Electronic stopper in actuator control

An apparatus, comprising:

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

A method of controlling a position of a structure, comprising:

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