Braking torque control system

• US 4,822,113 A
• Filed: 08/13/1987
• Issued: 04/18/1989
• Est. Priority Date: 08/13/1987
• Status: Expired due to Fees

• Current Assignee: Boeing Company The Seattle King Washington
• Original Assignee: The Boeing Co.
• Inventors: Amberg, Robert L., Valaas, Andrew M.
• Primary Examiner(s): Halvosa, George E. A.
• Assistant Examiner(s): Le, Mark T.
• Application Number:
  US07/084,857
• Time in Patent Office: 614 Days
• Field of Search: 188/181 T, 188/2 A, 303/103, 303/100, 303/102, 303/110, 303/112, 303/94, 303/95, 303/96, 303/98, 303/DIG. 3, 303/42, 244/111, 364/426, 364/426.02
• US Class Current: 303/191
• CPC Class Codes: B60T 13/12 the fluid being liquid
• CPC Class Codes: B60T 13/662 characterised by specified functions of the control system components
• CPC Class Codes: B60T 8/52 Torque sensing, i.e. wherein the braking action is controlled by forces producing or tending to produce a twisting or rotating motion on a braked rotating member
• CPC Class Codes: B64C 25/46 Brake regulators for preventing skidding or aircraft somersaulting
• CPC Class Codes: Y10S 303/02 Brake control by pressure comparison

Abstract

A system for controlling the torque developed by a fluid actuated brake as it slows an aircraft wheel. In one embodiment, the system includes a strain gauge (62) for sensing the load applied to a brake metering valve (16). In another embodiment, the pressure of the hydraulic fluid output from the brake metering valve is sensed by a pressure transducer (42). Depending upon the sensor used, the system is operative to control the pressure applied to a brake assembly (54) of an aircraft as a function of the mechanical load or pressure. The system includes a torque control (50,120) connected to control one or more valves (22, or 83 and 102), modulating the pressure of hydraulic fluid applied to the brake assembly; the valves may be part of an antiskid control system. A torque sensor (46) is disposed on a torque reaction arm (36) and produces a signal indicative of the torque developed by the brake assembly. The torque control reduces the pressure of the hydraulic fluid applied to the brake assembly if the torque produced by the brake exceeds a value determined as a function of the magnitude of the force applied to actuate the brake.

Claims

1. A system for controlling a torque developed by a fluid pressure activated brake as it slows a rolling wheel, comprising:

(a) means for producing a signal indicative of the magnitude of a force applied to actuate the brake;

(b) means for sensing the torque developed by the brake as it slows the rolling wheel and for producing a signal indicative of that torque;

(c) means for reducing the pressure of the fluid actuating the brake independently of the wheel'"'"'s rolling speed and in response to a control signal, the pressure reducing means being disposed so as not to affect the means for producing a signal indicative of the magnitude of the force applied to actuate the brake; and

(d) control means, connected to receive the signal indicative of the magnitude of the force applied to actuate the brake and the signal indicative of the torque developed by the brake, for producing the control signal to reduce the fluid pressure actuating the brake if the torque developed by the brake exceeds a value determined as a function of the magnitude of the force applied to actuate the brake.

2. The system of claim 1 wherein the means for producing a signal indicative of the magnitude of the force applied to actuate the brake comprise a pressure transducer disposed so as to sense fluid pressure upstream of the means for reducing the pressure.

3. The system of claim 1 wherein the means for producing a signal indicative of the magnitude of the force applied to actuate the brake comprise a load sensor disposed so as to sense a force applied to a fluid metering valve through which pressurized fluid is supplied to actuate the brake, upstream of the means for reducing pressure.

4. The system of claim 1 wherein the means for sensing torque comprise a strain gauge disposed on a link that connects the brake to an adjacent fixed support.

5. The system of claim 1 wherein the means for reducing pressure are connected in parallel to an antiskid control and are operative to reduce the pressure of fluid actuating the brake in response to a control signal produced by the antiskid control.

6. The system of claim 1 wherein the control means determine a scheduled torque as a function of the force applied to actuate the brake, and then determine the difference between the scheduled torque and the torque developed by the brake.

7. The system of claim 6 wherein the control means determines a rate of change of the torque, adds it to the torque developed by the brake, and then determines the difference between the scheduled torque and the sum of the torque and its rate of change to anticipate an excessive torque.

8. The system of claim 6 wherein the control means compute the sum of an integral, a proportional gain, and a differential computation, each computation being performed on the difference between the scheduled torque and the torque developed by the brake, and wherein the sum determines the control signal.

9. The system of claim 8 wherein the sum is multiplied by a gain factor that is a function of the magnitude of the force applied to actuate the brake.

10. The system of claim 8 wherein the control signal produced by the control means includes lead-lag compensation to extend the frequency response of the system beyond that of the fluid pressure actuated brake.

11. The system of claim 8 wherein the control signal produced by the control means includes an added bias term that is determined as a function of the magnitude of the force applied to actuate the brake.

12. The system of claim 1 wherein the control means include means for automatically zeroing the signal indicative of the torque developed by the brake.

13. A system for controlling a torque developed by a fluid pressure actuated brake as it slows a rolling wheel that is adapted to operate in parallel with an antiskid brake control system, comprising:

(a) means for producing a signal indicative of the magnitude of an operator applied braking force;

(b) means for sensing the torque developed by the brake as it slows the rolling wheel and for producing a signal indicative of that torque;

(c) pressure reducing means associated with the antiskid brake control system, for reducing the pressure of the fluid actuating the brake in response to a control signal, the antiskid brake control system producing a first such control signal as a function of wheel speed to prevent the wheel locking and skidding; and

(d) control means, connected to and responsive to both the signal indicative of the magnitude of the operator applied braking force and the signal indicative of the torque developed by the brake, for producing a second control signal independent of rolling wheel speed, that is input to the pressure reducing means in parallel with the first control signal, to reduce the fluid pressure actuating the brake if the torque developed by the brake exceeds a value determined as a function of the magnitude of the operator applied braking force, the pressure reducing means responding to the greater of the first and second control signals to reduce the pressure of the fluid actuating the brake accordingly.

14. The system of claim 13 wherein the means for producing a signal indicative of the magnitude of an operator applied braking force comprise a pressure transducer disposed so as to sense fluid pressure upstream of the means for reducing the pressure.

15. The system of claim 13 wherein the means for producing a signal indicative of the magnitude of an operator applied braking force comprise a load sensor disposed so as to sense a force applied to a fluid metering valve through which pressurized fluid is supplied to actuate the brake, upstream of the means for reducing pressure.

16. The system of claim 13 wherein the means for sensing torque comprise a strain gauge disposed on a link that connects the brake to an adjacent fixed support.

17. The system of claim 13 wherein the pressure reducing means comprise a valve sensitive to an electrical current, the magnitude of the current controlling the extent of pressure reduction, the first and second control signals comprising electrical currents for controlling the valve.

18. The system of claim 13 wherein the control means determines a rate of change of the torque in producing the second control signal, the rate of change of the torque serving to anticipate rapid changes in torque to improve system response.

19. The system of claim 13 wherein the control means are operative to determine an error for the torque developed by the brake relative to the determined value of torque, and wherein the second signal includes a proportional term computed by the control means as a function of the torque error, if the torque developed by the brake exceeds the determined value of torque.

20. The system of claim 19 wherein the control means further comprise means for computing an integral term and a derivative term as functions of the torque error, which are added to the proportional term to determine the second control signal.

21. The system of claim 13 wherein the second control signal includes lead-lag compensation to extend the frequency response of the system beyond that of the fluid pressure actuated brake.

22. The system of claim 13 wherein the control means are operative to add a bias signal in producing the second control signal, to match a characteristic of the antiskid brake control system, the bias signal being determined as a function of the magnitude of the operator applied braking force.

23. The system of claim 13 wherein the control means are operative to inhibit the production of the second control signal if the magnitude of the operator applied braking force exceeds a predetermined limit.

24. The system of claim 13 wherein the control means are operative to inhibit the production of the second control signal if the magnitude of the operator applied braking force is less than a predetermined minimum limit.

25. A system for controlling a torque developed by a fluid pressure actuated brake applied to slow a rolling wheel, the system comprising:

(a) operator controlled means for developing a fluid pressure in a brake line connected to actuate the brake;

(b) means for sensing the fluid pressure developed in the brake line by the operator controlled means;

(c) means for sensing the torque developed by the brake as it reacts against a supporting member to slow the speed of the rolling wheel;

(d) a valve disposed in the brake line, intermediate the means for sensing the fluid pressure and the brake, and operative to reduce the pressure of fluid applied to actuate the brake;

(e) valve control means connected to the means for sensing pressure and the means for sensing torque for controlling the valve, the valve control means including a central processing unit having a memory in which is stored both a control program and a schedule of torque values that are accessed by the central processing unit in accordance with the control program, each scheduled torque value corresponding to a predetermined range of fluid pressure in the brake line, the control means being operative to cause the valve to reduce the fluid pressure applied to the brake if the torque developed by the brake exceeds the scheduled torque corresponding to the fluid pressure developed in the brake line by the operator controlled means, independent of the rolling speed of the wheel.

26. The system of claim 25 wherein the central processing unit computes a torque error that is equal to the difference between the sum of the torque developed by the brake and its derivative, and the scheduled torque.

27. The system of claim 26 wherein the central processing unit computes a control signal that includes proportional, integral and differential components, the control signal being used by the central processing unit to effect control of the valve.

28. The system of claim 27 wherein the control signal includes a bias component to compensate for a characteristic of the valve and a lead-lag component to improve the frequency response of the system.

29. A method for controlling a torque developed by a fluid pressure actuated brake as it slows a rolling wheel, comprising the steps of:

(a) producing a signal indicative of the magnitude of an operator applied braking force;

(b) sensing the torque developed by the brake as it slows the rolling wheel and producing a signal indicative of that torque; and

(c) independent of the wheel rolling speed, reducing the fluid pressure actuating the brake if the torque developed by the brake exceeds a value determined as a function of the magnitude of the operator applied braking force.

30. The method of claim 29 wherein the step of producing the signal indicative of the magnitude of the operator applied braking force comprises the step of sensing a fluid pressure directly controlled by the operator applied braking force.

31. The method of claim 29 wherein the step of producing the signal indicative of the magnitude of the operator applied braking force comprises the step of sensing the load applied by the operator to directly control braking of the wheel.

32. The method of claim 29 further comprising the step of determining a torque error equal to a difference between the torque developed by the brake and the determined value of torque.

33. The method of claim 32 wherein the step of computing the torque error includes the step of computing the derivative of the torque and adding it to the torque error, and wherein the step of reducing the fluid pressure includes computing a control signal that is a function of the torque error and which is used to effect reduction of the fluid pressure actuating the brake.

34. The method of claim 33 wherein the control signal includes a proportional, an integral, and a differential component.

35. The method of claim 33 wherein the control signal includes a bias component and a lead-lag component.