Aircraft trim actuator shutdown monitor system and method

• US 4,599,698 A
• Filed: 05/02/1983
• Issued: 07/08/1986
• Est. Priority Date: 05/02/1983
• Status: Expired due to Term

• Current Assignee: United Technologies Corporation (Rtx Corporation)
• Original Assignee: United Technologies Corporation (Rtx Corporation)
• Inventors: Adams, Don L., Wright, Stuart C., Verzella, David J., Fischer, William C.
• Primary Examiner(s): Gruber, Felix D.
• Application Number:
  US06/490,698
• Time in Patent Office: 1,163 Days
• Field of Search: 364/424, 364/433, 364/434, 364/551, 244/194, 244/195, 318/565, 371/16, 371/25, 371/68
• US Class Current: 701/12
• CPC Class Codes: G05B 9/03 with multiple-channel loop, i.e. redundant control systems
• CPC Class Codes: G05D 1/0858 specially adapted for vertical take-off of aircraft

Abstract

The directions of travel of an inner and an outer loop actuator are monitored for movement in opposite directions within selected ranges and the outer loop actuator is disabled under selected conditions. These conditions may include movement of both the inner and outer loop actuators in opposite directions, any one of which has been detected moving at a rate greater than a selected rate or to a position outside a selected range. The invention is particularly suited for an aircraft trim actuator shutdown monitor system.

Claims

1. Apparatus for selectively disabling the trim actuator of an aircraft outer loop axis control channel having an inner loop stability augmentation system (SAS) actuator which in combination with the trim actuator maintains aircraft attitude in an associated control axis, each actuator capable of reciprocating motion within a related range of position values, and each having a position sensor for providing a signal indicative of the actual actuator position value in the range, the rate of change of position and direction of travel of the trim actuator determinating the position and direction of travel of the SAS actuator to provide, in combination, supportive effect on the aircraft attitude in the associated axis, the apparatus comprising:

direction indicating means, responsive to each actuator position signal, for providing a trim actuator direction signal indicative of the direction of travel of the trim actuator at a rate of change of position, and for providing a SAS actuator direction signal indicative of the direction of travel of the SAS actuator within a selected range of SAS actuator position values;

opposite direction detector means, responsive to said direction indicating means, for providing a trim actuator disable signal in response to the simultaneous presence of said trim actuator direction signal and said SAS actuator direction signal indicating directions of travel having opposing effects on the aircraft attitude in the control axis; and

means for disabling operation of the trim actuator in response to the presence of said trim actuator disable signal.

2. The apparatus of claim 1, wherein said direction indicating means comprises:

4. The apparatus of claim 1, wherein said selected range of SAS actuator position values includes the range of from zero to twenty-five percent and from seventy-five to one hundred percent of the full range of said SAS actuator position values.

5. The apparatus of claim 1, further comprising inhibit means operatively connected between said opposite direction detector means and said disable means, and including:

sensor means, responsive to the presence of selected flight conditions which, although acceptable to aircraft performance, have the characteristic of creating an opposing direction of travel condition by the trim actuator and by the SAS actuator within said selected range, and for providing an inhibit signal in the presence of said condition; and

gate means, responsive to said opposite direction detector means and to said sensor means for inhibiting presentation of said trim actuator disable signal in the presence of said sensor means inhibit signal, and for allowing presentation of said trim actuator disable signal to said disable means at all other times.

7. The apparatus of claim 5, wherein said direction indicating means, comprises:

time derivative signal means, responsive to the trim actuator position sensor for providing the change in magnitude of the position signal with respect to time as a bipolar rate signal magnitude; and

rate detector means, responsive to said rate signal for providing said trim actuator direction signal in response to a rate signal having an absolute value greater than the absolute value of a selected rate value.

8. The direction indicating means of claim 5, wherein said selected rate value equals one-half of the actuator rate limit.

9. The apparatus of claim 5, further comprising inhibit means operatively connected between said opposite direction detector means and said disable means, and including:

sensor means, responsive to the presence of selected flight conditions which, although acceptable to aircraft performance, have the characteristic of creating an opposing direction of travel condition by the trim actuator moving at a rate greater than said selected rate and by the SAS actuator, and for providing an inhibit signal in the presence of said condition; and

gate means responsive to said opposite direction detector means and to said sensor means for inhibiting presentation of said trim actuator disable signal in the presence of said sensor means inhibit signal, and for allowing presentation of said trim actuator disable signal to said disable means at all other times.

11. The apparatus of claim 9, wherein said direction indicating means, comprises:

time derivative signal means, responsive to the trim actuator position sensor for providing the change in magnitude of the position signal with respect to time as a bipolar rate signal magnitude;

rate detector means, responsive to said rate signal for providing said trim actuator direction signal in response to a rate signal having an absolute value greater than the absolute value of a selected rate value; and

SAS actuator position signal comparator means responsive at a first input to the SAS actuator position signal and responsive at a second input to a SAS actuator selected reference signal, for providing signals indicative of reciprocating travel of the SAS actuator when the absolute value of the position signal exceeds the absolute value of the reference signal.

12. The apparatus of claim 9, wherein said selected range of SAS actuator position values includes the range of from zero to twenty-five percent and from seventy-five to one hundred percent of the full range of said SAS actuator position values.

13. The direction indicating means of claim 9, wherein said selected rate value equals one-half of the actuator rate limit.

14. The apparatus of claim 9, further comprising inhibit means operatively connected between said opposite direction detector means and said disable means, and including:

sensor means, responsive to the presence of selected flight conditions which, although acceptable to aircraft performance, have the characteristic of creating an opposing direction of travel condition by the trim actuator moving at a rate greater than said selected rate and by the SAS actuator within said selected range, and for providing an inhibit signal in the presence of said condition; and

gate means, responsive to said opposite direction detector means and to said sensor means for inhibiting presentation of said trim actuator disable signal in the presence of said sensor means inhibit signal, and for allowing presentation of said trim actuator disable signal to said disable means at all other times.

16. The apparatus of claim 14, further comprising means responsive to the operational state of the (CFD) for changing the limits of said selected range of SAS actuator position values.

18. The apparatus of claim 14, further comprising inhibit means operatively connected between said opposite direction detector means and said disable means, and including:

sensor means, responsive to the presence of selected flight conditions which, although acceptable to aircraft performance, have the characteristic of creating an opposing direction of travel condition by the trim actuator and the SAS actuator within said selected range, and for providing an inhibit signal in the presence thereof; and

gate means, responsive to said opposite direction detector means and to said sensor means for inhibiting presentation of said trim actuator disable signal in the presence of said sensor means inhibit signal, and for allowing presentation of said trim actuator disable signal to said disable means at all other times.

20. The apparatus of claim 18, further comprising means responsive to the operational state of the (CFD) for changing the limits of said selected range of SAS actuator position values.

22. The apparatus of claim 18, further comprising inhibit means operatively connected between said opposite direction detector means and said disable means, and including:

sensor means, responsive to the presence of selected flight conditions which, although acceptable to aircraft performance, have the characteristic of creating an opposing direction of travel condition by the trim actuator moving at a rate greater than said selected rate and the SAS actuator within said selected range, and for providing an inhibit signal in the presence thereof; and

gate means, responsive to said opposite direction detector means and to said sensor means for inhibiting presentation of said trim actuator disable signal in the presence of said sensor means inhibit signal, and for allowing presentation of said trim actuator disable signal to said disable means at all other times.

24. The method for monitoring and selectively disabling a trim actuator according to claim 22, wherein said step of defining includes a selected range of from zero to twenty-five percent and from seventy-five to one hundred percent of the full range of said SAS actuator position values.

25. The method of claim 22, further comprising the steps of:

sensing the presence of selected flight conditions which, although acceptable to aircraft performance, have the characteristic of creating an opposing direction of travel condition by the trim actuator and by the SAS actuator within said selected range, and

inhibiting said trim actuator disable signal in the presence of said selected flight conditions.

27. The method for monitoring and selectively disabling a trim actuator according to claim 25, wherein said step of defining includes a selected rate value limit equal to one-half of the maximum designed trim actuator rate limit.

28. The method of claim 25, further comprising the steps of:

sensing the presence of selected flight conditions which, although acceptable to aircraft performance, have the characteristic of creating an opposing direction of travel condition by the trim actuator and by the SAS actuator within said selected range, and

inhibiting said trim actuator disable signal in the presence of said selected flight conditions.

30. The method for monitoring and selectively disabling a trim actuator according to claim 28, wherein said step of defining a selected range of trim actuator position rate values includes a selected rate value limit equal to one-half of the maximum designed trim actuator rate.

31. The method for monitoring and selectively disabling a trim actuator according to claim 28, wherein said step of defining a selected range of SAS actuator position values includes a selected range of from zero to twenty-five percent and from seventy-five to one hundred percent of the full range of said SAS actuator position values.

32. The method of claim 28, further comprising the step of:

sensing the presence of selected flight conditions which, although acceptable to aircraft performance, have the characteristic of creating an opposing direction of travel condition by the trim actuator and by the SAS actuator within said selected range, and

inhibiting said trim actuator disable signal in the presence of said selected flight conditions.

34. The method of claim 32, wherein said step of defining depends on the operational state of the CFD for changing the limits of said selected range of SAS actuator position values.

36. The method of claim 32, further comprising the steps of:

sensing the presence of selected flight conditions which, although acceptable to aircraft performance, have the characteristic of creating an opposing direction of travel condition by the trim actuator and by the SAS actuator within said selected range, and

inhibiting said trim actuator disable signal in the presence of said selected flight conditions.

38. The method of claim 36, wherein said step of defining a selected range of SAS actuator position values depends on the operational state of the CFD for changing the limits of said selected range of SAS actuator position values.

40. The method of claim 36, further comprising the steps of:

sensing the presence of selected flight conditions which, although acceptable to aircraft performance, have the characteristic of creating an opposing direction of travel condition by the trim actuator and by the SAS actuator within said selected range, and

inhibiting said trim actuator disable signal in the presence of said selected flight conditions.

3. SAS actuator position signal comparator means responsive at a first input to the SAS actuator position signal and responsive at a second input to a SAS actuator selected reference signal, for providing signals indicative of each direction of reciprocating travel of the SAS actuator when the absolute value of the position signal exceeds the absolute value of the reference signal.

6. Apparatus for selectively disabling the trim actuator of an aircraft outer loop axis control channel having an inner loop stability augmentation system (SAS) actuator which in combination with the trim actuator maintains aircraft attitude in an associated control axis, each actuator capable of reciprocating motion within a related range of position values, and each having a position sensor for providing a signal indicative of the actual actuator position value in the range, the rate of change of position and direction of travel of the trim actuator determining the position and direction of travel of the SAS actuator to provide, in combination, supportive effect on the aircraft attitude in the associated axis, the apparatus comprising:

direction indicating means, responsive to each actuator position signal, for providing a trim actuator direction signal indicative of the direction of travel of the trim actuator at a rate of change of position, the absolute value of which is greater than the absolute value of a selected rate value, and for providing a SAS actuator direction signal indicative of the direction of travel of the SAS actuator;

opposite direction detector means, responsive to said direction indicating means, for providing a trim actuator disable signal in response to the simultaneous presence of said trim actuator direction signal and said SAS actuator direction signal indicating directions of travel having opposing effects on the aircraft attitude in the control axis; and

means for disabling operation of the trim actuator in response to the presence of said trim actuator disable signal.

10. Apparatus for selectively disabling the trim actuator of an aircraft outer loop axis control channel having an inner loop stability augmentation system (SAS) actuator which in combination with the trim actuator maintains aircraft attitude in an associated control axis, each actuator capable of reciprocating motion within a related range of position values, and each having a position sensor for providing a signal indicative of the actual actuator position value in the range, the rate of change of position and direction of travel of the trim actuator determining the position and direction of travel of the SAS actuator to provide, in combination, supportive effect on the aircraft attitude in the associated axis, the apparatus comprising:

direction indicating means, responsive to each actuator position signal, for providing a trim actuator direction signal indicative of the direction of travel of the trim actuator at a rate of change of position, the absolute value of which is greater than the absolute value of a selected rate value, and for providing a SAS actuator direction signal indicative of the direction of travel of the SAS actuator within a selected range of SAS actuator position values;

opposite direction detector means, responsive to said direction indicating means, for providing a trim actuator disable signal in response to the simultaneous presence of said trim actuator direction signal and said SAS actuator direction signal indicating directions of travel having opposing effects on the aircraft attitude in the control axis; and

means for disabling operation of the trim actuator in response to the presence of said trim actuator disable signal.

15. Apparatus for selectively disabling the trim actuator of an aircraft outer loop axis control channel having an inner loop stability augmentation system (SAS) actuator which in combination with the trim actuator maintains aircraft attitude in an associated control axis, each actuator capable of reciprocating motion within a related range of position values, and each having a position sensor for providing a signal indicative of the actual actuator position value in the range, the rate of change of position and direction of travel of the trim actuator determining the position and direction of travel of the SAS actuator to provide, in combination, supportive effect on the aircraft attitude in the associated axis, and the aircraft having a coupled flight director system (CFD), the apparatus comprising:

direction indicating means, responsive to each actuator position sensor, for providing a trim actuator direction signal indicative of the direction of travel of the trim actuator at a rate of change of position and for providing a SAS actuator direction signal indicative of the direction of travel of the SAS actuator within a selected range of SAS actuator position values;

opposite direction detector means, responsive to said direction indicating means, for providing a trim actuator disable signal in response to the simultaneous presence of said trim actuator direction signal and said SAS actuator direction signal indicating directions of travel having opposing effects on the aircraft attitude in the control axis; and

means for disabling operation of the trim actuator in response to the presence of said trim actuator disable signal.

17. The apparatus of claim 15, wherein said selected range of SAS actuator position values includes the range of from zero to twenty-five percent and from seventy-five to one hundred percent of the full range of said SAS actuator position values if the (CFD) is nonoperational and wherein said selected range includes the values from zero to twelve and one-half percent and from eighty-seven and one-half to one hundred percent of the full range of said SAS actuator position values if the (CFD) is operational.

19. Apparatus for selectively disabling the trim actuator of an aircraft outer loop axis control channel having an inner loop stability augmentation system (SAS) actuator which in combination with the trim actuator maintains aircraft attitude in an associated control axis, each actuator capable of reciprocating motion within a related range of position values, and each having a position sensor for providing a signal indicative of the actual actuator position value in the range, the rate of change of position and direction of travel of the trim actuator determining the position and direction of travel of the SAS actuator to provide, in combination, supportive effect on the aircraft attitude in the associated axis, and the aircraft having a coupled flight director system (CFD), the apparatus comprising:

direction indicating means, responsive to each actuator position sensor, for providing a trim actuator direction signal indicative of the direction of travel of the trim actuator, at a rate of change of position, the absolute value of which is greater than the absolute value of a selected rate value, and for providing a SAS actuator direction signal indicative of the direction of travel of the SAS actuator within a selected range of SAS actuator position values;

opposite direction detector means, responsive to said direction indicating means, for providing a trim actuator disable signal in response to the simultaneous presence of said trim actuator direction signal and said SAS actuator direction signal indicating direction of travel having opposing effects on the aircraft attitude in the control axis; and

means for disabling operation of the trim actuator in response to the presence of said trim actuator disable signal.

21. The apparatus of claim 19, wherein said selected range of SAS actuator position values includes the range of from zero to twenty-five percent and from seventy-five to one hundred percent of the full range of said SAS actuator position values if the CFD is nonoperational and wherein said selected range includes the values from zero to twelve and one-half percent and from eighty-seven and one-half to one hundred percent of the full range of said SAS actuator position values if the CFD is operational.

23. A method for monitoring and selectively disabling a trim actuator in an aircraft outer control loop having an inner control loop stability augmentation system (SAS) actuator which in combination with the trim actuator maintains aircraft attitude in an associated control axis during flight, each actuator capable of reciprocating motion within a related range of position values, and each having a position sensor for providing a signal indicative of the actual actuator position value in the range, the rate of change of position and direction of travel of the trim actuator determining the position and direction of travel of the SAS actuator to provide, in combination, supportive effect on the aircraft attitude in the associated axis, comprising the steps of:

determining the value of the rate of change of position of the trim actuator establishing a trim actuator direction state indicative of the direction of travel of the trim actuator,

defining a selected range of SAS actuator position values,

comparing the magnitude of the SAS actuator position signal value to said selected range of position values and establishing, in response to a position signal value magnitude within said selected range of position, a SAS actuator direction state indicative of the direction of travel of the SAS actuator within said selected range of SAS actuator position values,

detecting the simultaneous presence of said trim actuator direction state and said SAS actuator direction state indicating directions of travel having opposing effects on the aircraft attitude in the control axis, and providing a trim actuator disable signal in response thereto,

disabling operation of the trim actuator in response to the presence of said trim actuator disable signal.

26. A method for monitoring and selectively disabling a trim actuator in an aircraft outer control loop having an inner control loop stability augmentation system (SAS) actuator which in combination with the trim actuator maintains aircraft attitude in an associated control axis during flight, each actuator capable of reciprocating motion within a related range of position values, and each having a position sensor for providing a signal indicative of the actual actuator position value in the range, the rate of change of position and direction of travel of the trim actuator determining the position and direction of travel of the SAS actuator to provide, in combination, supportive effect on the aircraft attitude in the associated axis, comprising the steps of:

determining the value of the rate of change of position of the trim actuator,

defining a selected range of trim actuator position rate values,

comparing the determined trim actuator position rate value to said selected range of rate values and providing, in response to the determined rate value magnitude within said selected range of rates, a trim actuator direction signal indicative of the direction of travel of the trim actuator, establishing a SAS actuator direction state indicative of the direction of travel of the SAS actuator,

detecting the simultaneous presence of said trim actuator direction state and said SAS actuator direction state indicating directions of travel having opposing effects on the aircraft attitude in the control axis, and providing a trim actuator disable signal in response thereto,

disabling operation of the trim actuator in response to the presence of said trim actuator disable signal.

29. A method of monitoring and selectively disabling a trim actuator in an aircraft outer control loop having an inner control loop stability augmentation system (SAS) actuator which in combination with the trim actuator maintains aircraft attitude in an associated control axis during flight, each actuator capable of reciprocating motion within a related range of position values, and each having a position sensor for providing a signal indicative of the actual actuator position value in the range, the rate of change of position and direction of travel of the trim actuator determining the position and direction of travel of the SAS actuator to provide, in combination, supportive effect on the aircraft attitude in the associated axis, comprising the steps of:

determining the value of the rate of change of position of the trim actuator,

defining a selected range of trim actuator position rate values,

comparing the determined trim actuator position rate value to said selected range of rate values and establishing, in response to a determined rate value magnitude within said selected range of rates, a trim actuator direction state indicative of the direction of travel of the trim actuator,

defining a selected range of SAS actuator position values,

comparing the magnitude of the SAS actuator position signal value to said selected range of position values and establishing, in response to a position signal value magnitude within said selected range of positions, a SAS actuator direction state indicative of the direction of travel of the SAS actuator within said selected range of SAS actuator position values,

detecting the simultaneous presence of said trim actuator direction state and said SAS actuator direction state indicating directions of travel having opposing effects on the aircraft attitude in the control axis, and providing a trim actuator disable signal in response thereto,

disabling operation of the trim actuator in response to the presence of said trim actuator disable signal.

33. A method for monitoring and selectively disabling a trim actuator in an aircraft outer control loop having an inner control loop stability augmentation system (SAS) actuator which in combination with the trim actuator maintains aircraft attitude in an asssociated control axis during flight, each actuator capable of reciprocating motion within a related range of position values, and each having a position sensor for providing a signal indicative of the actual actuator position value in the range, the rate of change of position and direction of travel of the trim actuator determining the position and direction of travel of the SAS actuator to provide, in combination, supportive effect on the aircraft attitude in the associated axis, and the aircraft having a coupled flight director system (CFD), comprising the steps of:

determining the value of the rate of change of position of the trim actuator, establishing a trim actuator direction state indicative of the direction of travel of the trim actuator,

defining a selected range of SAS actuator position values

comparing the magnitude of the SAS actuator position signal value to said selected range of position values and establishing, in response to a position signal value magnitude within said selected range of positions, a SAS actuator direction state indicative of the direction of travel of the SAS actuator within said selected range of SAS actuator position values,

detecting the simultaneous presence of said trim actuator direction state and said SAS actuator direction state indicating directions of travel having opposing effects on the aircraft attitude in the control axis, and providing a trim actuator disable signal in response thereto,

disabling operation of the trim actuator in response to the presence of said trim actuator disable signal.

35. The method of claim 33, wherein said selected range of SAS actuator position values includes the range of from zero to twenty-five percent and from seventy-five to one hundred percent of the full range of said SAS actuator position values if the CFD is nonoperational and wherein said selected range includes the values from zero to twelve and one-half percent and from eighty-seven and one-half to one hundred percent of the full range of said SAS actuator position values if the CFD is operational.

37. A method for monitoring and selectively disabling a trim actuator in an aircraft outer control loop having an inner control loop stability augmentation system (SAS) actuator which in combination with the trim actuator maintains aircraft attitude in an associated control axis during flight, each actuator capable of reciprocating motion within a related range of position values, and each having a position sensor for providing a signal indicative of the actual actuator position value in the range, the rate of change of position and direction of travel of the trim actuator determining the position and direction of travel of the SAS actuator to provide, in combination, supportive effect on the aircraft attitude in the associated axis, and the aircraft having a coupled flight director system (CFD), comprising the steps of:

determining the value of the rate of change of position of the trim actuator,

defining a selected range of trim actuator position rate values,

comparing the determined trim actuator position rate value to said selected range of rate values and establishing in response to a determined rate value magnitude within said selected range of rates, a trim actuator direction state indicative of the direction of travel of the trim actuator,

defining a selected range of SAS actuator position values,

comparing the magnitude of the SAS actuator position signal value to said selected range of position values and establishing, in response to a position signal value magnitude within said selected range of positions, a SAS actuator direction state indicative of the direction of travel of the SAS actuator within said selected range of SAS actuator position values.

detecting the simultaneous presence of said trim actuator direction state and said SAS actuator direction state indicating directions of travel having opposing effects on the aircraft attitude in the control axis, and providing a trim actuator disable signal in response thereto,

disabling operation of the trim actuator in response to the presence of said trim actuator disable signal.

39. The method of claim 37, wherein said selected range of SAS actuator position values includes the range of from zero to twenty-five percent and from seventy-five to one hundred percent of the full range of said SAS actuator position values if the CFD is nonoperational and wherein said selected range includes the values from zero to twelve and one-half percent and from eighty-seven and one-half to one hundred percent of the full range of said SAS actuator position values if the CFD is operational.