CN107329465B - A kind of electric steering engine instrument operating condition monitoring method based on data-link - Google Patents
A kind of electric steering engine instrument operating condition monitoring method based on data-link Download PDFInfo
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- CN107329465B CN107329465B CN201710464065.5A CN201710464065A CN107329465B CN 107329465 B CN107329465 B CN 107329465B CN 201710464065 A CN201710464065 A CN 201710464065A CN 107329465 B CN107329465 B CN 107329465B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The invention discloses a kind of steering engine work state monitoring method based on data-link, belongs to electric steering engine data process&analysis field, which comprises (1) obtains the corresponding rudder command information of electric steering engine and rudder feedback information；(2) rudder deviation information is generated according to the rudder command information of acquisition and rudder feedback information；(3) the corresponding rudder bias state information of electric steering engine is generated according to the rudder deviation information, and acquires the corresponding steering engine self-test information of the electric steering engine；(4) the corresponding steering engine self-test status information of the electric steering engine is generated according to the corresponding steering engine self-test information of the electric steering engine；(5) the corresponding rudder bias state information of the electric steering engine and steering engine self-test status information are exported by data-link, and the electric steering engine working condition is monitored by the rudder bias state information and steering engine self-test status information.
Description
Technical field
The invention belongs to electric steering engine data process&analysis fields, are related to a kind of electric steering engine work based on data-link
State monitoring method.
Background technique
Missile-borne bi-directional data chain is the developing direction of aircraft of new generation, and ground installation or platform can be transmitted to aircraft to be made
Information is led, aircraft can also send the information that the working condition of itself, moving situation and target seeker intercept and capture situation etc. to
Platform or ground installation.Electric steering engine is the important executing agency of aircraft, and electric steering engine is servomechanism, electric steering engine according to
The instruction of input drives the position of rudder face rotation arrival demand, realizes the control in aircraft flight direction, therefore, electric steering engine
Working condition directly influence the performance of aircraft.
Currently, judge the rudder whether electric steering engine work normally mainly acquire according to remote-measuring equipment instruct, rudder feed back with
And the signals such as supply voltage are monitored.However in manoeuvre and war instruction stage, aircraft can not configure remote-measuring equipment, fly
Cheng Zhongruo product goes wrong, and can not only be monitored to the working condition of electric steering engine with video recording, so that existing electric steering engine
The narrow scope of application of work state monitoring method, and then the flight safety of aircraft is caused to be unable to get guarantee.
Summary of the invention
Technology of the invention solves the problems, such as: having overcome the deficiencies of the prior art and provide a kind of based on the electronic of data-link
Steering engine instrument operating condition monitoring method realizes electric steering engine working state monitoring, and telemetering can not be configured in aircraft by, which solving, sets
When standby, the problem of can not being monitored to electric steering engine working condition.
The technical solution of the invention is as follows: a kind of electric steering engine instrument operating condition monitoring method based on data-link, including
Following steps:
(1) the corresponding rudder command information of electric steering engine and rudder feedback information are obtained；
(2) rudder deviation information is generated according to the rudder command information and the rudder feedback information；
(3) the corresponding rudder bias state information of electric steering engine is generated according to the rudder deviation information, and acquired described electronic
The corresponding steering engine self-test information of steering engine；
(4) the corresponding steering engine self-test shape of the electric steering engine is generated according to the corresponding steering engine self-test information of the electric steering engine
State information；
(5) the corresponding rudder bias state information of the electric steering engine and steering engine self-test status information are exported by data-link,
And the electric steering engine working condition is monitored by the rudder bias state information and steering engine self-test status information.
Further, the method that the corresponding rudder bias state information of electric steering engine is generated according to rudder deviation information are as follows:
According to formulaIt is calculated, wherein Estate is rudder deviation
Status information, δ are data resolution, and δ is corresponding with the data bits of data-link, and A is constant, the data bits of A and data-link
Corresponding, Uint is rounding operation,ei=Dzi-Dfi, Dzi、DfiFor each meter in data-link transmission cycle
Calculate the rudder command information and rudder feedback information of period acquisition, eiThe rudder calculated for calculating cycle each in data-link transmission cycle is inclined
Poor information, data-link transmission cycle are the integral multiple of calculating cycle, and i=1,2,3 ... N, N are the calculating in data-link transmission cycle
Total degree,For the mean value of the rudder deviation in data-link transmission cycle.
Further, described corresponding according to the electric steering engine corresponding steering engine self-test information generation electric steering engine
The method of steering engine self-test status information are as follows:
According to formulaIt is calculated, wherein Bitstate is steering engine self-test state letter
Breath, Bitcount are count value of the corresponding counter of steering engine self-test information in a data transfer cycle, steering engine self-test information
It is 1 or 0, each calculating cycle in data transfer cycle, if steering engine self-test information is 1, Bitcount, counting adds
1, K is the count threshold upper limit, and time needed for reaching target position when the value of K works according to electric steering engine and calculating cycle are true
It is fixed.
Further, it is described by the rudder bias state information and steering engine self-test status information to the electric steering engine work
The method being monitored as state are as follows:
If steering engine self-test status information is 1 or rudder bias state information is A, the electric steering engine working condition is confirmed
There are exceptions；If steering engine self-test status information is 0 and rudder bias state information isThen confirm described electronic
Steering engine working condition is normal.
Further, described that the corresponding rudder bias state information of the electric steering engine and steering engine self-test are exported by data-link
The method of status information are as follows:
Data frame information is generated according to the rudder bias state information and steering engine self-test status information；
The data frame information is sent by data-link.
The advantages of the present invention over the prior art are that:
Steering engine work state monitoring method provided by the invention based on data-link does not need additionally to configure on board the aircraft
Equipment for monitoring electric steering engine working condition, therefore while reducing hardware configuration complexity, due to being not only restricted to
Remote-measuring equipment etc. additionally serve as monitoring electric steering engine working condition equipment, according to the rudder command information of acquisition, rudder feedback information,
And steering engine self-test information, in one data-link transmission cycle of aircraft computer complete rudder deviation resolve and summation operation with
And steering engine self-test message count statistics, then to rudder deviation and value averaging and rounding operation and according to steering engine self-test message count
Statistical result obtains steering engine self-test status information, exports above- mentioned information finally by data-link, for carrying out to electric steering engine
Working condition is monitored, and the scope of application and reliability of electric steering engine Working Status Monitoring can be improved.
Detailed description of the invention
Fig. 1 is the electric steering engine work state monitoring method schematic diagram provided in an embodiment of the present invention based on data-link；
Fig. 2 is the electric steering engine work state monitoring method software flow provided in an embodiment of the present invention based on data-link
Figure.
Specific embodiment
The implementation flow chart of the embodiment of the present invention is as shown in Figure 1, illustrating specific implementation process of the embodiment of the present invention
Before, realization principle is illustrated first:
Since rudder bias state information is the important monitoring index of electric steering engine working condition, and steering engine self-test status information
Steering engine trace simulation instruction performance can be reacted, wherein be greater than certain threshold value with the difference of simulation rudder feedback when simulation rudder is instructed, then
Steering engine self-test information is 1, is otherwise 0, and in embodiments of the present invention, steering engine self-test information is BIT information, steering engine self-test state letter
Breath is BIT status information.Therefore, integration apparatus obtains rudder instruction in real time according to actual needs on aircraft, and acquires steering engine
The multichannel rudder feedback information and steering engine self-test information in cabin complete rudder deviation on board the aircraft and resolve and ask in computer a cycle
Judge with operation and steering engine self-test information state, after relevant information processing, passes through output rudder bias state information and steering engine
Self-test status information, to realize electric steering engine working state monitoring.
It is described in detail below with reference to specific implementation process of the Fig. 2 to the embodiment of the present invention:
1) the corresponding rudder command information of electric steering engine and rudder feedback information are obtained, and according to rudder command information and rudder feedback letter
Breath obtains rudder deviation information Error.
Wherein, rudder deviation Error is resolved primary, then count is incremented by rudder offset counter ErrorCount.
2) summation operation is carried out to rudder deviation Error, i.e., rudder deviation is every resolves primary, rudder deviation and Sum value sovolin
Preceding deviation；
Specifically, according to formulaIt is calculated, wherein Dzi、DfiIt is obtained for each calculating cycle
Rudder command information and rudder feedback information, eiFor the rudder deviation information that calculating cycle each in data-link transmission cycle calculates, data
Chain transmission cycle is the integral multiple of calculating cycle, and i=1,2,3 ... N, N are the calculating total degree in data-link transmission cycle,For
The mean value of rudder deviation in data-link transmission cycle.
3) the corresponding rudder bias state information of electric steering engine is generated according to the rudder deviation information, and acquires the electronic rudder
The corresponding steering engine self-test information of machine.
Wherein, according to formulaIt is calculated, wherein Estate is
Rudder bias state information, δ are data resolution, and δ is corresponding with the data bits of data-link, specially 2x, x is data bits,
For example, data bits be 4, then data resolution be 16, i.e., data resolution be 2 biquadratic.A is constant, A and data-link
Data bits is corresponding, specially from 20Start successively to add up, until being added to 2x-1.For example, data bits is 3, then A is 7,
That is A be 2 quadratic power and 2 first power and 2 zero degree side and, Uint is rounding operation.
In embodiments of the present invention, steering engine self-test information is 1 or 0, when the difference of the instruction of simulation rudder and simulation rudder feedback
When for example motor Hall element breaks down, steering engine self-test information is device when greater than limiting threshold value or inside electric steering engine
1, remaining steering engine self-test information is 0.
4) according to formulaCalculate steering engine self-test status information.
Wherein, Bitstate is steering engine self-test status information, and Bitcount is that the corresponding counter of steering engine self-test information exists
The count value of one data transfer cycle, steering engine self-test information are 1 or 0, each in data transfer cycle calculates week
Phase, if steering engine self-test information is that count is incremented by 1, Bitcount, K is the count threshold upper limit, and the value of K works according to electric steering engine
When reach target position needed for time and calculating cycle determine, specially electric steering engine set from zero-bit to maximum rudder deviation when
Between be rounded downwards and obtain with the ratio of calculating cycle.For example, K can be 50.
It should be noted that before receiving data and sending instruction, if ErrorCount count value N >=300, illustrate at this time
There are problems for resolving, then Sum zero setting, Bitcount are set 0 and ErrorCount and set 0, so as to further increase calculating
Accuracy rate.
5) output carries the data of the electric steering engine corresponding rudder bias state information and steering engine self-test status information
Frame information, and Sum, ErrorCount and Bitcount are set 0.
Wherein, rudder bias state information and steering engine self-test status information are for supervising the electric steering engine working condition
Control.Specifically, when steering engine self-test status information be 1 and/or rudder bias state information be greater than or equal to A when, it may be said that it is bright at this time
Steering engine not to signal track or electric steering engine inside element there are failures.If steering engine self-test status information is 0 simultaneously
And rudder bias state information isThen confirm that the electric steering engine working condition is normal.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (2)
1. a kind of electric steering engine instrument operating condition monitoring method based on data-link characterized by comprising
(1) the corresponding rudder command information of electric steering engine and rudder feedback information are obtained；
(2) rudder deviation information is generated according to the rudder command information and the rudder feedback information；
(3) the corresponding rudder bias state information of electric steering engine is generated according to the rudder deviation information, and acquires the electric steering engine
Corresponding steering engine self-test information；
Wherein, the method that the corresponding rudder bias state information of electric steering engine is generated according to rudder deviation information are as follows:
According to formulaIt is calculated, wherein Estate is rudder bias state
Information, δ are data resolution, and δ is corresponding with the data bits of data-link, and A is constant, and A is opposite with the data bits of data-link
It answering, Uint is rounding operation,ei=Dzi-Dfi, Dzi、DfiFor each calculating week in data-link transmission cycle
The rudder command information and rudder feedback information that phase obtains, eiThe rudder deviation letter calculated for calculating cycle each in data-link transmission cycle
Breath, data-link transmission cycle are the integral multiple of calculating cycle, and i=1,2,3 ... N, N are that the calculating in data-link transmission cycle is always secondary
Number,For the mean value of the rudder deviation in data-link transmission cycle；
(4) the corresponding steering engine self-test state of the electric steering engine is generated according to the corresponding steering engine self-test information of the electric steering engine to believe
Breath；
Wherein, the corresponding steering engine self-test information of the electric steering engine generates the corresponding steering engine self-test status information of the electric steering engine
Method are as follows:
According to formulaIt being calculated, wherein Bitstate is steering engine self-test status information,
Bitcount is count value of the corresponding counter of steering engine self-test information in a data-link transmission cycle, and steering engine self-test information is
1 or 0, each calculating cycle in data-link transmission cycle, if steering engine self-test information is 1, Bitcount, counting adds
1, K is the count threshold upper limit, and time needed for reaching target position when the value of K works according to electric steering engine and calculating cycle are true
It is fixed；
(5) the corresponding rudder bias state information of the electric steering engine and steering engine self-test status information are exported by data-link, and led to
The rudder bias state information and steering engine self-test status information is crossed to be monitored the electric steering engine working condition.
2. a kind of electric steering engine instrument operating condition monitoring method based on data-link according to claim 1, which is characterized in that
It is described by the rudder bias state information and steering engine self-test status information the electric steering engine working condition to be monitored
Method are as follows:
If steering engine self-test status information is 1 or rudder bias state information is A, confirm that the electric steering engine working condition exists
It is abnormal；
If steering engine self-test status information is 0 and rudder bias state information isThen confirm the electric steering engine
Working condition is normal.
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| JP2001067122A (en) * | 1999-08-26 | 2001-03-16 | Matsushita Electric Works Ltd | Method for diagnosing ladder program and equipment diagnostic device |
| JP3627859B2 (en) * | 2001-06-12 | 2005-03-09 | Ｎｅｃネットワーク・センサ株式会社 | Rudder control system |
| CN202929406U (en) * | 2012-11-16 | 2013-05-08 | 中国航空工业第六一八研究所 | Portable earth station |
| CN103558838B (en) * | 2013-11-01 | 2016-02-03 | 北京航空航天大学 | A kind of solid-liquid power aircraft ground launch vehicle measurement of 422 buses |
| CN103838230B (en) * | 2014-03-11 | 2016-04-06 | 南京景曜智能科技有限公司 | The failure switching method of the digital rudder controller control system of a kind of extendible redundance and the number of axle |
| CN106842026B (en) * | 2017-03-01 | 2019-09-27 | 上海航天控制技术研究所 | A kind of electric steering engine self checking method |
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