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US 11,402,858 B2Granted
Electronic stopper in actuator control
AssigneeThe Boeing Company
InventorGen Matsui
Life of this patent
Estimating the term…
Abstract
A system and method of controlling a position of a structure. A position command indicating a desired position for the structure and a position feedback signal indicating the position of the structure are received. A position control signal is generated based on a difference between the desired position and the position indicated by the position feedback signal. A stop feedback signal relative to the position of the structure is received. A stop control signal is generated based on the stop feedback signal and a stop condition for the structure. One of the position control signal and the stop control signal is selected. The selected one of the position control signal and the stop control signal is provided to an actuator for controlling the position of the structure.
Claims20
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 from a position sensor indicating a position of an actuator 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, from a stop feedback sensor, a stop feedback signal of a current condition of a control surface of the structure;
- generating a stop control signal based on a difference between the stop feedback signal and a stop condition for the control surface of the structure, wherein the stop condition defines a stop for the control surface of 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 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 the actuator of the structure in response to the actuator control signal;
- and
- providing the actuator control signal to the actuator of the structure for controlling the position of the control surface of the structure, wherein the actuator of the structure moves the structure toward the desired position when the actuator control signal provided to the actuator of the structure is the position control signal and moves the control surface of the structure toward a position corresponding to the stop condition when the actuator control signal provided to the actuator of the structure is the stop control signal.
6 more elements
An apparatus that comprises:
- a position controller configured to receive a position command that comprises a desired position for an actuator of a structure, wherein the structure is configured to:
- move over a mechanical range of positions;
- receive, from a position sensor, a position feedback signal that indicates a position of the structure;
- and
- generate a position control signal based on a difference between the desired position for the actuator of the structure and the position of the actuator of the structure indicated by the position feedback signal;
- a stop controller configured to:
- receive, from a stop feedback sensor, a stop feedback signal of a condition of a control surface of the structure relative to the position of the control surface of the structure;
- and
- generate a stop control signal based on a difference between the stop feedback signal and a stop condition for the control surface of the structure, wherein the stop condition defines a stop for the control surface of the structure;
- and
- a control signal selector configured to:
- select the position control signal as an actuator control signal responsive to a determination that a magnitude of the position control signal being smaller than a magnitude of the stop control signal;
- select the stop control signal to be the actuator control signal responsive to a determination that the magnitude of the stop control signal being smaller than the magnitude of the position control signal, wherein the actuator control signal indicates a direction and magnitude of movement of the actuator of the structure in response to the actuator control signal:
- and
- provide the actuator control signal to the actuator and control the position of the control surface of the structure, wherein the actuator of the structure is configured to move the control surface of the structure toward the desired position when the actuator control signal provided to the actuator of the structure is the position control signal and is configured to move the control surface of the structure toward a position that corresponds to the stop condition when the actuator control signal provided to the actuator of the structure is the stop control signal.
12 more elements
An apparatus that comprises:
- a position controller configured to:
- receive a position command that comprises a desired position for an actuator of a structure, wherein the structure is configured to move over a mechanical range of positions,
- receive, from a position sensor, a position feedback signal that comprises a position of the structure, and
- generate a position control signal based on a difference between the desired position and a position indicated by the position feedback signal;
- a stop controller configured to:
- receive, from a stop feedback sensor, a stop feedback signal of a condition of a control surface of the structure;
- and
- generate a stop control signal based on a difference between the stop feedback signal and a stop condition for the control surface of the structure, wherein the stop condition defines a stop for the control surface of the structure;
- and
- a control signal selector configured to:
- select the position control signal as an actuator control signal responsive to a determination that a magnitude of the position control signal being larger than a magnitude of the stop control signal;
- select the stop control signal to be the actuator control signal responsive to a determination that the magnitude of the stop control signal being larger than the magnitude of the position control signal, wherein the actuator control signal indicates a direction and magnitude of movement of the actuator of the structure in response to the actuator control signal:
- and
- provide the actuator control signal to the actuator of the structure and control the position of the control surface of the structure, wherein the actuator of the structure is configured to move the control surface of the structure toward the desired position when the actuator control signal provided to the actuator of the structure is the position control signal and is configured to move the control surface of the structure toward a position corresponding to the stop condition when the actuator control signal provided to the actuator of the structure is the stop control signal.
11 more elements
Dependencies are inferred from the claim text.