Actuator system and method
First Claim
1. An actuator system that receives an input torque command and rotates an aeronautical surface within a prescribed range of motion, comprising:
- an output shaft secured to the aeronautical surface, such that axial rotation of the output shaft results in rotation of the aeronautical surface;
a drive motor that controls rotation of the output shaft;
a drive circuit that controls the drive motor, to thereby control axial rotation of the output shaft in response to the input torque command; and
a torque sensor operatively coupled to the drive shaft, the torque sensor measuring output shaft rotational torque and providing an electronic representation of the output shaft rotational torque to the drive circuit,wherein the drive circuit receives the electronic representation as a torque command feedback signal, and derives a torque error command as the difference between the input torque command and the output shaft rotational torque;
wherein the drive circuit rotates the output shaft according to said torque error command when said aeronautical surface is within said range of motion; and
wherein the drive circuit rotates the output shaft according to said torque error command only if the rotation displaces the aeronautical surface closer to said range of motion when said aeronautical surface is not within said range of motion.
2 Assignments
0 Petitions
Accused Products
Abstract
An actuator receives an input torque command and rotates an aeronautical surface within a prescribed range of motion. An output shaft is rigidly secured to the aeronautical surface, such that axial rotation of the output shaft results in displacement of the aeronautical surface. A drive motor controls rotation of the output shaft by applying a motive force thereto. A drive circuit controls the drive motor, to thereby control axial rotation of the output shaft, in response to keep input torque command. A torque sensor is operatively coupled to the drive shaft. The torque sensor measures output shaft rotational torque and provides an electronic representation of the output shaft rotational torque to the drive circuit. The drive circuit receives the electronic representation as a torque command feedback signal, and derives a torque error command as the difference between the input torque command and the output shaft rotational torque. When the aeronautical surface is within the range of motion, the drive circuit rotates the output shaft to compensate for the torque error command. When the aeronautical surface is not within the range of motion, the drive circuit rotates the output shaft to compensate for the torque error command only if the rotation moves the aeronautical surface closer to within the range of motion. This system may be applied of missiles or other aircraft. A separate actuator can be applied to each missile fin.
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Citations
36 Claims
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1. An actuator system that receives an input torque command and rotates an aeronautical surface within a prescribed range of motion, comprising:
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an output shaft secured to the aeronautical surface, such that axial rotation of the output shaft results in rotation of the aeronautical surface; a drive motor that controls rotation of the output shaft; a drive circuit that controls the drive motor, to thereby control axial rotation of the output shaft in response to the input torque command; and a torque sensor operatively coupled to the drive shaft, the torque sensor measuring output shaft rotational torque and providing an electronic representation of the output shaft rotational torque to the drive circuit, wherein the drive circuit receives the electronic representation as a torque command feedback signal, and derives a torque error command as the difference between the input torque command and the output shaft rotational torque; wherein the drive circuit rotates the output shaft according to said torque error command when said aeronautical surface is within said range of motion; and wherein the drive circuit rotates the output shaft according to said torque error command only if the rotation displaces the aeronautical surface closer to said range of motion when said aeronautical surface is not within said range of motion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An actuator system that controls each aeronautical surface of at least two symmetrical pairs of aeronautical surfaces within a prescribed range of motion, according to at least one input torque command, the actuator system comprising:
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an output shaft corresponding to each aeronautical surface; an electronic drive circuit that separately controls rotation of the each output shaft; and at least one drive motor that powers shaft rotation; and a torque sensor for each of the four output shafts, each torque sensor measuring output shaft rotational torque experienced by a corresponding output shaft, providing an electronic representation of the output shaft rotational torque applied to the corresponding output shaft; the drive circuit derives a torque error command for each output shaft, as a difference between the input torque command and the output shaft rotational torque; wherein for each output shaft, the drive circuit rotates the output shaft according to said torque error command when the aeronautical surface is within said range of motion; and wherein for each output shaft the drive circuit rotates the output shaft according to said torque error command only if the response moves the aeronautical surface closer to said range of motion when said aeronautical surface is not within said range of motion. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A method for controlling motion of an aeronautical device using at least one aeronautical surface that provides lift within a prescribed range of motion, an input torque command provided by a guidance system, an electronic drive circuit, a motor controlled by the drive circuit, an output shaft that rotates the aeronautical surface, and a torque sensor that senses torque in the output shaft, the method comprising:
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establishing a range of motion for said aeronautical surface; sensing rotational torque of the output shaft using the torque sensor and generating an electronic representation of that rotational torque; receiving both the electronic representation from the torque sensor and the input torque command, and computing a difference between the electronic representation and the input torque command to obtain a torque error command; generating a motor drive signal with the drive circuit in response to the torque error command; and using the motor to rotate the output shaft to compensate for the torque error command, at all times that the aeronautical surface is within said range of motion; and
rotating the output shaft to compensate for the torque error command only if the rotation displaces the aeronautical surface closer to the range of motion, when the aeronautical surface is not within said range of motion. - View Dependent Claims (16, 17, 18, 19, 20)
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21. An actuator system that receives an input control signal, the input control signal commanding movement of an aeronautical surface that can move within a range of motion, comprising:
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a sensor that provides an electronic indication of torque applied to the aeronautical surface; an electronic limiter that includes a first rotational position limit that is electrically defined, an electronic comparator that receives the first rotational position limit and compares it with the electronic indication, wherein the electronic comparator provides an electronic output to indicate when movement of the surface causes it to exceed the first rotational position limit, and an electronic circuit that receives the input control signal and modifies the input control signal so that it does not command the surface toward exceeding the first limit, the electronic circuit producing an output control signal; and an electronic drive system that receives the output control signal and moves the aeronautical surface in response to it, the drive system derives a torque error command for each shaft, each torque error command is a difference between the input control signal and the electronic indication; wherein for each aeronautical surface, the drive circuit rotates the aeronautical surface according to said torque error command; and wherein for each aeronautical surface, the drive circuit rotates the aeronautical surface according to said torque error command only if the response moves the aeronautical surface closer to within said range of motion when said aeronautical surface is not within said range of motion. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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Specification