Fly-by-wire lateral control system

• US 4,472,780 A
• Filed: 09/28/1981
• Issued: 09/18/1984
• Est. Priority Date: 09/28/1981
• Status: Expired due to Term

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Takats, Imre J., Chenoweth, Charles C.
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/306,381
• Time in Patent Office: 1,086 Days
• Field of Search: 364/434, 364/439, 364/187, 371/8, 371/11, 371/68, 318/563, 318/564, 318/580, 318/585, 244/90 A, 244/90 R, 244/194
• US Class Current: 701/4
• CPC Class Codes: G05D 1/0077 using redundant signals or controls

Abstract

Each wing of an aircraft carries a set of five outboard spoilers, one inboard spoiler, one inboard aileron and one outboard aileron, together constituting the lateral control surfaces for the aircraft. Each spoiler is positioned by means of a single thread electrohydraulic servoactuator. Each outboard aileron is positioned by means of a one/one fail-operational electrohydraulic servoactuator. Each inboard aileron is positioned by a two/one fail-operational, electrohydraulic servoactuator. The control system is operated by four independent electrical control signal processing channels and four independent hydraulic pressure supplies. A distribution pattern of the various lateral control surfaces on the aircraft, and an association pattern of the hydraulic pressure supplies and the electric control signal processing channels to the actuators, results in the lateral control system being operable after three electric channel failures, or three hydraulic pressure supply failures, or a combination of three electric channel and three hydraulic pressure supply failures.

Claims

1. In an aircraft, a fly-by-wire type lateral control system, comprising:

a first set of lateral control surfaces comprising a plurality of control surfaces;

a separate first-set electrohydraulic actuator drivingly connected to each lateral control surface of said first set;

a second set of lateral control surfaces comprising a plurality of control surfaces;

a separate second-set one/one fail-operational electrohydraulic actuator drivingly connected to each lateral control surface of said second set, each said actuator having two hydraulic sections for redundant operation;

a third set of lateral control surfaces comprising a plurality of control surfaces;

a separate third-set two/one fail-operational, electrohydraulic actuator drivingly connected to each lateral control surface of said third set, each said actuator having two hydraulic sections for redundant operation;

four separate hydraulic pressure supplies;

four separate electric control signal command channels;

control means for said system comprising;

first means associating each first-set actuator with a single one of said channels and a single one of said hydraulic pressure supplies;

second means associating each second-set actuator with three of said channels and associating each redundant hydraulic section of each second-set actuator with a single hydraulic pressure supply;

third means associating each third-set actuator with all four of said channels and associating each redundant hydraulic section of each third-set actuator with a single hydraulic pressure supply; and

failure responsive means for causing the lateral control system to continue to be operable after three electric channel failures, or three hydraulic pressure supply failures, or a combination of three electrical channel and three hydraulic pressure supply failures.

2. A control system according to claim 1, wherein the first set of lateral control surfaces are spoilers and comprise a symmetrical pattern of a like number of spoilers on each wing of the aircraft, and wherein the said hydraulic pressure supplies and said electric control signal command channels to said actuators are also symmetrical, such that any single electrical channel or hydraulic failure would result in the loss of symmetrical surfaces.

3. A control system according to claim 2, comprising at least four spoilers on each wing, each of which is associated with a separate one of the four electric control signal command channels and a separate one of the four hydraulic pressure supplies.

4. A control system according to claim 3, wherein the first set of lateral control surfaces comprises a group of at least four outboard spoilers and at least one inboard spoiler on each wing.

5. A control system according to claim 4, wherein the outboard spoilers comprise at least a group of four spoilers, each of which is associated with a different one of the four electric control signal command channels and a different one of each of said hydraulic pressure supplies.

6. A control system according to claim 5, comprising a fifth outboard spoiler positioned immediately inwardly of the group of four spoilers, said fifth outboard spoiler being associated with the same electric control signal command channel and the same hydraulic pressure supply as the outboard spoiler closest to it.

7. A control system according to claim 6, wherein the inboard spoiler is associated with the same electric control signal command channel and the same hydraulic pressure supply as the third outboard spoiler counting inwardly.

8. A control system according to claim 1, wherein the second set of lateral control surfaces comprises a symmetrical arrangement of outboard ailerons, one on each wing, wherein one said outboard aileron is associated with two of the four hydraulic pressure supplies and the other is associated with the remaining two of the hydraulic pressure supplies.

9. A control system according to claim 1, wherein two of the four separate electric control signal command channels are associated with one of the outboard ailerons, as active channels and the remaining two of said four separate electric control signal command channels are associated with the other outboard aileron, as active channels.

10. A control system according to claim 9, wherein the third channel associated with each outboard aileron is a model channel.

11. In an aircraft, a fly-by-wire lateral control system, comprising:

a symmetrical pair of lateral control surfaces, one on each wing of an aircraft;

a plurality of two/one fail-operational, electrohydraulic actuators, each of which is drivingly connected to a separate lateral control surface, each said actuator comprising two hydraulic sections for redundant operation;

four separate hydraulic pressure supplies;

four separate electric control signal command channels;

each said actuator including control means controlling each of its said two hydraulic sections with a dedicated separate hydraulic pressure supply, so that each of said four hydraulic pressure supplies is connected to a separate one of the four hydraulic sections, said control means also controlling all four of said electric-control signal command channels associated with each actuator, with two of said channels serving as active channels for a first of said actuators and as model channels for the second actuators, and with the remaining two channels serving as model channels for the first actuator and as active channels for the second actuator; and

said control means for each actuator comprising;

first means, associated with the two active channels for each actuator, and responsive to an electrical input signal supplied thereto, for independently and actively controlling the rate of operation of said two hydraulic sections of such actuator and for providing two rate indicative outputs, one for each hydraulic section;

second means, associated with said two model channels for such actuator, and responsive to said electrical input signal supplied thereto, for modeling said first means and for providing two modeled rate indicative outputs, each modeled rate indicative output similar to the rate indicative output generated by said first means if said electrical input signal is applied to said first means through one of said two active channels; and

third means for comparing the four rate indicative outputs generated from the first and second means and for providing a first failure signal if one of said four rate indicative outputs differs from the other three rate indicative outputs by a predetermined amount.

12. A control system according to claim 11, including first disabling means, responsive to said first failure signal, for disabling said channel associated with said one of said rate indicative outputs.

13. A control system according to claim 12, including four means for comparing the remaining three rate indicative outputs when said one rate indicative output is disabled, and for providing a second failure signal if one of said remaining three rate indicative outputs differs from the other two of said remaining three rate indicative outputs by a predetermined amount.

14. A control system according to claim 13, including second disabling means, responsive to said second failure signal, for disabling said channel associated with said one of said remaining three rate indicative outputs.

15. A control system according to claim 14, further including fifth means for comparing the remaining two rate indicative outputs when two of said rate indicative outputs are disabled and for providing a third failure signal if one of said remaining two rate indicative outputs differs by a predetermined amount;

and

third disabling means, responsive to said third failure signal, for disabling all four signal command channels.

16. A control system according to claim 15, including means responsive to said third failure signal, for placing both hydraulic sections of said actuator in a passive-fail mode.

17. A control system according to claim 13, wherein one model channel and one active channel are associated with each hydraulic section of the actuator, said system including means, responsive to signals indicative of failure of both model and active channels associated with one actuator hydraulic section, for placing said one actuator hydraulic section in a passive-fail mode.

18. In an aircraft, a fly-by-wire lateral control system, comprising:

a symmetrical pair of lateral control surfaces, one on each wing of an aircraft;

a plurality of two/one fail-operational, electrohydraulic actuators, each of which is drivingly connected to a separate lateral control surface, each said actuator comprising two hydraulic sections for redundant operation;

four separate hydraulic pressure supplies;

four separate electric control signal command channels;

each actuator including control means for controlling each of its said two hydraulic sections with a separate hydraulic pressure supply, so that each said hydraulic pressure supply is dedicated to a single hydraulic section, said control means also controlling all four of said electric control signal command channels associated with each actuator, with two of said channels serving as active channels for a first of said actuators and as model channels for the second actuator, and with the remaining two channels serving as model channels for the first actuator and active channels for the second actuator; and

each said control means comprising;

first means, associated with the active signal command channel for each actuator hydraulic section, and responsive to an electrical input signal supplied thereto, for actively controlling the rate of operation of its actuator hydraulic section, and for providing an actual actuator condition output;

second means, associated with model channel for each actuator hydraulic section, and responsive to said electrical input signal supplied thereto, for modeling said first means and for providing a modeled actuator condition output, said modeled actuator condition output similar to the actuator condition output generated by said first means when said electrical input signal is applied to said active signal command channel;

means, responsive to said actual actuator condition output and said modeled actuator condition output, for determining failure of one of said control signal command channels if said outputs vary by more than a predetermined amount, said determining means further providing an output indicative of which one of said active signal command channels has failed; and

means, responsive to said determining means output indicative of an active signal command channel failure, for disconnecting said active signal command channel output from its associated controlling means and for connecting said model channel output to its associated controlling means, said disconnecting means, responsive to said determining means output indicative of model channel failure, for disconnecting said model channel.

19. A control system according to claim 18, including comparing means providing an output indicative of failure of a channel associated with an actuator condition output which differs from the other actuator condition outputs by more than a predetermined amount.

20. A control system according to claim 19, wherein said determining means, after determining a first failure, continues comparing the remaining three actuator condition outputs and providing a further output indicative of failure of a second channel, said second channel associated with one of said actuator condition outputs which differs by more than a predetermined amount from the others of said remaining three actuator condition outputs.

21. A control system according to claim 20, further including means for placing one of said actuator hydraulic sections in a passive-fail mode in response to a failure of two channels, wherein said disconnecting means provides a dual channel failure signal to said placing means when both channels associated with one actuator hydraulic section have failed.

22. A control system according to claim 21, wherein said disconnecting means provides dual channel failure signal to the placing means associated with one actuator hydraulic section have failed.

23. In an aircraft, a fly-by-wire lateral control system, comprising:

a symmetrical pair of lateral control surfaces, one on each wing of an aircraft;

a plurality of two/one fail-operational, electrohydraulic actuators, each of which is drivingly connected to a separate lateral control surface, each said actuator comprising a first hydraulic section and a second hydraulic section for redundant operation;

four separate hydraulic pressure supplies;

four separate electric control signal command channels;

each said actuator including control means controlling each of its said two hydraulic sections with a dedicated separate hydraulic pressure supply, so that each of said four hydraulic pressure supplies is connected to a separate one of the four hydraulic sections, said control means also controlling all four of said electric control signal command channels associated with each said actuator, with two of said channels serving as active channels for a first of said actuators and as model channels for the second actuator, and with the remaining two channels serving as model channels for the first actuator and as active channels for the second actuator; and

each said control means comprising;

first rate controlling means, having two inputs, for controlling rate of movement of the first hydraulic section of its actuator and providing a rate indicative output;

second rate controlling means, having two inputs, for controlling rate of movement of the second hydraulic section of its actuator and providing a rate indicative output;

first channel means, responsive to a first disabling control signal and to an electrical input signal, for normally applying a first channel positioning signal to one of said inputs of said first rate controlling means;

second channel means, responsive to a second disabling control signal and to said electrical input signal, for normally transmitting a second channel positioning signal;

second channel transfer means, responsive to a second channel transfer signal, for connecting said second channel positioning signal to the other of said inputs of said first rate controlling means;

third channel means, responsive to a third disabling control signal and to said electrical input signal, for normally applying a third channel positioning signal to one of said inputs of said second rate controlling means;

fourth channel means, responsive to a fourth disabling control signal and to said electrical input signal, for normally applying a fourth channel positioning signal to an output;

fourth channel transfer means, responsive to a fourth channel transfer signal, for connecting said fourth channel positioning signal output to the other of said inputs of said second rate controlling means; and

logic means for comparing the rate indicative outputs generated by said first and second rate controlling means and the second and fourth channel positioning signal outputs, each to the others, and for providing a disabling control signal when one of said outputs differs from the remaining three outputs by a predetermined amount;

(a) when said first rate indicative output is said differing output, said logic means providing said first disabling control signal to said first channel means, said logic means providing said second channel transfer signal to said second channel transfer means, said logic means including means for treating said first rate indicative output as said second positioning signal output when said second channel transfer signal is applied to said second channel transfer means;

(b) when said second channel means positioning signal output is said differing output, said logic means providing said second disabling control signal to said second channel means;

(c) when said second rate indicative output is said differing output, said logic means providing said third disabling control signal to said third channel means, said logic means providing said fourth channel transfer signal to said fourth channel transfer means, said logic means including means for treating said second rate indicative output as said fourth positioning signal output when said fourth channel transfer signal is applied to said fourth channel transfer means;

(d) when said fourth channel means positioning signal output is said differing output, said logic means providing said fourth disabling control signal to said fourth channel means; and

said logic means further including means for comparing said remaining three outputs with each other and for providing further control signals in accordance with (a), (b), (c) and (d) when one of said remaining three outputs differs from the other two of said remaining three outputs by a predetermined amount.

24. A control system according to claim 23, wherein said logic means further includes means for comparing said remaining two outputs in the event of failure of two channels, and for providing a failure signal when one of said remaining two outputs differs from the other of said remaining two outputs by a predetermined amount.

25. A control system according to claim 24, further including bypass means for placing each of said actuator hydraulic sections in its passive failure mode when said first, second, third and fourth disabling control signals are indicative of failure of two channels associated with a single actuator hydraulic section or failure of three of the four channels in the system.

26. A control system according to claim 24, wherein said logic means includes:

first modeling means, responsive to said second channel positioning signal, for providing a first modeled rate indicative output which is an electronic model of the expected rate indicative output of said first rate controlling means having said second channel positioning signal applied as an input thereto; and

second modeling means, responsive to said fourth channel positioning signal, for providing a second modeled rate indicative output which is an electronic model of the expected rate indicative output of said second rate controlling means having a fourth channel positioning signal applied as an input thereto.

27. A control system according to one of claims 23 through 26, wherein said first disabling control signal and said second channel transfer signal comprise the same electrical signal, and said third disabling control signal and said fourth channel transfer signal comprise the same electrical signal.

28. A control system according to one of claims 23 through 26, wherein said means for treating in said logic means comprises:

first and second transfer monitor switches, said first transfer monitor switch associated with said first and second channel means and said second transfer monitor switch associated with said third and fourth channel means, respectively, each of said transfer monitor switches having two inputs connected to the outputs of their associated channel means, each of said transfer monitor switches including a control input, and an output, said first and second transfer monitor switch normally is reflective of the output of said first and second modeling means, respectively, and, upon application of a transfer monitor control input to either transfer monitor switch, the output of said transfer monitor switch will be reflective of the rate indicative output of said controlling means.

29. In an aircraft, a fly-by-wire type lateral control system, comprising:

a plurality of spoilers on each wing of the aircraft, each spoiler on each wing of the aircraft being operationally and symmetrically paired with a spoiler on the opposite wing of the aircraft and each such spoiler being operated by a single thread electrohydraulic actuator;

at least one aileron on each wing of the aircraft which is symmetrically related to an aileron on the opposite wing of the aircraft, each said aileron being operated by a dual actuator; and

control means including a plurality of independant hydraulic pressure supply lines and a plurality of independant electrical processing channels, for controlling the actuators for the spoilers and the ailerons such that a failure of a single hydraulic pressure line or a single electric control single processing channel will result in a loss of operation of a symmetrical pair of spoilers, but all ailerons will remain operational.

30. A control system according to claim 29, comprising at least four symmetrical pairs of spoilers, said control means being operable to maintain operation of at least three pairs of spoilers when there has been a failure of a single hydraulic pressure line or a single electric control signal processing channel.

31. A control system according to claim 30, comprising six symmetrical pairs of spoilers.

32. A control system according to claim 29, comprising a symmetrical pair of inboard ailerons and a symmetrical pair of outboard ailerons, and wherein in response to a failure of either two hydraulic pressure supply lines or two electric control signal processing channels the control means will maintain operational at least the inboard pair of ailerons operational.

33. A control system according to claim 32, comprising a least five symmetrical pairs of spoilers, and wherein in response to two hydraulic pressure supply line failures or two electric control signal processing channel failures the control means will maintain operational at least two pairs of spoilers.

34. A control system according to claim 29, comprising at least four symmetrical pair of spoilers, a symmetrical pair of inboard ailerons and a symmetrical pair of outboard ailerons, and wherein in response to a failure of three hydraulic pressure lines and/or three electric control signal processing channels the control means will maintain operational at least one of the ailerons.

35. A control system according to claim 34, wherein the aileron that is maintained operational is an inboard aileron.

36. A fly-by-wire lateral control system for an aircraft, comprising:

at least four independant pairs of spoilers symmetrically positioned on the wings of the aircraft;

a pair of outboard ailerons symmetrically arranged on the wings of the aircraft;

a pair of inboard ailerons symmetrically arranged on the wings of the aircraft;

a single thread electrohydraulic servoactuator connected to each spoiler, for positioning the spoiler;

a redundant electrohydraulic servoactuator connected to each aileron, for positioning the aileron, each servoactuator comprising two hydraulic sections;

control means for controlling the spoilers and the ailerons, including a separate hydraulic pressure supply line and a separate electric control signal processing channel connected with the servoactuators for each pair of spoilers, and a separate pair of hydraulic pressure supply lines connected with each redundant servoactuator, and a separate pair of electric signal processing channels connected with each redundant servoactuator, each said channel to function as an active control channel for a section of its redundant servoactuator, said control means operating in response to hydraulic pressure supply line failures and/or electric signal processing channel failures to disable the single thread servoactuators for the spoilers symmetrically, in pairs, and to continue operation of each aileron after one hydraulic pressure supply line failure and/or one electric signal processing channel failure, and to continue operation of at least two of the ailerons following two hydraulic pressure supply line failures and/or two electric signal processing channel failures.