Electro-mechanical actuator with integrated fail-operational mechanism
Some embodiments relate to an electro-mechanical actuator that includes a screw, structurally segregated (split) housings, first and second nuts coupled to the screw, a sensor assembly, a plurality of motors, and a controller. The first nut is coupled to a first mounting point, and the second nut is coupled to a second mounting point. The sensor assembly may generate signals indicative of (e.g., relative) positions of left and right units of the actuator or positions of the first nut and the second nut on the screw. The controller controls the motors based on the signals generated by the sensor assembly. The motors may rotate each nut about a screw axis of the screw. This rotation results in one or both nuts moving along the screw. Movement between the first nut and the second nut along the screw adjusts a distance between the first mounting point and the second mounting point.
1. An electro-mechanical actuator comprising:
a screw;
a first nut coupled to the screw, wherein the first nut is coupled to a first mounting point;
a first inverted nut coupled to the first nut;
a second nut coupled to the screw, wherein the second nut is coupled to a second mounting point;
a sensor assembly configured to generate signals indicative of positions of the first nut and the second nut on the screw;
a first motor configured to rotate the first nut about a screw axis of the screw;
a second motor configured to rotate the second nut about the screw axis of the screw; and
a backup motor configured to rotate the second nut about the screw axis of the screw, wherein movement between the first nut and the second nut along the screw adjusts a distance between the first mounting point and the second mounting point,
wherein a controller module is configured to control the first motor, the second motor, or the backup motor based on the signals generated by the sensor assembly.
2. The electro-mechanical actuator of claim 1 , wherein the controller module is further configured to, after a determination that a failure of the second motor has occurred and after an identification of the backup motor, adjust the distance between the first mounting point and the second mounting point via the backup motor.
3. The electro-mechanical actuator of claim 1 , wherein the controller module is further configured to control the second motor to stop rotating the second nut.
4. The electro-mechanical actuator of claim 1 , wherein the controller module is further configured to, after a determination that a failure of the first motor has occurred and responsive to a determination that the actuator does not include a backup motor configured to rotate the first nut about the screw, adjust the distance between the first mounting point and the second mounting point via the second motor.
5. The electro-mechanical actuator of claim 1 , wherein the controller module is further configured to: after a determination that the first nut is jammed, adjust the distance between the first mounting point and the second mounting point via the second motor.
6. The electro-mechanical actuator of claim 1 , further comprising a second backup motor configured to rotate the first nut about the screw axis of the screw.
7. The electro-mechanical actuator of claim 1 , wherein the controller module is further configured to determine a rate of actuation and to control the first motor, the second motor, or the backup motor based on the rate of actuation.
8. The electro-mechanical actuator of claim 1 , wherein the controller module is further configured to determine changes in positions of the first nut and the second nut on the screw by tracking a number of rotations of the first nut about the screw and a number of rotations of the second nut about the screw.
9. The electro-mechanical actuator of claim 8 , wherein the controller module is further configured to determine changes in positions of the first nut and the second nut on the screw based on the signals generated by the sensor assembly.
10. The electro-mechanical actuator of claim 9 , wherein the controller module is further configured to compare the changes in positions determined based on the signals generated by the sensor assembly with the changes in positions determined by tracking the rotations.
11. The electro-mechanical actuator of claim 10 , wherein the controller module is configured to control the first motor, the second motor, or the backup motor based on the comparison.
12. The electro-mechanical actuator of claim 1 , wherein the first nut is coupled to the first mounting point by a first housing.
13. The electro-mechanical actuator of claim 12 , wherein the first housing includes a groove and a first end of the screw is coupled to a cap with a protrusion, and wherein the protrusion is configured to slide along the groove as the first nut moves along the screw.
14. The electro-mechanical actuator of claim 1 , wherein the signals generated by the sensor assembly are indicative of a position of the first nut relative to the second nut along the screw.
15. The electro-mechanical actuator of claim 1 , wherein the signals generated by the sensor assembly are indicative of a position of the first nut on the screw.
16. The electro-mechanical actuator of claim 1 , wherein the controller module is further configured to, after a determination that a failure of the first motor has occurred, reset the first motor based on the signals generated by the sensor assembly.
17. The electro-mechanical actuator of claim 1 , further comprising a brake system comprising a brake disk with at least one notch, a solenoid, and a pawl.
18. The electro-mechanical actuator of claim 1 , wherein the electro-mechanical actuator is mounted to only the first mounting point and the second mounting point.
19. The electro-mechanical actuator of claim 1 , wherein the electro-mechanical actuator is the only actuator coupled to the first and second mounting points.