JP2000314403A - Actuation system - Google Patents

Abstract

(57) [Problem] To provide an actuation system capable of mitigating a transient at a low cost. SOLUTION: A mechanical control valve 31 and an electric control valve 32 are provided.
A supply / discharge control mechanism 20 for controlling the supply / discharge of the working fluid of the actuator 10 by using one of the control valves 31 and 32
And a mode switching valve 33 which is inserted into the fluid supply / discharge passage to the actuator 10.
3, an actuation system including a backup mechanism 30 that activates the control valve 31 with a mechanical operation input when the control valve 31 is inserted into the supply / discharge passage can restrict the flow rate of the working fluid passing through the control valve 31. Means 40 is provided, and when the mode is switched to insert the mechanical control valve 31 into the supply / discharge passage, the supply / discharge of the working fluid through the control valve 31 is temporarily restricted by the restriction means 40;
The restriction is released later than the switching of the switching valve 33.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuation system using a hydraulic actuator, and more particularly to an actuation system in which a fly-by-wire type control device is provided with a mechanical backup mechanism.

[0002]

2. Description of the Related Art Conventionally, control surfaces of an aircraft (elevation, rudder,
Fly-By-W (Fly-By-W) that controls a controlled object such as a flight control wing surface such as an aileron without relying on mechanical linkage
ire: hereinafter referred to as FBW) type control system has been realized. However, in an aircraft or the like that requires a high level of safety and reliability for respecting human life, an electric system that makes FBW control impossible. It is necessary to be able to control the control surface in response to a manual operation input from the control stick even when a failure occurs. In such a case, a backup mechanism that can mechanically control the steering by mechanically connecting the input link and the control stick provided in the supply / discharge control mechanism of the hydraulic actuator with a relatively simple linkage. Some are attached.

In this type of actuation system, since the FBW computer is multifunctional, a control command to which a correction value and the like are added in the FBW mode is generated. For example, a flight control computer (hereinafter, simply referred to as FCC) of an aircraft is a Stability Augmentation System (SAS).
System), and an input command is generated by adding a correction value and the like for stabilizing the aircraft to an operation command by the control stick. Then, this command signal is input to the electro-hydraulic servo circuit, and supply and discharge of hydraulic oil to and from the control surface control actuator are controlled, thereby controlling the control and steering of the control surface.

[0004]

However, in the conventional actuation system described above,
In the FBW mode, since a control command is generated by adding a correction value for stabilizing the aircraft to a pilot command such as an operation command using a control stick, a difference occurs between the input command in the FBW mode and the mechanical backup mode, If the FBW system breaks down in a state where the difference is large, a transient phenomenon in which the piston position (the control surface position) of the control surface control actuator rapidly changes upon switching from the FBW mode to the mechanical backup mode, that is, a rapid change in the control angle ( Transient
t)) may occur.

Therefore, it is necessary to mitigate the transient and avoid danger in a state where the difference between the input commands can be large, for example, in the case of a failure of the FBW system during an aircraft landing or landing approach. Further, in an aircraft, an actuation system using multiple actuators is frequently used. Therefore, a transient mitigation mechanism needs to be simple and highly reliable.

Accordingly, the present invention is to provide a highly reliable actuation system at a low cost which can alleviate the transient and ensure a required speed in the mechanical backup mode.

[0007]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention temporarily limits the speed of the actuator when switching from the FBW mode to the mechanical backup mode, and delays the speed of the actuator later than the mode switching. By releasing the restriction, the transient is mitigated, and this is achieved by reducing the amount of the working fluid passing through the mechanical control valve.

That is, according to the present invention, one and the other fluid chambers are formed on both sides of a piston housed in a cylinder,
An actuator that moves a piston by supplying and discharging a working fluid to both fluid chambers, a mechanical control valve that operates according to a mechanical operation input, and an electric control valve that operates according to an electric control signal input, A supply / discharge control mechanism for controlling the supply and discharge of the working fluid to the one and the other fluid chambers by using one of the two control valves, and an operating pressure for switching any one of the mechanical control valve and the electric control valve A mode switching valve that is selected in accordance with the above and inserted into the supply and discharge passage of the working fluid to the actuator, and an operating force transmission member that transmits an external mechanical operation input to the mechanical control valve, When the mechanical control valve is inserted into a supply and discharge passage of the working fluid to the actuator by a switching valve, the mechanical control valve is operated by an operation input through the operation force transmitting member. And a backup mechanism to operate,
In an actuation system comprising: a limiter that operates in response to the switching operation pressure and can limit a flow rate of a working fluid passing through the mechanical control valve; When the mode switching valve is switched so as to insert a type control valve into the supply and discharge passages of the working fluid to the actuator, the limiting means is actuated by a predetermined change in the switching operation pressure to cause the mechanical type control valve to operate. It is characterized in that the supply and discharge of the working fluid that has passed are temporarily restricted, and the restriction is released later than the switching of the mode switching valve.

According to the present invention, when the electric system fails, the mode switching valve inserts the mechanical control valve into the supply passage and the discharge passage of the working fluid to the actuator by a predetermined change in the switching operation pressure. When the limiting means is operated by a predetermined change, the supply and discharge control of the working fluid by the mechanical control valve inserted into the supply passage and the discharge passage of the working fluid is temporarily limited, and the mode is changed from the FBW mode to the mechanical backup mode. The transient is mitigated by temporarily limiting the speed of the actuator when the switching is performed.

Further, according to the present invention, there is provided an operation member which is manually operated for steering a control surface, and one and other fluid chambers are formed on both sides of a piston housed in a cylinder. An actuator that moves a piston by supplying and discharging a fluid to steer a control surface, an electric control signal corresponding to operation of an operation member, or a control signal output unit that outputs an electric control signal for automatic steering, and mechanical operation A mechanical control valve that operates in response to an input and an electric control valve that operates in response to an electric control signal input from the control signal output means, wherein the one and the other fluid chambers are operated by either of the two control valves. A supply / discharge control mechanism for controlling the supply and discharge of the working fluid to / from the fluid supply source for supplying the working fluid at a predetermined supply pressure, a reservoir circuit for storing the working fluid, and the mechanical control valve and the electric control valve A mode switching valve that selects one of them according to a switching operation pressure and inserts it into the supply and discharge passages of the working fluid to the actuator, and an operation force transmission that transmits an external mechanical operation input to the mechanical control valve When the mechanical control valve is inserted into the supply and discharge passage of the working fluid to the actuator by the mode switching valve, the mechanical control valve is actuated by the operation input through the operation force transmission member. An actuation system comprising a backup mechanism to be activated,
Limiting means that operates in accordance with the switching operation pressure and can limit the flow rate of the working fluid through the mechanical control valve is provided, and the mechanical control valve is connected to the actuator by a predetermined change in the switching operation pressure. When the mode switching valve is switched to be inserted into the supply and discharge passage of the working fluid, a predetermined change in the switching operation pressure activates the limiting means to supply and discharge the working fluid through the mechanical control valve. Is temporarily limited, and the restriction is released later than the switching of the mode switching valve. With such a configuration, the same operation and effect as described above can be obtained.

Preferably, the restricting means is provided in at least one of a supply passage of the working fluid to the actuator and a discharge passage of the working fluid from the actuator, and the pressure of the supply passage and the switching operation pressure are provided. And a delay mechanism comprising a check valve and a throttle element provided in a supply passage of the switching operation pressure to the switching valve, in which case The switching valve with the variable throttle element includes a valve body that reciprocates in an increasing direction and a decreasing direction of an opening degree, and a valve body housing member having an opening hole that is opened and closed by the valve body. It is preferable that the opening area of the opening be increased as the valve moves in the direction in which the opening increases.

[0012] More preferably, the opening hole is formed of a plurality of orifice holes formed in the valve body accommodating member so as to be separated from each other in the moving direction of the valve body. This is because the processing of the valve body storage member is easy. Of course, the opening hole opened and closed by the valve body may be formed in a long hole shape extending in the moving direction of the valve body. Further, by changing the diameters of the plurality of orifice holes sequentially, required characteristics of the variable throttle can be obtained.

[0013]

Preferred embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) FIGS. 1 to 7 show an actuation system according to a first embodiment of the present invention. In this embodiment, the present invention is applied to each of multiple hydraulic control systems arranged in parallel, but the drawing shows only one system. The configuration described below is common to each control system that drives the same control surface.

First, the configuration will be described.

In FIG. 1, reference numeral 10 denotes a hydraulic actuator, and the actuator 10 has a cylinder 11 and a piston 12. The actuator 10 defines one and the other oil chambers 13 and 14 (fluid chambers) on both sides in the axial direction of a piston 12 housed in a cylinder 11. Of these two oil chambers 13 and 14, By supplying hydraulic oil (working fluid) to one and discharging it from the other,
The piston 12 is moved by applying hydraulic pressure to the piston 12. The actuator 10 is swingably supported by an aircraft body-side structural member (not shown) by a bracket portion 10a, and a rod portion 12e of the piston 12 is connected to a driving member on a control surface of the aircraft. In addition, hydraulic oil is supplied to and discharged from oil chambers 13 and 14 of the actuator 10 via a supply / discharge control mechanism 20, which will be described later. A source and a reservoir circuit for storing the hydraulic oil discharged from the actuator 10 and returning it to the fluid supply source side are connected. Reference numeral 21 denotes a pressure introduction path of the supply / discharge control mechanism 20, and the pressure introduction path 21 is provided with a check valve 23 and a filter (not shown).

Reference numeral 25 denotes an input link 25 which responds to a mechanical operation input.
It is configured as an oscillating operation force transmission member that can input an operation force from any of the upper and lower ends. That is, the first moving end portion 25a (the upper end portion in FIG. 1) of the input link 25 is connected to a manual operation member such as a control stick or a pedal (not shown) operated by a pilot via a mechanical linkage, The second moving end 25b (the lower end in FIG. 1) of the input link 25 is swingably supported by the rod 12e of the piston 12. The input link 25 has a summing point 25c (valve operation point) between the two moving ends 25a and 25b, and the manual operation amount from the first moving end 25a and the summing point 25c from the second moving end 25b. A mechanical displacement corresponding to a deviation from the mechanical feedback amount is output from the summing point 25c as a valve operation amount.

Numeral 31 denotes a mechanical control valve which can be switched between three positions and whose four ports are opened and closed and the opening degree is adjusted by an input link 25. The mechanical control valve 31 is
A supply pressure port 31a connected to one branch path 21a;
It has a return port 31b connected to the reservoir circuit via the oil passage 28, and a pair of control pressure ports 31c and 31d connected to both ports in response to an operation input. This mechanical control valve 31 supplies hydraulic oil from a fluid pressure supply source to the oil chamber 13 or 14 through the supply pressure port 31a and the control pressure port 31c or 31d,
Return oil from oil chamber 14 or 13 to return port 31b
Through the supply pressure port 31a, the return port 31b, and the control pressure port 31.
The supply and discharge of the hydraulic oil to and from both oil chambers 13 and 14 can be stopped by disconnecting the connection with c and 31d. In addition, in FIG. 1, 31e is a valve body of the mechanical control valve 31, 31
f and 31g are biasing means for biasing the mechanical control valve 31 to the neutral position, for example, centering springs, and 31h is each of the ports 31a, 31b, 31c and 31c.
d is a substantially sleeve-shaped operation input unit having the d. The operation input unit 31h moves relative to the valve element 31e in response to an operation input from the input link 25, and the ports 31a, 31
The opening degrees of b, 31c and 31d can be changed. The oil passage 28 is provided with a predetermined back pressure from the reservoir circuit.

Reference numeral 32 denotes a three-position switchable electric control valve which is electromagnetically driven so as to open / close and adjust the opening of four ports by electric control signals Sa and Sb from the FCC (not shown). Reference numeral 32 denotes a supply pressure port 32a for introducing hydraulic oil from a fluid pressure supply source, a return port 32b for discharging hydraulic oil to a reservoir circuit, and control signals Sa,
It has a pair of control pressure ports 32c, 32d connected to both ports 32a, 32b in response to the input of Sb.
The electric control valve 32 is provided, for example, with electric control signals Sa, S
b, the valve body 32e is electromagnetically driven to supply the hydraulic oil from the fluid pressure supply source to the oil chamber 13 or 14 through the pair of control pressure ports 32c and 32d according to the signal level of the electric control signal Sa or Sb. Oil chamber 14
Alternatively, the hydraulic oil from 13 can be discharged to the reservoir circuit through the return port 32b. further,
The electric control valve 32 can shut off the connection between the supply pressure port 32a and the return port 32b and the control pressure ports 32c and 32d to stop the supply and discharge of the hydraulic oil to and from the oil chambers 13 and 14. The electric control signal Sa is a signal in the direction of increasing the steering angle, and the electric control signal Sb is a signal in the direction of decreasing the steering angle. The electromagnetic control unit 32j of the electric control valve 32 is an electric control signal corresponding to the steering amount. , 32k.

On the other hand, one of the oil chambers 13 and 14 of the actuator 10 is connected to one of the control pressure ports 31c of the control valves 31 and 32 by switching a mode switching valve 33 which is a 6-port 2-position switching valve. , 31d or 32c,
32d. The mode switching valve 33 includes a pair of control valve side ports 33a, 33b and 33c, 33d connected to respective control pressure ports 31c, 31d and 32c, 32d of the control valves 31, 32.
And a pair of actuator-side ports 33f, 33g connected to one and the other oil chambers 13, 14, and a pilot pressure introducing portion 33h. In addition, mode switching valve 3
Reference numeral 3 denotes a valve body 33j which is displaced in accordance with the urging force from the pilot pressure introduction portion 33h, and a spring 33k which urges the valve body 33j in a direction opposite to the pilot pressure introduction portion 33h.
The control valves 31 and 3 are provided by these urging forces.
The mode switching valve 33 is connected to the two supply and discharge ports shown in FIGS. 1 and 2 so that any one of the two control pressure ports 31c, 31d or 32c, 32d can be connected to the oil chambers 13, 14. It can be switched to the mode position.

The pilot pressure Pa applied to the pilot pressure introducing portion 33h of the mode switching valve 33 is controlled by the solenoid valve 35.
Is ON (FIG. 1), the supply pressure P from the fluid pressure supply source
When the solenoid valve 35 is OFF (FIG. 2), the pressure drops to a low pressure on the return side (back pressure by the reservoir circuit). The solenoid valve 35 is connected to the high pressure side inlet port 3 connected to the supply pressure ports 31a, 32a of the control valves 31, 32.
5a and return ports 31b, 3 of the control valves 31, 32
2b and the two inlet ports 35b in response to a mode switching control signal Sc from the FCC.
outlet port 3 connected to one of a and 35b
5c. The solenoid valve 35 includes a valve body 35d, a spring 35e, and an electromagnetic drive unit 35f. When the switching control signal Sc is input to the electromagnetic drive unit 35f, the solenoid valve 35 displaces the valve body 35d to the ON position shown in FIG. ,
The pilot pressure Pa is applied to the mode switching valve 33 through the outlet port 35c. That is, the solenoid valve 35 receives the mode switching control signal Sc from the FCC.
Accordingly, the operating oil pressure of one of the fluid pressure supply source and the reservoir circuit is supplied to the pilot pressure introducing portion 33h of the mode switching valve 33 as the pilot pressure.

On the other hand, at least one of the supply passage and the discharge passage of the hydraulic oil to the actuator 10 passing through the mechanical control valve 31 can restrict the flow rate of the hydraulic oil passing through the mechanical control valve 31. A time delay valve mechanism 40 (limiting means) is provided. The time delay valve mechanism 40 includes a switching valve 41 with a variable throttle element 41a provided in an oil passage 28 (discharge passage) between the mechanical control valve 31 and the reservoir circuit. The pressure is urged toward the fully open position by the supply pressure P from the pressure introduction passage 21 which is a supply passage, and toward the throttle position by the pilot pressure Pa (switching operation pressure) from the solenoid valve 35, and the switching operation is performed. Also, the switching valve 41
A check valve 43 is provided in the supply passage 42 for supplying the pilot pressure Pa to the
And a delay mechanism 46 comprising a throttle element 44 and a spring 45 for urging the check valve 43 in the valve closing direction. The solenoid valve 35 is turned off and the pilot pressure P
When a decreases, the switching of the switching valve 41 to the fully open position side is delayed by the delay mechanism 46 and gradually proceeds. That is, the time delay valve mechanism 4
0 operates according to the pilot pressure Pa which is the switching operation pressure of the mode switching valve 33, and the mode switching valve 33 causes the mechanical control valve 31 to move the mechanical control valve 31 to the actuator 10 when the pilot pressure Pa decreases (predetermined change). When it is inserted into the supply passage and the discharge passage, it operates due to a decrease in the pilot pressure Pa, and the mechanical control valve 31 inserted into the supply and discharge passage of the hydraulic oil controls the supply and discharge of the hydraulic oil to the actuator 10. Is temporarily restricted, and the restriction is released later than the switching of the mode switching valve 33.

Specifically, as shown in FIGS. 4 and 5,
The switching valve 41 with a variable throttle element includes a spool-shaped valve body 61 that can reciprocate in an axial direction that is an increasing direction and a decreasing direction of an opening, and, for example, three orifice holes that are opened and closed by the valve body 61. 62a, 62b, 62c, 62
e, a valve body storage member 62 in which a normally open orifice hole 62d is formed, a housing 63 for housing the valve body 61 and the valve body storage member 62 together, a bottomed substantially cylindrical screw plug 64, Seal rings 65, 6
6, 67a, 67b, 67c, 67d. The valve body 61 includes a land portion 61a that can open and close the orifice holes 62a to 62c, and a orifice hole 62a.
And an annular groove portion 61b that allows the communication of
Annular groove 6 that can communicate with orifice hole 62e
1c and a land portion 61 capable of opening and closing the orifice hole 61e.
d, a small pressure receiving surface portion 61e on the left end side in FIG.
It has a central communication hole 61f that allows 1c to communicate with the check valve 43, a large pressure receiving surface portion 61g on the right end side in FIG. 1, and a communication passage 61h that forms a passage when the check valve 43 is opened. Also,
The right end 61g of the valve body 61 in FIG.
And a switching operation pressure chamber 51 is formed between them. This switching operation pressure chamber 5
Numeral 1 communicates with the central communication passage 61f through a throttle element 44 formed as a fine orifice on the axis of the check valve 43.

As shown in FIG. 6A, the orifice holes 62a, 62b and 62c are spaced apart from each other in the moving direction of the valve body 61, and
The orifice holes 62a to 62c form an opening hole 62 extending in the moving direction of the valve body 61 as a whole, so that the opening diameters are gradually increased in the order of a, 62b, and 62c. ing. And the valve element 61
Moves in the increasing direction of the opening, the orifice hole 6
2a, 62b, and 62c are sequentially opened by the land portion 61a of the valve body 61 so that the opening area of the opening hole 62 gradually increases, and conversely, when the valve body 61 moves in the decreasing direction of the opening, the orifice hole is opened. 62a, 62b, and 62c are sequentially closed by the land portion 61a of the valve body 61 so that the opening area of the opening hole 62 gradually decreases. These orifice holes 62a, 62b, 62c together with the valve body 61 constitute a variable throttle element 41a.

The opening holes 62 are not limited to the three orifice holes as exemplified here, but may be a single circular orifice hole, located at the same position in the valve body moving direction and at predetermined circumferential intervals (for example, equal intervals). ), A plurality of circular or polygonal or other arbitrary orifice holes having the same or different diameters, and a plurality of orifice holes located at the same position in the valve body moving direction are further separated in the same direction of the valve body. A plurality of sets of circular orifice holes of the same diameter or different diameters arranged, a single or substantially triangular orifice whose opening width gradually increases from one end to the other end or a plurality of orifices arranged in parallel at predetermined circumferential intervals Needless to say, it may be a single hole or a plurality of orifice holes having a hole, a shape obtained by combining any of the above-mentioned orifice holes, or other various shapes. Further, the valve element 6
Needless to say, by appropriately changing the shape of No. 1, a variety of different variable throttle valves can be employed.
In short, the variable throttle element 41a can be any variable throttle element that can change the throttle characteristic stepwise or linearly by appropriately selecting the shapes of the valve body 61 and the opening 62. The linear variable throttle characteristic is, for example, as shown in FIG.
In a continuous orifice shape, such as a long hole extending in the moving direction.

The mechanical linkage between the mechanical control valve 31, the input link 25, and the control stick includes a backup mechanism 30 that enables manual steering from the control stick in the event of a failure in an electrical system in which FBW control by the FCC cannot be performed. In the event that a failure occurs such that the electric control valve 32 cannot be operated by the electric control signals Sa and Sb from the FCC, the operation input from the control stick is supplied to the supply / discharge control mechanism 20. To the mechanical control valve 31, and the supply / discharge control mechanism 20 is operated by a manual operation input through a mechanical linkage. Also, F
The CC is multiplexed by a feedback signal from a steering angle position sensor and a signal from a motion sensor (not shown) for observing aircraft responses (pitch, roll and yaw responses) during execution of FBW control. It is constantly checked whether or not the control system is operating normally, and control surface control as described later is executed.

Hereinafter, the operation will be described separately for the case of normal control and the case of some kind of failure.

(1) Normal Control Mode In a normal FBW mode, a pilot command is generated according to a manual operation amount of a control stick by a pilot or a necessary steering amount for automatic steering, and a stability enhancement device of the FCC. The pilot command is subjected to necessary correction processing based on the function as Then, an electric control signal Sa or S corresponding to a deviation between the corrected input command and a feedback signal from a control surface position (steering angle) sensor or the like.
b is generated and input to the electric control valve 32 of each control system. Further, a switching control signal Sc for electromagnetically driving the solenoid valve 35 to the pilot pressure supply position shown in FIG. 1 is input to the solenoid valve 35. Then, when a difference occurs between the input command and the feedback signal from the position sensor, the electric control valve 32 moves the valve body 32e to the neutral position by an electric control signal (hereinafter referred to as a deviation signal) Sa or Sb according to the deviation. From the control pressure ports 32c, 3c.
When 2d is opened, the hydraulic oil from the fluid pressure supply source is supplied to one oil chamber 13 or 14, and the hydraulic oil from the other oil chamber 14 or 13 is discharged through the return port 32b. Therefore, the piston 12 is
A thrust is generated according to the pressure difference between 3 and 14, and the control surface is controlled to a steering angle position corresponding to the input command. Then
When the difference between the pilot command and the signal from the control surface position sensor becomes substantially zero, the deviation signal Sa or Sb becomes an initial value (for example, zero), and the supply pressure port 32a and the return port 32b and the control pressure ports 32c and 32d Is cut off, and supply and discharge of hydraulic oil to and from the oil chambers 13 and 14 are stopped.

When a predetermined operation is performed, the mode is switched from the automatic driving mode to the manual driving mode. For example, when manual steering is performed to avoid danger during a flight in the automatic steering mode, a state where the manual steering input of the pilot is given priority is ensured.

(2) Control Mode When One System Fails When a failure occurs in an electric circuit of any one of the multiplexed control systems, the failed control system
Since the solenoid valve 35 is not normally electromagnetically driven, the pilot pressure Pa decreases. Therefore, in the fault system,
The mode switching valve 33 is switched to a supply / discharge control position by the mechanical control valve 31.

At this time, in response to a decrease in the pilot pressure Pa (a predetermined change in the switching operation pressure), the mode switching valve 33
Inserts the mechanical control valve 31 into the supply passage and the discharge passage of the hydraulic oil to the actuator 10. On the other hand, as the pilot pressure Pa decreases, the time delay valve mechanism 40
The switching valve 41 is switched to the restriction releasing side, but the switching is delayed by the delay mechanism 46 and the mechanical control valve 31 inserted in the hydraulic oil supply / discharge passage to the actuator 10
Is temporarily limited, and the speed of the actuator 10 when switching from the FBW mode to the mechanical backup mode is temporarily limited.

Specifically, the time delay valve mechanism 4
First, when pressure is first supplied to the oil passage 63d, the check valve 43 having the throttle element 44 is opened, and F is changed from the state of the mechanical backup mode (the state of FIG. 5) to F.
The state is switched to the BW mode (the state in FIG. 4), and the large pressure receiving surface 61 is urged to the right in FIG. 4 by the supply pressure P of the oil passage 63a while the small pressure receiving surface 61e is being pressed. Although urged in the opposite direction by the pilot pressure Pa, in this state where the supply pressure P is applied to the small pressure receiving surface portion 61e, the pressure in the oil passage 63d (the pilot pressure P from the solenoid valve 35) is increased.
When a) decreases, the hydraulic oil in the switching operation pressure chamber 51 passes through the central communication hole 61 through the throttle element 44 which is an orifice hole.
f, the spool valve element 61 moves from the position shown in FIG. 4 to the position 11 shown in FIG. 5, and in the middle thereof, the second and second orifice holes 62b and 62c open sequentially. Go.

At this time, as shown in FIG. 7, the moving speed of the piston 12 of the actuator 10 is changed from the speed in the FFBW mode (the first-stage orifice speed in FIG. 7) to the opening of the second-stage orifice hole 62b. The state gradually changes to a state where the third-stage orifice hole 62c is opened.
Therefore, a sudden change in the steering angle (transient) does not occur when switching from the FBW mode to the mechanical backup mode, and the conventional transient problem is solved.

As described above, in the actuation system described above, it is possible to provide an actuation system capable of reducing transients and securing a required speed in the mechanical backup mode.

By the way, in the mechanical backup mode, the mechanical control valve 3
1 can transmit the operating force. Therefore, when only one system has failed, the mechanical control valve 31 is operated by the input link 25 driven by the steering force from the other control system, and the actuator 10 in the failed system follows the actuator operation of the other system. Therefore, the FBW control in the normal control system can be performed while performing the control via the mechanical linkage in the control system in which the failure has occurred, and the pilot control load can be reduced.

Of course, it is also possible to switch the normal control system to the manual control mode and operate all the control systems in accordance with the manual operation of the control stick, so that a normal flight by manual control can be performed.

On the other hand, if a hydraulic pressure failure occurs such that a predetermined level of hydraulic pressure is not supplied to any of the multiplexed control systems, the solenoid valve 35 is electromagnetically driven in the same manner as in the normal state. However, the pilot pressure Pa decreases in the event of failure. Also at this time, as described above, the mechanical control valve 31 can be operated by disengaging the input link 25 with the steering force from another control system, and FBW control can be performed in the normal control system.

(3) Control Surface Control at the Time of Failure of All Systems When a failure of an electric circuit affecting all multiplexed control systems occurs, FBW control cannot be performed, and the solenoid valve 35 in each control system operates normally. Since it is not driven, the pilot pressure Pa decreases.

At this time, as in the above-described case, the mode switching valve 33 inserts the mechanical control valve 31 into the supply passage and the discharge passage of the hydraulic oil to the actuator 10 in response to the decrease in the pilot pressure Pa. As the pilot pressure Pa decreases, the switching valve 41 of the time delay valve mechanism 40 is switched to the limit release side, and the switching is delayed by the delay mechanism 46, so that transients are mitigated.

After the mode is switched, the mechanical control valve 31 is operated via the input link 25 by a manual operation input from the control stick, and the control pressure ports 31c and 31d are opened with the opening corresponding to the manual operation. One oil chamber 13 or 14
The hydraulic oil is supplied from the fluid pressure supply source to the return port 3 and the hydraulic oil from the remaining oil chamber 14 or 13 is supplied to the return port 3.
It is discharged to the reservoir circuit through 1b. This allows
In the actuator 10 of each control system, the piston 12 generates a thrust according to the pressure difference between the oil chambers 13 and 14, and the rod portion 12e of the piston 12 changes the control surface to a manual operation amount (pilot command) of the control stick. Control to the corresponding steering angle position. When the control stick is returned to its original position, the supply pressure port 31 is turned off.
The connection between the a and return ports 31b and the control pressure ports 31c and 31d is cut off, the supply and discharge of the hydraulic oil to and from the oil chambers 13 and 14 are stopped, and the steering is maintained.

If a hydraulic pressure failure occurs such that a predetermined level of hydraulic pressure is not supplied to all control systems, the check valve 23 prevents the backflow of hydraulic oil in each control system, and the time on the return side. In the delay valve mechanism 40, the switching valve 41 with the variable throttle element 41a performs a throttle action. Therefore, in this state, fluttering of the control surface can be suppressed.

(Second Embodiment) FIGS. 8 to 10 are views showing an actuation system according to a second embodiment of the present invention. This embodiment is substantially the same as the above-described embodiment except that the time delay valve mechanism 40 is disposed on the hydraulic pressure supply side. Therefore, only differences from the above-described example will be described.

In this embodiment, a time delay valve mechanism 40 is disposed in the pressure introduction passage 21 which is a supply passage of hydraulic oil to the actuator 10, and when the solenoid valve 35 is turned on as shown in FIG. The throttle element is connected to the discharge side of the mechanical control valve 31.

On the other hand, as shown in FIG.
Is turned off and the pilot pressure Pa decreases, the pilot pressure Pa decreases (a predetermined change in the switching operation pressure).
Accordingly, the mode switching valve 33 is switched so that the mechanical control valve 31 is inserted into the supply passage and the discharge passage of the hydraulic oil to the actuator 10. At this time, as the pilot pressure Pa decreases, the switching valve 41 of the time delay valve mechanism 40 is switched to the restriction release side. However, as in the above-described embodiment, the switching is performed by the delay mechanism 4.
6, since the supply / discharge control of the hydraulic oil by the mechanical control valve 31 inserted into the hydraulic oil supply / discharge passage to the actuator 10 is temporarily restricted, the mode is switched from the FBW mode to the mechanical backup mode. The speed of the actuator 10 when the operation is performed is temporarily limited, and the transient is reduced.

(Third Embodiment) FIGS. 11 to 12 show an actuation system according to a third embodiment of the present invention. This embodiment is substantially the same as the above-described embodiment except that the time delay valve mechanism is arranged on both the supply side and the return side of the hydraulic pressure.

In this actuation system, switching valves 141 and 142 integrated in a tandem type are inserted into the pressure introducing passage 21 and the oil passage 28, and these are switched between the supply pressure P and the pilot pressure Pa. A time delay valve mechanism 140 is adopted. The switching valve 141 is connected to the switching valve 142 in the pressure introduction path 21.
Function in the return-side oil passage 28 in the same manner as the time delay valve mechanism 40 described above.

Therefore, also in this case, similarly to the above, the speed of the actuator 10 at the time of switching from the FBW mode to the mechanical backup mode can be temporarily limited, and the transient can be mitigated.

(Fourth Embodiment) FIG. 13 is a view showing an actuation system according to a fourth embodiment of the present invention.

This actuation system does not use the supply pressure from the fluid pressure supply source for switching the switching valve 41 of the time delay valve mechanism 40 as in each of the above-described embodiments, but instead operates the mechanical control valve 31. Discharge boat 31
The hydraulic pressure Pm of b (upstream side of the discharge passage) is sensed, and the sensed pressure is applied to the switching valve 41 of the time delay valve mechanism 40 as a switching pressure against the pilot pressure Pa.

In this case, the switching valve 41 is urged to the fully open side after the hydraulic pressure between the discharge boat 31b of the mechanical control valve 31 and the switching valve 41 is increased, and is the same as the above-described example. In addition, the speed of the actuator 10 at the time of switching from the FBW mode to the mechanical backup mode is temporarily limited, so that transients can be mitigated.

(Fifth Embodiment) FIG. 14 is a view showing an actuation system according to a fifth embodiment of the present invention. In this embodiment, a tandem actuator is used as multiplexing means, and a time delay valve mechanism 40 is provided for each hydraulic system.

In FIG. 14, reference numeral 210 denotes a tandem type actuator, which has a pair of oil chambers 213A, 213B and 214A, 214B. Reference numeral 231 denotes a mechanical control valve having a structure in which eight ports can be opened and closed by an input link 25 and the position thereof can be switched between three positions. The mechanical control valve 231 is provided with a pressure introduction path 2 for two hydraulic systems A and B.
11, a pair of supply pressure ports 231a connected to the branch passages 211a and 221a of the two hydraulic systems A,
A pair of return ports 231b connected to the reservoir circuit via oil paths 281 and 282 on the return side of B;
It has a pair of control pressure ports 231c and 231d connected to both ports 231a and 231b in response to a mechanical operation input of the input link 25. Further, the mechanical control valve 231 has a supply pressure port 231a and a control pressure port 2.
Through the oil chambers 213A and 213d.
B or 214A, 214B, while supplying hydraulic oil from a fluid pressure supply source to the oil chambers 214A, 214B, or 21B.
3A and 213B can be discharged through the return port 31b.
31a, return port 231b and control pressure port 23
1c, 231d and the two oil chambers 213A,
Supply and discharge of hydraulic oil to and from 13B, 214A and 214B can be stopped. In FIG. 14, 23
1e is the valve body of the mechanical control valve 231, 231f, 231g
Are biasing means for biasing the mechanical control valve 231 to the neutral position, for example, a centering spring;
h is a substantially sleeve-shaped operation input section in which each of the ports 231a to 231d is formed. The operation input unit 231h receives a valve element 231e according to an operation input from the input link 25.
, And the opening degree of each of the ports 231a to 231d can be changed.

Reference numeral 232 denotes a three-position switchable electric control valve which is electromagnetically driven so as to open and close the eight ports and adjust the opening degree by electric control signals Sa and Sb from the FCC (not shown). 232 is a pair of supply pressure ports 232a for introducing hydraulic oil from the fluid pressure supply source and a pair of return ports 2 for discharging hydraulic oil to the reservoir circuit.
32b and a pair of control pressure ports 232c, 232d connected to both ports 232a, 232b in response to input of control signals Sa, Sb. The electric control valve 232 is provided, for example, in response to the electric control signals Sa and Sb.
The electromagnetic pressure of the control pressure ports 232c and 23 according to the signal level of the electric control signal Sa or Sb.
Oil chamber 213A, 213B or 214A, 2A through 2d
14B is supplied with hydraulic oil from the fluid pressure supply source and oil chambers 214A, 214B or 213A, 213B
Can be discharged to the reservoir circuit through the return port 232b. Further, the electric control valve 232 disconnects the connection between the supply pressure port 232a and the return port 232b and the control pressure port 232c, 232d, and the oil chambers 213A, 213B, and 214A,
The supply and discharge of the hydraulic oil to 14B can be stopped. Note that, similarly to the first embodiment, the electric control signal S
a is a signal in a steering angle increasing direction, and the electric control signal Sb is a signal in a steering angle decreasing direction. The electromagnetic drive unit 232 of the electric control valve 232 is an electric control signal corresponding to the steering amount.
j, 232k.

On the other hand, the A-system oil chambers 213A and 214A of the actuator 210 and the B-system oil chambers 213B and 213 are provided.
4B is a control valve 2 by switching a pair of mode switching valves 233A and 233B, each of which is a port 2 position switching valve.
31, 232, one of the control pressure ports 231
c, 231d or 232c, 232d. These mode switching valves 233A, 233
B is a pair of control valve side ports 233a and 233b connected to the control pressure ports 231c, 231d and 232c and 232d of the control valves 231 and 232, respectively, and the oil chambers 213A and 214A or the oil chamber 213B, respectively.
It has a pair of actuator side ports 233f, 233g connected to 214B, and a pilot pressure introduction part 233h. Also, the mode switching valves 233A, 233B
Includes a valve body 233j that is displaced in accordance with the biasing force from the pilot pressure introduction section 233h, and a spring 233k that biases the valve body 233j in a direction opposite to the pilot pressure introduction section 233h. The mode switching valves 233A, 233B are connected to the oil pressure chambers 213A, 213B or 214A, 214B so that any one of the control pressure ports 231c, 231d or 232c, 232d of the control valves 231 and 232 can be connected to the oil chambers 213A and 213D by the urging force. Each can be switched between two supply / discharge mode positions.

When the pair of solenoid valves 235A and 235B are ON, the pilot pressures Pa and Pb applied to the pilot pressure introduction portion 233h of the mode switching valve 233 become the supply pressure P from the fluid pressure supply source. When 235A and 235B are OFF, respectively, the pressure drops to the low pressure on the return side. Solenoid valves 235A, 235B
Are the supply pressure ports 231a and 231a of the control valves 231 and 232, respectively.
High pressure side inlet port 235a connected to the high pressure side inlet port 235a and return ports 231b, 232b of the control valves 231 and 232
And an outlet port 235c connected to one of the two inlet ports 235a and 235b according to the mode switching control signals Sc and Sd from the FCC. Also, the solenoid valve 2
35A and 235B are a valve body 235d and a spring 235.
e and the electromagnetic drive unit 235f.
When the switching control signal Sc or Sd is input to f, the valve body 235d is displaced to the ON position shown in the drawing to apply the pilot pressures Pa and Pb to the mode switching valves 233A and 233B through the outlet port 235c. It has become.
That is, the solenoid valves 235A and 235B
In response to the mode switching control signals Sc and Sd from the CC, the operating pressure on one of the fluid pressure supply source and the reservoir circuit is set as the pilot pressure Pa or Pb, and the pilot pressure introducing portions of the mode switching valves 233A and 233B. 233h.

On the other hand, at least one of the supply passage and the discharge passage of the hydraulic oil to the actuator 210 passing through the mechanical control valve 231, for example, the oil passage 28 which is a discharge passage
1, 282 are provided with time delay valve mechanisms 40A, 40B (restriction means) capable of restricting the flow rate of hydraulic oil passing through the mechanical control valve 231.
These time delay valve mechanisms 40A and 40B are configured in the same manner as the time delay valve mechanism 40 in the first embodiment, respectively, and are moved to the fully open position side by the supply pressure P from the pressure introduction paths 211 and 212 that are supply paths. It is urged toward the throttle position by pilot pressures Pa and Pb (switching operation pressure) from the solenoid valves 235A and 235B, and the switching operation is performed.

In this actuation system as well, the same operation as in the above-described embodiment is performed in the hydraulic systems A and B, and when only one of the systems has an electrical failure or a hydraulic failure, control of the FBW mode is continued in the other hydraulic system. When the mode is switched from the FWB mode to the mechanical backup mode, the movement speed of the piston 212 of the actuator 210 is temporarily limited by the time delay valve mechanisms 40A and 40B as in the first embodiment. This will ease transients.

The time delay valve mechanisms 40A and 40B in the fifth embodiment are replaced with the time delay valve mechanism 140 in the third embodiment shown in FIGS. 11 and 12 or the time delay valve mechanism shown in FIG. Needless to say, it can be configured similarly to 40. In each of the embodiments described above, the actuator is described as an actuator for controlling the control surface of an aircraft. However, it is needless to say that the actuator may be a hydraulic actuator or the like for other purposes that is controlled by FBW. The present invention can be widely applied to all FBW control fluid pressure actuator systems with a mechanism.

[0059]

According to the present invention, when the mechanical control valve is inserted into the supply / discharge passage of the working fluid to the actuator, the mechanical control is performed by the restricting means for limiting the flow rate of the working fluid through the mechanical control valve. Since the supply and discharge of the working fluid through the valve is temporarily restricted, the speed of the actuator is temporarily restricted, and the restriction is released later than the switching of the mode switching valve, so that fly-by-wire control is performed. When the mode is switched to the mechanical backup mode, a sudden change in the steering angle (transient) can be prevented.

Further, the restricting means is provided in at least one of a supply passage of the working fluid to the actuator and a discharge passage of the working fluid from the actuator, and is configured to control the pressure of the supply passage and the switching operation pressure. A simple configuration can be achieved by including a switching valve with a variable throttle element that is switched in response to the change, and a delay mechanism including a check valve and a throttle element provided in a supply passage of the switching operation pressure to the switching valve. Thus, a transient can be reduced, and a low-cost actuation system with excellent reliability can be provided.

Further, the switching valve with the variable throttle element has a valve element reciprocating in the increasing and decreasing directions of the opening, and a valve element housing member having an opening hole opened and closed by the valve element. If the opening area of the opening is increased as the valve element moves in the increasing direction of the opening degree, the limiting means is simpler and has a high degree of reliability. Can be configured. Further, if the opening holes are formed of a plurality of orifice holes formed in the valve element housing member so as to be separated from each other in the moving direction of the valve element, the processing is easy and the cost can be reduced. it can.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an actuation system according to a first embodiment of the present invention, showing a state in a fly-by-wire mode.

FIG. 2 is a schematic configuration diagram illustrating a state of a mechanical backup mode of the actuation system according to the first embodiment.

FIG. 3 is a hydraulic circuit diagram illustrating a schematic configuration of a time delay valve mechanism according to the first embodiment.

FIG. 4 is a cross-sectional view illustrating a detailed configuration of the time delay valve mechanism according to the first embodiment, illustrating a state of a fly-by-wire mode.

FIG. 5 is a cross-sectional view showing a detailed configuration of the time delay valve mechanism according to the first embodiment, showing a state in a mechanical backup mode.

FIG. 6 is an explanatory diagram showing an orifice structure of a variable throttle element in the time delay valve mechanism according to the first embodiment;
(A) shows a mode in which the opening is constituted by a plurality of orifice holes, and (b) shows a mode in which the opening is formed as a long hole extending in the valve moving direction.

FIG. 7 is a graph showing the relationship between the switching valve movement time (horizontal axis) of the time delay valve mechanism of the first embodiment and the piston speed (vertical axis) of the actuator when the mode is switched to the mechanical backup mode. is there.

FIG. 8 is a schematic configuration diagram showing an actuation system according to a second embodiment of the present invention, showing a state in a fly-by-wire mode.

FIG. 9 is a schematic configuration diagram illustrating a state of a mechanical backup mode of the actuation system according to the second embodiment.

FIG. 10 is a hydraulic circuit diagram illustrating a schematic configuration of a time delay valve mechanism according to a second embodiment.

FIG. 11 is a schematic configuration diagram showing an actuation system according to a third embodiment of the present invention, showing a state of a fly-by-wire mode.

FIG. 12 is a schematic configuration diagram illustrating a state of a mechanical backup mode of an actuation system according to a third embodiment.

FIG. 13 is a schematic configuration diagram showing an actuation system according to a fourth embodiment of the present invention, showing a state in a fly-by-wire mode.

FIG. 14 is a schematic configuration diagram showing an actuation system according to a fifth embodiment of the present invention, showing a state of a fly-by-wire mode.

[Explanation of symbols]

10, 210 Actuator 11, 211 Cylinder 12, 212 Piston 13, 213A, 213B Oil chamber (one fluid chamber) 14, 214A, 214B Oil chamber (other fluid chamber) 20, 220 Supply / discharge control mechanism 21, 211, 212 Pressure introduction passage (supply passage) 23, 233A, 233B Check valve 25 Input link (operating force transmission member) 28 Oil passage (discharge passage) 31, 231 Mechanical control valve 32, 232 Electric control valve 33, 233A, 233B Mode switching valve 35, 235A, 235B Solenoid valve 40, 40A, 40B, 140 Time delay valve mechanism 41, 141, 142 Switching valve with variable throttle element 41a Variable throttle element 43 Check valve 44 Throttle element 46 Delay mechanism 51 Operating pressure Chamber 61 Spool valve element 61a, 61d Land part 61f Kokororendoriana 62 opening hole 62a, 62b, 62c orifice (opening hole) 63 housing

Claims (5)

[Claims] An actuator for forming one and the other fluid chambers on both sides of a piston housed in a cylinder, for moving the piston by supplying and discharging a working fluid to both fluid chambers, and in response to a mechanical operation input A control valve that operates in response to an input of an electric control signal and a mechanical control valve that operates in response to an input of an electric control signal. A mode switching valve that selects one of the mechanical control valve and the electric control valve according to a switching operation pressure and inserts the hydraulic fluid into the supply and discharge passage of the working fluid to the actuator; An operating force transmitting member for transmitting a mechanical operation input from the control valve to the mechanical control valve. The mode switching valve allows the mechanical control valve to supply a working fluid to the actuator. A backup mechanism that, when inserted into the discharge passage, activates the mechanical control valve by an operation input via the operation force transmitting member, wherein the mechanical system operates according to the switching operation pressure. Limiting means for limiting the flow rate of the working fluid through the control valve, wherein the mechanical control valve is inserted into a supply and discharge passage of the working fluid to the actuator by a predetermined change in the switching operation pressure. When the mode switching valve is switched, the restricting means is actuated by a predetermined change in the switching operation pressure to temporarily restrict the supply and discharge of the working fluid through the mechanical control valve. An actuation system, wherein the restriction is released later than switching. 2. An operation member which is manually operated for steering of a control surface, and one and other fluid chambers are formed on both sides of a piston housed in a cylinder to supply working fluid to both fluid chambers. An actuator for steering a control surface by moving a piston by discharging, control signal output means for outputting an electric control signal corresponding to operation of an operation member or an electric control signal for automatic control, and in response to a mechanical operation input A mechanical control valve that operates and an electric control valve that operates in response to an electric control signal input from the control signal output means, and the working fluid is supplied to the one and other fluid chambers by either of the two control valves. A supply / discharge control mechanism for controlling supply and discharge of a fluid, a fluid supply source for supplying a working fluid at a predetermined supply pressure, a reservoir circuit for storing a working fluid, and any one of the mechanical control valve and the electric control valve A mode switching valve for selecting a switching operation pressure in accordance with a switching operation pressure and inserting the mode into the supply and discharge passages of the working fluid to the actuator, and an operation force transmitting member for transmitting an external mechanical operation input to the mechanical control valve. When the mechanical control valve is inserted into the supply and discharge passage of the working fluid to the actuator by the mode switching valve, a backup for operating the mechanical control valve by an operation input via the operation force transmitting member. An actuation system comprising: a limiting means operable in response to the switching operation pressure to limit a flow rate of a working fluid passing through the mechanical control valve; and a predetermined change in the switching operation pressure. The mode switching valve is turned off so that the mechanical control valve is inserted into a supply and discharge passage of the working fluid to the actuator. When it is obtained, the limiting means is actuated by a predetermined change in the switching operation pressure to temporarily limit the supply and discharge of the working fluid through the mechanical control valve, and the switching is performed later than the switching of the mode switching valve. An actuation system that removes restrictions. 3. The apparatus according to claim 1, wherein said restricting means is provided in at least one of a supply path of a working fluid to said actuator and a discharge path of a working fluid from said actuator, and said pressure of said supply path, said switching operation pressure, And a delay mechanism comprising a check valve and a throttle element provided in a supply passage of switching operation pressure to the switching valve. The actuation system according to claim 1 or 2. 4. A switching element with a variable throttle element, a valve element reciprocating in an increasing direction and a decreasing direction of an opening degree, and a valve element housing member formed with an opening hole opened and closed by the valve element. The actuation according to claim 3, wherein the opening area of the opening is increased as the valve body moves in the increasing direction of the opening. system. 5. The actuation system according to claim 4, wherein said opening hole comprises a plurality of orifice holes formed in said valve body storage member so as to be spaced apart from each other in the moving direction of said valve body. .