Electronic operational control device for a piloting member with cross-monitoring, piloting device and aircraft

• US 8,659,257 B2
• Filed: 11/08/2010
• Issued: 02/25/2014
• Est. Priority Date: 11/06/2009
• Status: Active Grant

• Current Assignee: Ratier Figeac (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: Ratier Figeac (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: Antraygue, Cedric
• Primary Examiner(s): GLASS, ERICK DAVID
• Application Number:
  US12/941,288
• Publication Number:
  US 20110108673A1
• Time in Patent Office: 1,205 Days
• Field of Search: 318/568.16, 318/632, 244/221, 244/229
• US Class Current: 318/568.16
• CPC Class Codes: B64C 13/12 Dual control apparatus
• CPC Class Codes: G05D 1/0077 using redundant signals or controls

Abstract

An electronic operational control device for an aircraft piloting device with two connected piloting members, includes electronic circuits for main monitoring from signals delivered by sensors associated with one of the piloting members, and at least one electronic circuit (52 to 55) for cross-monitoring, for digital processing of signals delivered by sensors (83, 93) associated with the other piloting member, adapted to detect any deviation of these signals corresponding to a fault and to generate a signal representing such a fault. A piloting device and an aircraft including such an electronic operational control device with cross-monitoring are also disclosed.

Claims

1. An electronic operational control device for a controlled piloting member of an aircraft piloting device including said controlled piloting member and another piloting member, the two piloting members both being connected to at least one same flying member of an aircraft, said controlled piloting member being mounted on a first electromechanical supporting box with at least one degree of freedom, the first electromechanical supporting box including, for each degree of freedom, at least one motor configured to actuate the controlled piloting member, said other piloting member being mounted on a second electromechanical supporting box with at least one degree of freedom, said second electromechanical supporting box including, for each degree of freedom, at least one motor configured to actuate said other piloting member, the electronic operational control device comprising:

main monitoring inputs configured to receive signals delivered by sensors associated with the controlled piloting member;

electronic main monitoring circuits configured to digitally process the signals received at the main monitoring inputs and to detect any deviation of the signals corresponding to an operating fault and to generate a signal representing the operating fault;

cross-monitoring inputs configured to receive cross-monitored signals delivered by sensors associated with the other piloting member; and

at least one cross-monitoring electronic circuit configured to digitally process said cross-monitored signals delivered by the sensors associated with the other piloting member, said cross-monitoring circuit being configured to detect any deviation of said cross-monitored signals corresponding to the operating fault and to generate a signal representing the operating fault,

wherein the device is encapsulated in a box adapted to be able to be mounted on said electromechanical supporting box of the controlled piloting member,

the two piloting members are movable with the same degrees of freedom with respect to a frame of the aircraft, one of the cross-monitoring circuits being specific to each degree of freedom,

for each degree of freedom of the controlled piloting member and of the other piloting member, the main monitoring circuit comprises a first electronic microcontroller configured to digitally process the signals delivered by the sensors associated with the controlled piloting member, and

the cross-monitoring circuit comprises another electronic microcontroller which processes the signals delivered by the sensors associated with the other piloting member, each other electronic microcontroller being distinct from said first electronic microcontroller.

2. The device according to claim 1, wherein said cross-monitoring inputs have at least one input configured to receive at least one crossed-monitored position signal of the other piloting member, delivered by one of the position sensors associated with the other piloting member.

3. The device according to claim 1, wherein said cross-monitoring inputs have at least one input configured to receive at least one crossed-monitored force signal representing forces actually exerted on the other piloting member delivered by a force sensor associated with said other piloting member, and

said cross-monitoring circuit is configured to compare a force measured value, determined at least from said force signal, with a predetermined and/or measured and/or calculated reference value.

4. The device according to claim 3, wherein said reference value is a value calculated according to a predetermined law from at least one position signal of the other piloting member.

5. The device according to claim 3, wherein said cross-monitoring circuit is configured to compare a difference between said force measured value and said reference value with a predetermined threshold value, and to generate a signal representing an operating fault when the difference exceeds said predetermined threshold value.

6. The device according to claim 1, wherein the at least one cross-monitoring circuit is configured to calculate an algebraic sum of a force measured value delivered by at least one force sensor associated with the controlled piloting member and of a force measured value delivered by at least one force sensor associated with the other piloting member, and to process the sum and detect any deviation of the sum corresponding to an operating fault.

7. A piloting device of an aircraft, the piloting device comprising:

two piloting members both connected to at least one same flying member of the aircraft; and

an electronic operational control device for each piloting member according to claim 1 with cross-monitoring specific to each piloting member.

8. The piloting device according to claim 7, wherein the two electronic operational control devices with cross-monitoring are identical.

9. The piloting device according to claim 7, wherein each piloting member is mounted on an electromechanical supporting box comprising, for each degree of freedom, at least one motor configured to actuate the piloting member, and a device configured to command each actuating motor adapted to create an electrically simulated variable force feedback sensation in the piloting member.

10. An aircraft comprising a piloting device according to claim 7.

11. The device according to claim 1, wherein the two piloting members are sticks movable with respect to the frame of the aircraft on a longitudinal horizontal pivot axis to enable a roll command, and

the device further comprising:

roll main monitoring inputs configured to receive signals delivered by at least one roll angular position sensor of the controlled piloting member, and by at least one roll force sensor of the controlled piloting member,

roll cross-monitoring inputs configured to receive cross-monitored signals delivered by at least one roll position sensor of the other piloting member, and by at least one roll force sensor of the other piloting member, and

a roll cross-monitoring circuit configured to determine for each piloting member a theoretical force value according to at least one predetermined law from at least roll angular position signals of the piloting member, compare the theoretical force value with a measured force value delivered by at least one roll force sensor of a piloting member, and generate the operating fault signal when a difference between the values is, as an absolute value, greater than a predetermined threshold value.

12. The device according to claim 1, wherein the two piloting members are sticks movable with respect to the frame of the aircraft on a transverse horizontal pivot axis to enable a pitch command, and

the device further comprising:

pitch main monitoring inputs configured to receive signals delivered by at least one pitch position sensor of the controlled piloting member, and by at least one pitch force sensor of the controlled piloting member,

pitch cross-monitoring inputs configured to receive cross-monitored signals delivered by at least one pitch position sensor of the other piloting member, and at least one pitch force sensor of the other piloting member, and

a pitch cross-monitoring circuit configured to determine for each piloting member, a theoretical force value according to at least one predetermined law from at least pitch angular position signals of the piloting member, compare the theoretical force value with a measured force value delivered by at least one pitch force sensor of a piloting member, and generate the operating fault signal when a difference between the values is, as an absolute value, greater than a predetermined threshold value.

13. An electronic operational control device for a controlled piloting member of an aircraft piloting device including said controlled piloting member and another piloting member, the two piloting members both being connected to at least one same flying member of an aircraft, the two piloting members being sticks movable with respect to a frame of the aircraft on a longitudinal horizontal pivot axis to enable a roll command, said controlled piloting member being mounted on a first electromechanical supporting box with at least one degree of freedom, the first electromechanical supporting box including, for each degree of freedom, at least one motor configured to actuate the controlled piloting member, said other piloting member being mounted on a second electromechanical supporting box with at least one degree of freedom, said second electromechanical supporting box including, for each degree of freedom, at least one motor configured to actuate said other piloting member, the electronic operational control device comprising:

main monitoring inputs configured to receive signals delivered by sensors associated with the controlled piloting member;

electronic main monitoring circuits configured to digitally process the signals received at the main monitoring inputs and to detect any deviation of the signals corresponding to an operating fault and to generate a signal representing the operating fault;

cross-monitoring inputs configured to receive cross-monitored signals delivered by sensors associated with the other piloting member;

at least one cross-monitoring electronic circuit configured to digitally process said cross-monitored signals delivered by the sensors associated with the other piloting member, said cross-monitoring circuit being configured to detect any deviation of said cross-monitored signals corresponding to the operating fault and to generate a signal representing the operating fault;

roll main monitoring inputs configured to receive signals delivered by at least one roll angular position sensor of the controlled piloting member, and by at least one roll force sensor of the controlled piloting member;

roll cross-monitoring inputs configured to receive cross-monitored signals delivered by at least one roll position sensor of the other piloting member, and by at least one roll force sensor of the other piloting member; and

a roll cross-monitoring circuit configured to determine for each piloting member a theoretical force value according to at least one predetermined law from at least roll angular position signals of the piloting member, compare the theoretical force value with a measured force value delivered by at least one roll force sensor of a piloting member, and generate the operating fault signal when a difference between the values is, as an absolute value, greater than a predetermined threshold value,

wherein the device is encapsulated in a box adapted to be able to be mounted on said electromechanical supporting box of the controlled piloting member, and

the two piloting members are movable with the same degrees of freedom with respect to a frame of the aircraft, one of the cross-monitoring circuits being specific to each degree of freedom.

14. The device according to claim 13, wherein said cross-monitoring inputs have at least one input configured to receive at least one crossed-monitored position signal of the other piloting member, delivered by one of the position sensors associated with the other piloting member.

15. The device according to claim 13, wherein said cross-monitoring inputs have at least one input configured to receive at least one crossed-monitored force signal representing forces actually exerted on the other piloting member delivered by a force sensor associated with said other piloting member, and

said cross-monitoring circuit is configured to compare a force measured value, determined at least from said force signal, with a predetermined and/or measured and/or calculated reference value.

16. The device according to claim 15, wherein said reference value is a value calculated according to a predetermined law from at least one position signal of the other piloting member.

17. The device according to claim 15, wherein said cross-monitoring circuit is configured to compare a difference between said force measured value and said reference value with a predetermined threshold value, and to generate a signal representing an operating fault when the difference exceeds said predetermined threshold value.

18. The device according to claim 13, wherein at least one cross-monitoring circuit is configured to calculate an algebraic sum of a force measured value delivered by at least one force sensor associated with the controlled piloting member and of a force measured value delivered by at least one force sensor associated with the other piloting member, and to process the sum and detect any deviation of the sum corresponding to an operating fault.

19. The device according to claim 13, wherein the two piloting members are sticks movable with respect to the frame of the aircraft on a transverse horizontal pivot axis to enable a pitch command, and

the device further comprising:

pitch main monitoring inputs configured to receive signals delivered by at least one pitch position sensor of the controlled piloting member, and by at least one pitch force sensor of the controlled piloting member,

pitch cross-monitoring inputs configured to receive cross-monitored signals delivered by at least one pitch position sensor of the other piloting member, and at least one pitch force sensor of the other piloting member, and

a pitch cross-monitoring circuit configured to determine for each piloting member, a theoretical force value according to at least one predetermined law from at least pitch angular position signals of the piloting member, compare the theoretical force value with a measured force value delivered by at least one pitch force sensor of a piloting member, and generate the operating fault signal when a difference between the values is, as an absolute value, greater than a predetermined threshold value.

20. A piloting device of an aircraft, the piloting device comprising:

two piloting members both connected to at least one same flying member of the aircraft; and

an electronic operational control device for each piloting member according to claim 13 with cross-monitoring specific to each piloting member.

21. The piloting device according to claim 18, wherein the two electronic operational control devices with cross-monitoring are identical.

22. The piloting device according to claim 18, wherein each piloting member is mounted on an electromechanical supporting box comprising, for each degree of freedom, at least one motor configured to actuate the piloting member, and a device configured to command each actuating motor adapted to create an electrically simulated variable force feedback sensation in the piloting member.

23. An aircraft comprising a piloting device according to claim 18.

26. The device according to claim 23, wherein said reference value is a value calculated according to a predetermined law from at least one position signal of the other piloting member.

27. The device according to claim 23, wherein said cross-monitoring circuit is configured to compare a difference between said force measured value and said reference value with a predetermined threshold value, and to generate a signal representing an operating fault when the difference exceeds said predetermined threshold value.

30. The piloting device according to claim 27, wherein the two electronic operational control devices with cross-monitoring are identical.

31. The piloting device according to claim 27, wherein each piloting member is mounted on an electromechanical supporting box comprising, for each degree of freedom, at least one motor configured to actuate the piloting member, and a device configured to command each actuating motor adapted to create an electrically simulated variable force feedback sensation in the piloting member.

32. An aircraft comprising a piloting device according to claim 27.

24. An electronic operational control device for a controlled piloting member of an aircraft piloting device including said controlled piloting member and another piloting member, the two piloting members both being connected to at least one same flying member of an aircraft, the two piloting members being sticks movable with respect to a frame of the aircraft on a transverse horizontal pivot axis to enable a pitch command, said controlled piloting member being mounted on a first electromechanical supporting box with at least one degree of freedom, the first electromechanical supporting box including, for each degree of freedom, at least one motor configured to actuate the controlled piloting member, said other piloting member being mounted on a second electromechanical supporting box with at least one degree of freedom, said second electromechanical supporting box including, for each degree of freedom, at least one motor configured to actuate said other piloting member, the electronic operational control device comprising:

main monitoring inputs configured to receive signals delivered by sensors associated with the controlled piloting member;

electronic main monitoring circuits configured to digitally process the signals received at the main monitoring inputs and to detect any deviation of the signals corresponding to an operating fault and to generate a signal representing the operating fault;

cross-monitoring inputs configured to receive cross-monitored signals delivered by sensors associated with the other piloting member;

at least one cross-monitoring electronic circuit configured to digitally process said cross-monitored signals delivered by the sensors associated with the other piloting member, said cross-monitoring circuit being configured to detect any deviation of said cross-monitored signals corresponding to the operating fault and to generate a signal representing the operating fault;

pitch main monitoring inputs configured to receive signals delivered by at least one pitch position sensor of the controlled piloting member, and by at least one pitch force sensor of the controlled piloting member;

pitch cross-monitoring inputs configured to receive cross-monitored signals delivered by at least one pitch position sensor of the other piloting member, and at least one pitch force sensor of the other piloting member; and

a pitch cross-monitoring circuit configured to determine for each piloting member, a theoretical force value according to at least one predetermined law from at least pitch angular position signals of the piloting member, compare the theoretical force value with a measured force value delivered by at least one pitch force sensor of a piloting member, and generate the operating fault signal when a difference between the values is, as an absolute value, greater than a predetermined threshold value,

wherein the device is encapsulated in a box adapted to be able to be mounted on said electromechanical supporting box of the controlled piloting member, and

the two piloting members are movable with the same degrees of freedom with respect to a frame of the aircraft, one of the cross-monitoring circuits being specific to each degree of freedom.

25. The device according to claim 24, wherein said cross-monitoring inputs have at least one input configured to receive at least one crossed-monitored force signal representing forces actually exerted on the other piloting member delivered by a force sensor associated with said other piloting member, and

said cross-monitoring circuit is configured to compare a force measured value, determined at least from said force signal, with a predetermined and/or measured and/or calculated reference value.

28. The device according to claim 24, wherein at least one cross-monitoring circuit is configured to calculate an algebraic sum of a force measured value delivered by at least one force sensor associated with the controlled piloting member and of a force measured value delivered by at least one force sensor associated with the other piloting member, and to process the sum and detect any deviation of the sum corresponding to an operating fault.

29. A piloting device of an aircraft, the piloting device comprising:

two piloting members both connected to at least one same flying member of the aircraft; and

an electronic operational control device for each piloting member according to claim 24 with cross-monitoring specific to each piloting member.

33. The device according to claim 24, wherein said cross-monitoring inputs have at least one input configured to receive at least one crossed-monitored position signal of the other piloting member, delivered by one of the position sensors associated with the other piloting member.