, load cell 202 may be disposed on or adjacent to end plate 111. However, load cell 202 may be disposed in any location suitable for detection of the force being applied between ball nut 106 and pressure plate 110. A controller may receive the detected force and rotational speed, and calculate an adjusted force and an adjusted rotational speed based on those detected values. In various embodiments, electromechanical brake actuator control system 200 may comprise a fault tolerant controller (controller) 210.
In various embodiments, controller 210 may comprise a processor. In various embodiments, controller 210 may be implemented in a single controller. In various embodiments, controller 210 may be implemented in multiple controllers and/or processors. Controller 210 may comprise instructions stored in a tangible, non-transitory memory 214 configured to communicate with controller 210. In various embodiments, controller 210 may be implemented in an electromechanical actuator controller and/or a brake control unit (BCU). In various embodiments, motor 102 may be controlled via controller 210.
System program instructions and/or controller instructions may be loaded onto a non-transitory, tangible computer-readable medium having instructions stored thereon that, in response to execution by a controller, cause the controller to perform various operations. The term “non-transitory” is to be understood to remove only propagating transitory signals per se from the claim scope and does not relinquish rights to all standard computer-readable media that are not only propagating transitory signals per se. Stated another way, the meaning of the term “non-transitory computer-readable medium” and “non-transitory computer-readable storage medium” should be construed to exclude only those types of transitory computer-readable media which were found in In Re Nuijten to fall outside the scope of patentable subject matter under 35 U.S.C. § 101.
With reference to
In various embodiments, error detector 310 may receive a motor angular position 308. Motor angular position 308 may be received by position sensor 208, with momentary reference to
An error in motor angular position 308 may be determined in accordance with various embodiments. In various embodiments, an error in motor angular position 308 may be determined in response to a position sensor (e.g., position sensor 208 of
With combined reference to
In various embodiments, with combined reference to
With reference to
With combined reference to
Benefits and other advantages have been described herein with regard to specific embodiments. Furthermore, the connecting lines shown in the various figures contained herein are intended to represent exemplary functional relationships and/or physical couplings between the various elements. It should be noted that many alternative or additional functional relationships or physical connections may be present in a practical system. However, the benefits, advantages, and any elements that may cause any benefit or advantage to occur or become more pronounced are not to be construed as critical, required, or essential features or elements of the disclosure. The scope of the disclosure is accordingly to be limited by nothing other than the appended claims, in which reference to an element in the singular is not intended to mean “one and only one” unless explicitly so stated, but rather “one or more.” Moreover, where a phrase similar to “at least one of A, B, or C” is used in the claims, it is intended that the phrase be interpreted to mean that A alone may be present in an embodiment, B alone may be present in an embodiment, C alone may be present in an embodiment, or that any combination of the elements A, B and C may be present in a single embodiment; for example, A and B, A and C, B and C, or A and B and C.
Systems, methods and apparatus are provided herein. In the detailed description herein, references to “various embodiments,” “one embodiment,” “an embodiment,” “an example embodiment,” etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to affect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described. After reading the description, it will be apparent to one skilled in the relevant art(s) how to implement the disclosure in alternative embodiments.
Furthermore, no element, component, or method step in the present disclosure is intended to be dedicated to the public regardless of whether the element, component, or method step is explicitly recited in the claims. No claim element herein is invoke 35 U.S.C. 112(f) unless the element is expressly recited using the phrase “means for.” As used herein, the terms “comprises,” “comprising,” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
