CN108897269B - Fault-tolerant control method for pressure sensor of airplane all-electric brake system - Google Patents
Fault-tolerant control method for pressure sensor of airplane all-electric brake system Download PDFInfo
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- CN108897269B CN108897269B CN201810742117.5A CN201810742117A CN108897269B CN 108897269 B CN108897269 B CN 108897269B CN 201810742117 A CN201810742117 A CN 201810742117A CN 108897269 B CN108897269 B CN 108897269B
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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Abstract
The invention discloses a fault-tolerant control method for a pressure sensor of an all-electric brake system of an airplane, which is used for solving the technical problem of poor safety of the existing fault-tolerant control method. The technical scheme is that when a pressure sensor of the airplane electric brake system fails, the given value of the airplane brake pressure is judged to be increased or decreased compared with the given value of the airplane brake pressure before change. When the given value of the airplane brake pressure is increased, the current-pressure closed-loop control is adopted to enable the pressure output of the airplane all-electric brake system to track the given value of the airplane brake pressure; when the given value of the airplane brake pressure is reduced, a backspacing Hall mode is selected to enable the output pressure of the airplane all-electric brake system to be smaller than the given value, and then current-pressure closed-loop control is adopted to enable the pressure output of the airplane all-electric brake system to be increased to track the given value of the airplane brake pressure. The invention can ensure that the airplane all-electric brake system can still normally work when the pressure sensor fails, thereby improving the safety of airplane operation.
Description
Technical Field
The invention relates to a fault-tolerant control method, in particular to a fault-tolerant control method for a pressure sensor of an all-electric brake system of an airplane.
Background
With the continuous development of aviation technology, computer technology and new materials, all-Electric Aircraft (AEAAll-Electric-Aircraft) has gradually become a development trend in the future. As a core component of an airplane, a hydraulic brake system is generally adopted in the existing airplane brake system, but the system has the defects of heavy weight of an actuating mechanism, complex system structure, flammability and easiness in leakage of hydraulic oil and the like. Compared with the prior art, the all-electric brake system has the advantages of light weight, high actuation frequency and simple structure, and can effectively avoid accidents caused by hydraulic oil leakage and improve the safety of the brake system and the airplane. Therefore, the replacement of the hydraulic brake system by the electric brake system will be the development trend of a new generation of electric airplanes.
In the airplane electric brake system, the pressure sensor is used as a brake pressure detection element of the airplane electric brake system and is an important element for ensuring the normal operation of the airplane electric brake system. The method aims at the problem that a pressure sensor of the brake system breaks down due to mechanical vibration, line interface falling and the like in the running process of the airplane electric brake system. Therefore, the research on the fault-tolerant control method of the pressure sensor of the all-electric aircraft brake system is beneficial to ensuring the reliable operation of the aircraft brake system, and has an important visual effect on the safe operation of the aircraft.
The document 'Chinese invention patent with application publication number CN 102706506A' discloses a fault-tolerant control method for a pressure sensor of an electric brake system of an airplane. The method adopts the redundancy of the pressure sensors to ensure the reliable operation of the airplane all-electric brake system when one pressure sensor fails. However, when all the pressure sensor devices are in failure, the method cannot realize fault-tolerant control of the pressure sensor of the airplane electric brake system, so that the safe operation of the airplane electric brake system cannot be ensured.
Disclosure of Invention
In order to overcome the defect of poor safety of the conventional fault-tolerant control method, the invention provides a fault-tolerant control method for a pressure sensor of an all-electric brake system of an airplane. When the pressure sensor of the electric brake system of the airplane fails, the method firstly judges whether the given value of the brake pressure of the airplane is increased or decreased compared with the given value of the brake pressure of the airplane before changing. When the given value of the airplane brake pressure is increased, the current-pressure closed-loop control is adopted to enable the pressure output of the airplane all-electric brake system to track the given value of the airplane brake pressure; when the given value of the airplane brake pressure is reduced, a backspacing Hall mode is selected to enable the output pressure of the airplane all-electric brake system to be smaller than the given value, and then current-pressure closed-loop control is adopted to enable the pressure output of the airplane all-electric brake system to be increased to track the given value of the airplane brake pressure. The invention can ensure that the airplane electric brake system can still normally work when the pressure sensor fails, stably output the brake pressure, ensure the reliable operation of the airplane electric brake system and improve the safety of the airplane operation.
The technical scheme adopted by the invention for solving the technical problems is as follows: a fault-tolerant control method for a pressure sensor of an all-electric brake system of an airplane is characterized by comprising the following steps:
firstly, a pressure sensor collects the pressure applied to a braked wheel through a pressure feedback signal collecting circuit, and a fault diagnosis signal of the pressure sensor is output through a fault detection circuit.
Secondly, when the fault detection circuit outputs a fault signal, the CPU judges whether the given value of the airplane brake pressure is increased or decreased compared with the given value of the airplane brake pressure before change by collecting the given value of the airplane brake pressure, and enters a third step when the given value of the system pressure is increased or unchanged; and when the given value of the system pressure is reduced, the fourth step is carried out.
And thirdly, when the pressure set value of the all-electric brake system of the airplane is increased or unchanged, fitting a relational expression of the pressure output of the system and the bus current of the servo motor through a linear relation between the system and the bus current, and controlling the output pressure by adopting a current-pressure closed loop to achieve the pressure set value. When the brake pressure reaches the given value, the given pressure of the system is unchanged, the motor stops working at the moment, the mechanical structure has a self-locking effect, and the brake system keeps constant pressure output.
And fourthly, when the pressure set value of the airplane electric brake system is reduced, the current of the bus has hysteresis, so that the output pressure of the system is not changed when the current of the servo motor bus is reduced, a backspacing Hall mode is adopted, after the backspacing of the Hall, the actual output pressure value of the airplane electric brake system is close to a pressure value slightly smaller than the pressure set value, and then the pressure output is increased through current-pressure closed-loop control, so that the pressure output of the airplane electric brake system reaches the set value when the pressure set value of the airplane brake is reduced.
Further, the pressure sensor is a four-wire system pressure sensor.
Further, the pressure feedback signal acquisition circuit is AD620 of Analog Devices.
Further, the controller CPU employs Texas Instruments TMS320F 812.
The invention has the beneficial effects that: when the pressure sensor of the electric brake system of the airplane fails, the method firstly judges whether the given value of the brake pressure of the airplane is increased or decreased compared with the given value of the brake pressure of the airplane before changing. When the given value of the airplane brake pressure is increased, the current-pressure closed-loop control is adopted to enable the pressure output of the airplane all-electric brake system to track the given value of the airplane brake pressure; when the given value of the airplane brake pressure is reduced, a backspacing Hall mode is selected to enable the output pressure of the airplane all-electric brake system to be smaller than the given value, and then current-pressure closed-loop control is adopted to enable the pressure output of the airplane all-electric brake system to be increased to track the given value of the airplane brake pressure. The invention can ensure that the airplane electric brake system can still normally work when the pressure sensor fails, stably output the brake pressure, ensure the reliable operation of the airplane electric brake system and improve the safety of the airplane operation.
Specifically, the method comprises the following steps: firstly, when a pressure sensor of the airplane electric brake system fails, the method for reducing the pressure output of the airplane electric brake system by adopting current-pressure closed-loop control and a backspacing Hall mode is adopted, so that the output pressure of the airplane electric brake system reaches a given value, the normal operation of the airplane electric brake system is ensured, the reliability of the airplane electric brake system is improved, and the safe operation of the airplane is ensured;
secondly, under the same given aircraft brake pressure value, when the pressure sensor of the aircraft electric brake system fails, the pressure value output by the system fault-tolerant control is compared with the pressure value output by the system when the pressure sensor of the aircraft electric brake system is normal, and the error is not more than 5%;
thirdly, the invention ensures the normal operation of the airplane electric brake system under the condition of no pressure sensor;
fourthly, the invention does not relate to any hardware circuit design, and the method is simple.
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a flow chart of a fault-tolerant control method for a pressure sensor of an electric brake system of an aircraft according to the invention.
FIG. 2 is a graph of current versus pressure for the method of the present invention.
FIG. 3 is a plot of Hall back versus pressure for the method of the present invention.
Detailed Description
The following examples refer to fig. 1-3. The TMS320F2812 is used as a control chip, and the permanent magnet brushless direct current motor is used as a servo motor of the electric brake system. One DSP chip can independently output two groups of six paths of PWM control signals, so that one control chip can be used for independently controlling two paths of brake work. The signal processing circuit sends the collected feedback pressure signal, motor Hall signal, bus current signal and other signals to the main control chip after amplification, conditioning and isolation, and the control circuit of the system mainly comprises a communication circuit, AD sampling, I/O and the like.
And installing the electric brake system with the pressure sensor with determined fault so as to perform fault-tolerant control on the pressure sensor.
The fault-tolerant control method for the pressure sensor of the all-electric brake system of the airplane comprises the following specific steps:
firstly, a pressure sensor is adopted in an airplane all-electric brake system to acquire the pressure borne by a braked wheel through a pressure feedback signal acquisition circuit, then a pressure feedback signal is sent to a fault detection circuit, and a controller CPU acquires a fault diagnosis signal of the pressure sensor. If the pressure sensor is normal, the Detection is 0, and the airplane all-electric brake system normally operates; if the pressure sensor fails, the Detection 1 airplane electric brake system operates in a pressure sensor fault-tolerant control mode.
Secondly, when the fault detection circuit outputs a fault signal, the CPU judges whether the given value of the airplane brake pressure is increased or decreased compared with the given value of the airplane brake pressure before change by collecting the given value of the airplane brake pressure, and enters a third step when the given value of the system pressure is increased or unchanged, if yes, the PreChange is 0; when the given value of the system pressure is reduced, PreChange is 1, and the fourth step is entered.
And thirdly, when the pressure given state judgment signal PreChange is 0, increasing or keeping the pressure given value of the airplane electric brake system. When the pressure is increased, a linear relation exists between the system pressure output and the servo motor bus current, a relational expression between the system pressure output and the servo motor bus current is fitted through the linear relation between the system pressure output and the servo motor bus current, the system rotating speed-pressure closed-loop control is converted into current pressure closed-loop control, the current closed-loop control system is adopted to output the pressure, the control of the airplane all-electric brake system without a pressure sensor is realized, and the pressure output value of the airplane all-electric brake system reaches a pressure set value.
And fourthly, when the pressure given state judgment signal PreChange is 1, the pressure given by the airplane electric brake system is reduced. In normal braking, when the braking pressure reaches a given value, the motor stops working, and because of the self-locking effect of the mechanism, the relation between the bus current and the pressure is hysteresis, so that the output pressure of the system is basically unchanged when the bus current of the servo motor is reduced. Therefore, the Hall type brake pressure control device has the advantages that a certain mechanical angle is backed to be close to a pressure value which is slightly smaller than a given value through the Hall, and then the current closed-loop control pressure is increased.
Further, the pressure sensor in the first step is a four-wire system pressure sensor.
Further, the pressure feedback signal acquisition circuit in the first step is composed of AD620 of Analog Devices.
Further, the controller CPU in step two employs a Texas Instruments TMS320F 812.
Claims (4)
1. A fault-tolerant control method for a pressure sensor of an all-electric brake system of an airplane is characterized by comprising the following steps:
firstly, a pressure sensor acquires pressure borne by a braked wheel through a pressure feedback signal acquisition circuit, and a fault diagnosis signal of the pressure sensor is output through a fault detection circuit;
secondly, when the fault detection circuit outputs a fault signal, the CPU judges whether the given value of the airplane brake pressure is increased or decreased compared with the given value of the airplane brake pressure before change by collecting the given value of the airplane brake pressure, and enters a third step when the given value of the system pressure is increased or unchanged; when the given value of the system pressure is reduced, entering a fourth step;
thirdly, when the pressure set value of the all-electric brake system of the airplane is increased or unchanged, fitting a relational expression of the pressure output of the system and the bus current of the servo motor through a linear relation between the system and the bus current, and controlling the output pressure by adopting a current-pressure closed loop to achieve the pressure set value; when the braking pressure reaches a given value, the given pressure of the system is unchanged, the motor stops working at the moment, the mechanical structure has a self-locking effect, and the braking system keeps constant pressure output;
and fourthly, when the pressure set value of the airplane electric brake system is reduced, the current of the bus has hysteresis, so that the output pressure of the system is not changed when the current of the servo motor bus is reduced, a backspacing Hall mode is adopted, after the backspacing of the Hall, the actual output pressure value of the airplane electric brake system is close to a pressure value slightly smaller than the pressure set value, and then the pressure output is increased through current-pressure closed-loop control, so that the pressure output of the airplane electric brake system reaches the set value when the pressure set value of the airplane brake is reduced.
2. The fault-tolerant control method for the pressure sensor of the all-electric brake system of the airplane as claimed in claim 1, is characterized in that: the pressure sensor is a four-wire system pressure sensor.
3. The fault-tolerant control method for the pressure sensor of the all-electric brake system of the airplane as claimed in claim 1, is characterized in that: the pressure feedback signal acquisition circuit is AD620 of Analog Devices.
4. The fault-tolerant control method for the pressure sensor of the all-electric brake system of the airplane as claimed in claim 1, is characterized in that: the controller CPU employs Texas Instruments TMS320F 812.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810742117.5A CN108897269B (en) | 2018-07-09 | 2018-07-09 | Fault-tolerant control method for pressure sensor of airplane all-electric brake system |
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| CN201810742117.5A CN108897269B (en) | 2018-07-09 | 2018-07-09 | Fault-tolerant control method for pressure sensor of airplane all-electric brake system |
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| CN108897269B true CN108897269B (en) | 2020-10-27 |
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| US7489996B2 (en) * | 2004-05-06 | 2009-02-10 | Hydro-Aire, Inc. | Antiskid control unit and data collection system for vehicle braking system |
| US7228945B2 (en) * | 2005-03-16 | 2007-06-12 | Hr Textron, Inc. | Techniques for employing electric brakes to control movement of rotatable components |
| JP4781899B2 (en) * | 2006-04-28 | 2011-09-28 | 日立オートモティブシステムズ株式会社 | Engine fuel supply system |
| CN102700530B (en) * | 2012-05-31 | 2014-11-05 | 西北工业大学 | Redundant driving electric brake of airplane and control method for redundant driving electric brake |
| CN102700542B (en) * | 2012-05-31 | 2014-06-11 | 西北工业大学 | Dual-redundancy electric brake device of airplane and control method for dual-redundancy electric brake device |
| CN102706505A (en) * | 2012-05-31 | 2012-10-03 | 西北工业大学 | Redundancy device for aircraft electric brake pressure sensor and method for controlling redundancy device |
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| CN104787311B (en) * | 2015-04-08 | 2016-09-21 | 西北工业大学 | A kind of Electrical Break System of Aircraft and Electric Brake System of Aircraft remaining control method |
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|---|---|---|---|---|
| EP2660676A1 (en) * | 2012-05-03 | 2013-11-06 | Honeywell International Inc. | Auto-guidance method and control system for aircraft electric taxiing |
| CN102700534A (en) * | 2012-05-31 | 2012-10-03 | 西北工业大学 | Driving control method for electric brake of airplane |
| CN103661335A (en) * | 2013-11-15 | 2014-03-26 | 西安航空制动科技有限公司 | Double-signal digital telex anti-skid brake system |
Non-Patent Citations (1)
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