Open loop load force estimation systems and methods

• US 9,506,826 B2
• Filed: 12/09/2014
• Issued: 11/29/2016
• Est. Priority Date: 12/09/2014
• Status: Active Grant

• Current Assignee: Goodrich Corporation (Rtx Corporation)
• Original Assignee: Goodrich Corporation (Rtx Corporation)
• Inventors: Singh, Sameep, Kolk, Richard
• Primary Examiner(s): Caputo, Lisa
• Assistant Examiner(s): Hopkins, Brandi
• Application Number:
  US14/564,545
• Publication Number:
  US 20160161351A1
• Time in Patent Office: 721 Days
• Field of Search: 731/26, 738/626.8, 701 70- 72, 303/155
• US Class Current: 1/1
• CPC Class Codes: G01L 5/225 to foot actuated controls, e.g. brake pedals
• CPC Class Codes: G01R 19/0092 measuring current only all subgroups of G01R19/00 take precedence

Abstract

What is described is a system for determining a force applied to an outer disc of an aircraft brake by an actuator motor. The system includes a current sensor coupled to the actuator motor and configured to detect an amount of current applied to the actuator motor. The system also includes a controller coupled to the current sensor. The controller is configured to determine an estimate of the force applied to the outer disc based on the detected amount of current and predetermined input parameters.

Claims

1. A system for determining a current amount of force applied to a disc brake system of an aircraft, the system comprising:

an aircraft brake having a plurality of discs including an outer disc;

an actuator configured to apply a force to the outer disc to compress the plurality of discs to reduce an angular velocity of wheels of the aircraft;

a current sensor coupled to the actuator and configured to detect a detected amount of current applied to the actuator; and

a controller coupled to the current sensor and configured to receive input parameters including a maximum force that can be applied by the actuator, a maximum current of the actuator that causes the actuator to apply the maximum force, and an efficiency fraction of the actuator that corresponds to an efficiency of the actuator and to determine an estimate of the current amount of force applied to the outer disc based on the detected amount of current and the input parameters.

2. The system of claim 1, wherein the controller is further configured to determine a constant K-Nominal that can be used to convert a force value into a current value or the current value into the force value by dividing the maximum force that can be applied by the actuator by the maximum current of the actuator.

3. The system of claim 1, wherein the actuator may operate in a first mode indicating that a force applied to the outer disc increases proportionally as an amount of current applied to the actuator increases, a second mode indicating that the force applied to the outer disc remains substantially constant as the amount of current applied to the actuator decreases a first amount and a third mode indicating that the force applied to the outer disc decreases proportionally as the amount of current applied to the actuator decreases a second amount.

4. The system of claim 3, wherein the controller is further configured to determine a filtered derivative of the detected amount of current and determine whether the actuator is operating in at least one of the first mode, the second mode or the third mode by comparing the filtered derivative with zero.

5. The system of claim 4, wherein the controller is further configured to select at least one of a first input in response to the actuator operating in the first mode, a second input in response to the actuator operating in the second mode or a third input in response to the actuator operating in the third mode.

6. The system of claim 5, wherein the controller is configured to determine the first input by multiplying the detected amount of current with the efficiency fraction, determine the second input by delaying the estimate of the current amount of force and dividing a delayed estimate of the current amount of force by a constant value and determine the third input by dividing the detected amount of current by the efficiency fraction.

7. The system of claim 5, wherein the controller is further configured to convert the selected input from a current value to a force value by multiplying the selected input by a constant value.

8. The system of claim 3, wherein the controller is further configured to determine a largest estimate of the force during a most recent iteration of the first mode and determine a smallest estimate of the force during a most recent iteration of the third mode.

9. The system of claim 8, wherein the controller is further configured to select a selected mode and, based on the selected mode, determine the estimate of the force by selecting at least one of a minimum of the largest estimate of the force during the most recent iteration of the first mode and a calculated force value or a maximum of the smallest estimate of the force during the most recent iteration of the third mode and the calculated force value.

10. A method for determining a force applied to an outer disc of an aircraft brake by an actuator, the method comprising:

receiving, at a controller of an aircraft and by a current sensor of the aircraft, a detected amount of current applied to the actuator;

receiving, at the controller, the detected amount of current and input parameters including a maximum force that can be applied by the actuator, a maximum current of the actuator that causes the actuator to apply the maximum force and an efficiency fraction of the actuator that corresponds to an efficiency of the actuator;

determining, by the controller, a mode of operation of the actuator including a first mode indicating that the force applied to the outer disc increases proportionally as an amount of current applied to the actuator increases, a second mode indicating that the force applied to the outer disc remains substantially constant as the amount of current applied to the actuator decreases a first amount and a third mode indicating that the force applied to the outer disc decreases proportionally as the amount of current applied to the actuator decreases a second amount; and

determining, by the controller, an estimated amount of force applied to the outer disc of the aircraft brake by the actuator based on the input parameters and the detected amount of current.

11. The method of claim 10, wherein determining the mode of operation includes determining, by the controller, a filtered derivative of the detected amount of current and comparing the filtered derivative with zero, such that the first mode is determined in response to the filtered derivative being greater than zero, the second mode is determined in response to the filtered derivative being equal to zero and the third mode is determined in response to the filtered derivative being less than zero.

12. The method of claim 10, further comprising determining, by the controller, a largest calculated force during a most recent iteration of the first mode and determining a smallest calculated force during a most recent iteration of the third mode.

13. The method of claim 12, further comprising determining, by the controller, a constant K-Nominal that can be used to convert a force value into a current value or the current value into the force value by dividing the maximum force that can be applied by the actuator by the maximum current of the actuator.

14. The method of claim 13, wherein determining the estimated amount of force applied to the outer disc of the aircraft brake by the actuator includes:

selecting, by the controller, at least one of a first input equal to the detected amount of current multiplied by the efficiency fraction in response to the first mode being determined, a second input being equal to a delayed value of the estimated amount of force divided by the constant K-Nominal in response to the second mode being determined or a third input equal to the detected amount of current divided by the efficiency fraction in response to the third mode being determined;

determining, by the controller, a value Force1 to be equal to the selected input multiplied by the constant K-Nominal; and

determining, by the controller, the estimated amount of force to be equal to at least one of a smaller value of the largest calculated force during the most recent iteration of the first mode and the value Force1 or a larger value of the smallest calculated force during the most recent iteration of the third mode and the value Force1 based on the mode of operation.