Abstract:
A method and system for detecting in-flight fault characteristics of flight control actuators is provided. Commands are sequentially sent to sets of actuators during flight in a manner that is expected to produce little or no net aircraft motion. The detection of motion indicates the possibility of a faulty actuator. If additional tests confirm the failure, the actuator is isolated and other actuators are compensated to adjust for the failed actuator, permitting continuation of safe and controllable fight by the flight crew and control for a safe landing. This isolation of the suspect failed actuator serves to prevent a possible upset of the aircraft control should the suspect actuator completely fail to a large offset condition, due to continued use during flight, a situation that may cause loss of control of the aircraft.

Description:
GOVERNMENT LICENSE RIGHTS  
       [0001] This invention was made with Government support under U.S. Government contract N000421-00-3-0123 awarded by the U.S. Navy. The Government has certain rights in this invention. 
     
    
     
       FIELD OF THE INVENTION  
         [0002]    This invention relates generally to fault detection of flight control actuators and, more specifically, to a method and system for monitoring and testing in-flight fault characteristics of flight control actuators without producing adverse in-flight motion.  
         BACKGROUND OF THE INVENTION  
         [0003]    Aircraft actuators are integral components for the maintenance of proper operational flight control. The actuators control moveable flight surfaces such as ailerons, flaps, leading-edge slats, spoilers, horizontal stabilizer, elevators, and rudders. Without accurate and timely fault detection and diagnostics of the actuators, catastrophic results may occur. Correctly repairing a damaged actuator depends on such accuracy and timeliness.  
           [0004]    Although actuator fault detection is crucial, it remains problematic because in most cases actuators must be tested post-flight, on the ground. The data collected in post-flight diagnostics is not as reliable as in-flight diagnostics in that it does not allow for operating flight loads on the actuation system, leading to incorrect diagnostics and costly replacement of the wrong actuator or actuator component. The problem is more acute for Uninhabited Air Vehicles where a flight crew is not present to deal with the failure situation and the failure could cause the loss of the vehicle.  
         SUMMARY OF THE INVENTION  
         [0005]    This invention comprises a method and system for monitoring in-flight fault characteristics of flight control actuators. The system includes an electronic flight control system in communication with a fault detection system. The electronic flight control system includes a flight computer configured to send command signals to at least one actuator in response to flight commands. The electronic flight control system further includes a plurality of aircraft response sensors that measure aircraft attitude such as pitch, roll, yaw, or other aspects.  
           [0006]    The electronic flight control system sends command signals to the actuators to affect a flight surface associated with each actuator. As the electronic flight control system issues each command, the computer processors associated with the electronic flight control system compute the appropriate signal command and further send the command signal to the affected actuator. The actuator responds by adjusting, if necessary, the affected flight surface. The flight surfaces include ailerons, flaps, leading-edge slats, spoilers, horizontal stabilizer, elevators, and rudders or any other flight surface capable of affecting the aerodynamics of an aircraft.  
           [0007]    The fault detection system includes a computer processor configured to perform in-flight operations on monitored aircraft data. The fault detection system computes and sends its own signals to at least one actuator through the electronic flight control system. If the actuators are functioning properly, the actuators will move in a canceling manner, with no net motion to the aircraft. However, when a response sensor detects an unexpected aircraft motion it is indicative of a possible actuator failure.  
           [0008]    In accordance with other aspects of the invention that detects a possible actuator failure, the various aircraft actuators are tested sequentially, one or more at a time, cycling through the aircraft until all actuators have been tested.  
           [0009]    In accordance with further aspects of the invention, upon identifying a potentially failed actuator, an additional test is performed to verify the failure. Preset test commands are sent to one or more suspect actuators and surface position data, as well as aircraft motion sensors, are monitored. During these tests, the fault detection system sends signals to reset the remaining aircraft flight surfaces to compensate for the preset test commands on the suspect actuator. This compensation is achieved by activating a reconfigurable control mode that reconfigures other actuators so that the test commands cause no perceptible aircraft motion beyond those commanded by the pilot (or autopilot). This subsequent confirmation test allows confirmation that the suspected actuator has actually failed, without disrupting the mission capability of the vehicle.  
           [0010]    In accordance with still other aspects of the invention, the fault detection system isolates and removes the failed actuator from the rest of the electronic flight control system. Further, the fault detection system sends command signals to reset the remaining aircraft flight surfaces to compensate for the removed actuator by activating a reconfigurable control mode that reconfigures other actuators to maintain safe and controllable handling qualities for the aircraft. 
       
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0011]    The preferred and alternative embodiments of the present invention are described in detail below with reference to the following drawings.  
         [0012]    [0012]FIG. 1 is a schematic block diagram showing an electronic flight control system in communication with a fault detection system according to the invention.  
         [0013]    [0013]FIG. 2 is flow chart depicting the fault monitoring of one actuator of the invention.  
         [0014]    [0014]FIG. 3 is flow chart depicting the reconfiguration control mode of flight control actuators. 
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0015]    [0015]FIG. 1 is a schematic block diagram showing an electronic flight control system of an aircraft in communication with a fault detection system. An electronic flight control system  5  includes a fault detection system  7  connected via a communication bus  20  to at least one flight computer  10 . The flight computer  10  includes a computer processor  11  and associated memory  12 , and is in communication with one or more actuators  15 ,  16  via a hardwire analog interface  21 . A signal converter  17  is included as an interface between the flight computer  10  and the actuators  15 ,  16  to convert digital signals to analog signals and vice versa, as appropriate.  
         [0016]    The flight surfaces (not shown) controlled by the actuators  15 ,  16  include the ailerons, flaps, leading-edge slats, spoilers, horizontal stabilizer, elevators, and rudders or any other flight surface capable of affecting the aerodynamics of an aircraft. Although two actuators are shown, an aircraft may have any number of actuators, consistent with this invention.  
         [0017]    The electronic flight control system  5  further includes aircraft attitude response sensors including a pitch sensor  22 , roll sensor  24 , and yaw sensor  26 . The pitch sensor  22 , roll sensor  24 , yaw sensor  26 , and surface position data sensors (not shown) associated with the actuators  15 ,  16  are connected to the electronic flight control system  5  via the communication bus  20 . While the sensors of the preferred embodiment include those described above, other sensors such as load sensors, strain sensors, acceleration sensors, or others may be used.  
         [0018]    Aircraft motion command signals are produced in response to inputs generated by the pilot (or other sources) and are sent via the communications bus  20  to the flight computer  10 . The flight computer  10  sends the command signal to one or more of the affected actuators  15 ,  16  as a digital signal via a hardwire analog interface  21 . The digital signal is converted to an analog signal by the signal conversion electronics  17  which have the capability to convert analog-to-digital signals and digital-to-analog signals. The command signal affects the flight surface associated with the actuators  15 ,  16 . The actuators  15 ,  16  are electronically configured to receive the commands and respond by moving its associated flight surface. The flight computer  10  is capable of sending command signals to actuators  15 ,  16  individually, sequentially or simultaneously.  
         [0019]    The fault detection system  7  includes at least one computer processor  8  and an associated memory  9 . Although the fault detection system  7  is illustrated in FIG. 1 as a separate hardware component having a processor and memory, it could be implemented completely as software, consistent with the present invention. For example, computer instructions could be stored in the flight computer memory and processed by one or more processors already contained in the flight computer. The flight computer would then automatically, or on command, periodically issue fault detection commands in addition to flight control commands in the manner discussed in more detail below. Thus, references to the fault detection system are intended to mean either a separate hardware component or a computer program operating within existing flight hardware.  
         [0020]    As described more fully below, the fault detection system  7  monitors the command signals of the electronic flight control system  5  to monitor unexpected actuator behavior and, if necessary, issues commands to reconfigure one or more actuators  15 ,  16  to maintain normal flight conditions.  
         [0021]    [0021]FIG. 2 is flow chart depicting the fault monitoring of the electronic flight control system of the invention. At block  100 , the fault detection system  7  simultaneously sends to the flight computer  10  at least one command signal to each actuator  15 ,  16  associated with a flight surface. The command signal sent to a first actuator  15  is an opposing command signal sent to a second actuator  16 . For example, the first and second actuators  15 ,  16 , may correspond to the left and right horizontal stabilizers. Other control surfaces are available for use in canceling the effects of aircraft motion due to the actuator undergoing the test. For example, the rudder and two ailerons may be used in addition to the paired horizontal stabilizer to compensate for the test on the suspect bad horizontal stabilizer.  
         [0022]    The two command signals sent at block  100  are of such a magnitude and duration that they are expected to cancel one another so that no net aircraft motion results. If an aircraft motion is expected from the test signals, it is preferably imperceptible by persons within the aircraft even though such motion may be technically measurable. The actuator signals required to produce the test, termed the “null space” commands, are obtained or derived from software code stored in the memory  9  associated with the computer processor  8  of the fault detection system  7  as shown in FIG. 1. The code includes a plurality of aerodynamic control coefficients (M b StbL, M a StbR, etc.) to facilitate calculation of the required null space commands.  
         [0023]    At block  105 , the flight computer receives the command signals from the fault detection system. In the event the fault detection system is implemented within the flight computer as software, rather than hardware, this separate step would likely be unnecessary. The flight computer, in turn, sends both command signals to the targeted actuators  15 ,  16  via the hardwire analog interface  21 .  
         [0024]    At block  110 , the flight computer  10  sends the command signals to the signal converter  17  to be converted and sent to their intended actuators  15 ,  16 .  
         [0025]    At block  115 , each actuator  15 ,  16  receives the command signals sent by the flight computer  10  and moves the associated flight surface according to the command signal computed at block  100 .  
         [0026]    At block  120 , the fault detection system  7  evaluates the actual aircraft response to the fault detection command signals. The actuator&#39;s  15 ,  16  actual response is obtained by accessing one or more sensors such as the pitch sensor  22 , roll sensor  24 , yaw sensor  26 , and surface position data from the actuators  15 ,  16 . The motion of the aircraft as determined from such sensors is compared to the expected motion of the aircraft based on all commands sent to the actuators, including any flight commands and fault detection commands.  
         [0027]    If the aircraft behaved as expected as analyzed at block  120 , the method proceeds to block  125  to continue monitoring. As with the initiation of fault detection monitoring in the first instance, continued monitoring is triggered in any of several ways, including continual background commanding, testing at programmed times, or upon initiation by a flight crew member.  
         [0028]    If the aircraft did not perform as expected when analyzed at block  120 , the method proceeds to block  130 , where a possible actuator failure is noted. While the existence of a failed actuator is undesirable, it is also best to ensure that an actuator has actually failed before isolating it or shutting it down. Consequently, in the preferred embodiment of this invention an additional test is performed on the suspect actuator to confirm that it has actually failed. As with the initial fault detection method described above, the confirming test involves sending actuator commands that are expected to cancel and produce little or no aircraft motion if the actuators are all operating normally. The principal difference is that instead of sequencing through all aircraft actuators the confirming test only sends signals to the suspect actuator and one or more additional actuators such that no net motion is expected.  
         [0029]    Once the fault detection system has confirmed that an actuator has failed, it reconfigures the flight control system to account for it, as illustrated in FIG. 3. At block  200  the fault detection system sends command signals to the suspected failed actuator fixing it in position, or possibly modifying its use level in operation of the control system. At block  205  the fault detection system determines, based on software code stored in its associated memory, the incremental command signals to send to at least one other actuator to allow that actuator to move its associated flight surface in a manner that compensates for the motion or lack of motion of the suspected failed actuator.  
         [0030]    At block  210 , the command signals are sent to at least one flight computer  10 . The flight computer, in turn, sends the command signals to the one or more operational actuators to control the aircraft flight.  
         [0031]    The above compensating method presumes that the fault detection system and flight control system are implemented using separate hardware, as shown in FIG. 1. In embodiments in which they are implemented using shared processors and memory, the above method is simplified in that compensating signals would not need to be sent from the fault detection system to a separate flight computer. Instead, the compensating signals may be determined by a shared processor and stored in a common memory.  
         [0032]    While in the preferred embodiment the method for determining, verifying, and correcting for failed actuators is implemented automatically on a periodic basis during flight, a pilot or flight engineer can also override or turn off the fault detection system if desired. This alternative embodiment would be used when for example; a tactical high g maneuver or ground collision avoidance maneuver is necessary. Likewise, instead of running automatically on a continuous or continual basis during flight, the fault detection can alternatively be operated only upon command by flight personnel. In such cases, the system is operated either on a periodic basis or when flight personnel believe that the aircraft is not performing as expected.  
         [0033]    An advantage of this invention is that much more accurate tests can be performed in the presence of actual operating conditions such as aerodynamic loads acting on the flight surfaces, flight temperatures, vibration, and others.  
         [0034]    While the preferred embodiment of the invention has been illustrated and described, as noted above, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of the preferred embodiment. Instead, the invention should be determined entirely by reference to the claims that follow.