CN111038683B - Instruction selection method for double operating devices - Google Patents
Instruction selection method for double operating devices Download PDFInfo
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- CN111038683B CN111038683B CN201911412129.2A CN201911412129A CN111038683B CN 111038683 B CN111038683 B CN 111038683B CN 201911412129 A CN201911412129 A CN 201911412129A CN 111038683 B CN111038683 B CN 111038683B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/12—Dual control apparatus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention belongs to the technical field of aircraft flight control, and provides a double-operating-device instruction selection method, which comprises the following steps: and the principle of main driving priority is realized, and when one side operating device is jammed, the non-jammed side displacement instruction is selected to be executed. The invention can retain the mechanical linkage type double-operating device structure of the traditional fly-by-wire control system and a fly-by-wire control computer, realize an operating device instruction selector according to the force signal, the displacement signal, the force signal fault identification and the displacement signal fault identification of the operating device, ensure the principle of priority of driving, and consider the fault modes of clamping failure, displacement signal failure or force signal failure of the operating device, and realize the correct and reasonable selection of the operating device instruction. In addition, the application of the method does not need to modify any structural part of the fly-by-wire control system, the algorithm software can be directly added into the fly-by-wire control computer, the modification cost is saved, and the research and development period is shortened.
Description
Technical Field
The invention belongs to the technical field of aircraft flight control, and relates to a design method of a mechanical linkage type double-operating device instruction selector.
Background
The double-pilot mode airplane has one set of operating devices for each pilot, the operating devices are realized by a mechanical system, and the two operating devices have a linkage function, namely when one operating device is controlled to move, the other operating device can be linked. The flight control computer needs to receive the displacement instruction of the correct operating device, so as to calculate the control surface deflection instruction and control the deflection of the control surface of the aircraft.
In general, the two-person driving mode has a primary and a secondary division, and the control instruction of the primary driving is prioritized, that is, the flight control computer needs to preferentially select the control instruction of the primary driving. In addition, there are situations where a set of operators is stuck in a certain position, in which the pilot can only operate the normal operators to control the aircraft. Therefore, it is desirable to design the operator command selector to achieve proper selection of the dual operator command.
In the current design process of the domestic aircraft, the command selector of the operating device is divided into a main driving operation always priority type and a main driving and auxiliary driving operation command average type, or an operation change-over switch is arranged to realize manual switching of the operation command. The first instruction selector cannot give consideration to the clamping failure of the operating device; the second instruction selector can reduce the control authority of the airplane under the condition of clamping of the control device; the third instruction selector needs to add an operation change-over switch, increases pilot operation programs, occupies the space of an operation device and increases development cost.
Disclosure of Invention
The invention aims to: aiming at the mechanical linkage type double operating device of the fly-by-wire aircraft, a double operating device instruction selection method is provided, and an operating instruction signal is selected in real time according to an operating device force signal, a displacement signal, a force signal fault identifier and a displacement signal fault identifier.
The technical scheme is as follows:
a dual operator instruction selection method, comprising:
and the principle of main driving priority is realized, and when one side operating device is jammed, the non-jammed side displacement instruction is selected to be executed.
The method comprises the following steps:
if the main driving displacement signal is normal and the main/auxiliary driving instruction selection mark is main driving, selecting the main driving displacement signal as an instruction signal;
if the primary driving displacement signal is normal and the primary/secondary driving instruction selection mark is primary driving, at least one condition is not satisfied, and if the secondary driving displacement signal is normal and the primary/secondary driving instruction selection mark is secondary driving, selecting the secondary driving displacement signal as an instruction signal;
if the primary driving displacement signal is normal and the primary/secondary driving instruction selection mark is that at least one condition of primary driving is not satisfied, and if the secondary driving displacement signal is normal and the primary/secondary driving instruction selection mark is that at least one condition of secondary driving is not satisfied, the primary driving displacement signal is selected as an instruction signal; if the primary side displacement signal fails and the secondary driving displacement signal is normal, selecting the secondary driving displacement signal as an instruction signal; if the primary side displacement signal fails and the secondary side displacement signal fails, setting 0 as an instruction signal, and degrading the flight control system to a mechanical control mode when the primary side displacement signal and the secondary side displacement signal fail.
Further comprises:
if the aircraft has no mechanical operation mode, the redundancy configuration of the displacement signal sensor needs to be increased, so that the displacement signal reaches the target of no failure.
The implementation means comprises:
and 2, selecting a left/secondary driving instruction according to the primary driving force signal voting value, the secondary driving force signal voting value, the primary driving force signal fault identification and the secondary driving force signal fault identification.
The step 2 comprises the following steps:
a) When one of the primary driving force signal and the secondary driving force signal fails, selecting the side of the force signal which does not fail;
b) When the primary driving force signal and the secondary driving force signal are both failed, selecting a primary driving;
step 2 further comprises:
c) When the primary driving force signal and the secondary driving force signal are normal:
the primary driving force signal and the secondary driving force signal are smaller than a threshold value (no manipulation is considered), and primary driving is selected;
and if the primary driving force signal and the secondary driving force signal are both larger than the threshold value, selecting the primary driving.
Step 2 further comprises:
c) When the primary driving force signal and the secondary driving force signal are normal:
the primary driving force signal is larger than the threshold value, and the secondary driving force signal is smaller than the threshold value, and selecting the primary driving;
if the primary driving force signal is smaller than the threshold value and the secondary driving force signal is larger than the threshold value, the secondary driving is selected, and if the primary driving force signal is larger than the threshold value, the secondary driving is always selected.
In the step (1) of the process,
the force signal is obtained by a force sensor for measuring the force of the driver's steering column; the redundant displacement signal is obtained by a displacement sensor which is used for measuring the displacement of the movement of the steering column.
The beneficial effects are that:
the invention can retain the mechanical linkage type double-operating device structure of the traditional fly-by-wire control system and a fly-by-wire control computer, realize an operating device instruction selector according to the force signal, the displacement signal, the force signal fault identification and the displacement signal fault identification of the operating device, ensure the principle of priority of driving, and consider the fault modes of clamping failure, displacement signal failure or force signal failure of the operating device, and realize the correct and reasonable selection of the operating device instruction. In addition, the application of the method does not need to modify any structural part of the fly-by-wire control system, the algorithm software can be directly added into the fly-by-wire control computer, the modification cost is saved, and the research and development period is shortened.
Drawings
FIG. 1 is a logical block diagram 1 of an embodiment of the present invention.
Fig. 2 is a logic block diagram 2 of an embodiment of the present invention.
Detailed Description
The steering column control device in a fly-by-wire aircraft has a displacement sensor for measuring the force of the pilot's steering column and a force sensor for measuring the displacement of the steering column movement. In order to improve the reliability of the signal measurement of the manipulator, a displacement sensor and a force sensor are usually arranged with redundancy;
the flight control computer receives redundant displacement signals and force signals of the main driving steering column operating device, and determines main driving displacement signal fault identification, main driving displacement signal voting values, main driving force signal fault identification and main driving force signal voting values according to a redundancy voting algorithm table. Similarly, determining a secondary driving displacement signal fault identifier, a secondary driving displacement signal voting value, a secondary driving force signal fault identifier and a secondary driving force signal voting value according to the redundant displacement signals and the force signal table of the secondary driving lever operating device;
according to the main driving force signal voting value, the auxiliary driving force signal voting value, the main driving force signal fault identification and the auxiliary driving force signal fault identification, a left/auxiliary driving instruction selection identification logic algorithm is realized, and the following functions are realized:
a) When one of the primary driving force signal and the secondary driving force signal fails, selecting the side of the force signal which does not fail;
b) When the primary driving force signal and the secondary driving force signal are both failed, selecting a primary driving;
c) When the primary driving force signal and the secondary driving force signal are normal:
the primary driving force signal and the secondary driving force signal are smaller than a threshold value (no manipulation is considered), and primary driving is selected;
the primary driving force signal and the secondary driving force signal are both larger than a threshold value, and then primary driving is selected;
the primary driving force signal is larger than the threshold value, and the secondary driving force signal is smaller than the threshold value, and selecting the primary driving;
if the primary driving force signal is smaller than the threshold value and the secondary driving force signal is larger than the threshold value, selecting secondary driving, and if the primary driving force signal is larger than the threshold value, always selecting secondary driving;
according to the main/auxiliary driving instruction selection identification realized in the step (4), the following functions are realized by combining a main driving displacement signal, an auxiliary driving displacement signal, a main driving displacement signal fault identification and an auxiliary driving displacement signal fault identification:
if the main driving displacement signal is normal and the main/auxiliary driving instruction selection mark is main driving, selecting the main driving displacement signal as an instruction signal;
if the primary driving displacement signal is normal and the primary/secondary driving instruction selection mark is primary driving, at least one condition is not satisfied, and if the secondary driving displacement signal is normal and the primary/secondary driving instruction selection mark is secondary driving, selecting the secondary driving displacement signal as an instruction signal;
if the primary driving displacement signal is normal and the primary/secondary driving instruction selection mark is that at least one condition of primary driving is not satisfied, and if the secondary driving displacement signal is normal and the primary/secondary driving instruction selection mark is that at least one condition of secondary driving is not satisfied, the primary driving displacement signal is selected as an instruction signal; if the primary side displacement signal fails and the secondary driving displacement signal is normal, selecting the secondary driving displacement signal as an instruction signal; if the primary side displacement signal is faulty and the secondary side displacement signal is faulty, setting 0 as an instruction signal, degrading the flight control system to a mechanical operation mode when the displacement signals of the primary side and the secondary side are faulty, and if the aircraft has no mechanical operation mode, adding redundancy configuration of a displacement signal sensor to enable the displacement signal to reach the target of no fault;
according to the technical scheme, the principle of main driving priority can be realized, and when one side operating device is jammed, a driver does not need to operate the jammed side (the driver is required to do so in a flight manual), and the instruction selection method can ensure that the displacement instruction of the non-jammed side is selected. In addition, the instruction selection method considers failure modes such as force signal failure, displacement signal failure and the like.
According to the instruction selection scheme of the operating device, software in the flight control computer is added with the algorithm, so that the correct selection of the mechanical linkage type double operating device instruction can be realized.
Examples
Taking a left-right steering mode as an example, a steering column operating device, a double operating device command selector will be specifically described with reference to the drawings and embodiments.
Step 1: acquiring left seat movement signal voting values, left seat force signal voting values, left seat movement signal fault identifications, left seat force signal fault identifications, right seat movement signal voting values, right seat force signal voting values, right seat movement signal fault identifications and right seat force signal fault identifications according to the redundancy voting algorithm and force and displacement sensor signals of an existing flight control computer;
step 2: and realizing a left/right seat instruction selection identification CMD_SELECT_ST logic algorithm according to the left seat force signal voting value, the right seat force signal voting value, the left seat force signal fault identification and the right seat force signal fault identification, wherein a logic block diagram is shown in figure 1.
Step 3: and (2) selecting a mark CMD_SELECT_ST according to the left/right seat command realized in the step (2), and selecting a final displacement command by combining the left seat displacement signal, the right seat displacement signal, the left seat displacement signal fault mark and the right seat displacement signal fault mark, wherein the logic is shown in figure 2.
Step 4: and (3) compiling software according to the logic of the step (2) and the step (3), and loading the software into a flight control computer to realize correct selection of the instructions of the double operating devices.
Claims (7)
1. A dual operator instruction selection method, comprising:
the main driving priority principle is realized, and when one side operating device is jammed, the non-jammed side displacement instruction is selected to be executed, specifically:
if the main driving displacement signal is normal and the main/auxiliary driving instruction selection mark is main driving, selecting the main driving displacement signal as an instruction signal;
if the primary driving displacement signal is normal and the primary/secondary driving instruction selection mark is primary driving, at least one condition is not satisfied, and if the secondary driving displacement signal is normal and the primary/secondary driving instruction selection mark is secondary driving, selecting the secondary driving displacement signal as an instruction signal;
if the primary driving displacement signal is normal and the primary/secondary driving instruction selection mark is that at least one condition of primary driving is not satisfied, and if the secondary driving displacement signal is normal and the primary/secondary driving instruction selection mark is that at least one condition of secondary driving is not satisfied, the primary driving displacement signal is selected as an instruction signal; if the primary side displacement signal fails and the secondary driving displacement signal is normal, selecting the secondary driving displacement signal as an instruction signal; if the primary side displacement signal fails and the secondary side displacement signal fails, setting 0 as an instruction signal, and degrading the flight control system to a mechanical control mode when the primary side displacement signal and the secondary side displacement signal fail.
2. A dual operator instruction selection method according to claim 1, further comprising:
if the aircraft has no mechanical operation mode, the redundancy configuration of the displacement signal sensor needs to be increased, so that the displacement signal reaches the target of no failure.
3. The method of claim 1, wherein the means for implementing comprises:
step 1, a flight control computer receives redundancy displacement signals and force signals of a main driving steering column operating device, and determines main driving displacement signal fault identification, main driving displacement signal voting values, main driving force signal fault identification and main driving force signal voting values according to a redundancy voting algorithm table; determining a secondary driving displacement signal fault identifier, a secondary driving displacement signal voting value, a secondary driving force signal fault identifier and a secondary driving force signal voting value according to the redundancy displacement signal and the force signal table of the secondary driving lever operating device;
and 2, selecting a left/secondary driving instruction according to the primary driving force signal voting value, the secondary driving force signal voting value, the primary driving force signal fault identification and the secondary driving force signal fault identification.
4. A dual operator command selection method according to claim 3, wherein step 2 includes:
a) When one of the primary driving force signal and the secondary driving force signal fails, selecting the side of the force signal which does not fail;
b) And when the primary driving force signal and the secondary driving force signal are failed, selecting the primary driving.
5. A dual operator command selection method according to claim 3, wherein step 2 further comprises:
c) When the primary driving force signal and the secondary driving force signal are normal:
the primary driving force signal and the secondary driving force signal are smaller than a threshold value (no manipulation is considered), and primary driving is selected;
and if the primary driving force signal and the secondary driving force signal are both larger than the threshold value, selecting the primary driving.
6. A dual operator command selection method according to claim 3, wherein step 2 further comprises:
c) When the primary driving force signal and the secondary driving force signal are normal:
the primary driving force signal is larger than the threshold value, and the secondary driving force signal is smaller than the threshold value, and selecting the primary driving;
if the primary driving force signal is smaller than the threshold value and the secondary driving force signal is larger than the threshold value, the secondary driving is selected, and if the primary driving force signal is larger than the threshold value, the secondary driving is always selected.
7. A dual operator instruction selection method according to claim 3, wherein, in step 1,
the force signal is obtained by a force sensor for measuring the force of the driver's steering column; the redundant displacement signal is obtained by a displacement sensor which is used for measuring the displacement of the movement of the steering column.
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| CN111532418B (en) * | 2020-05-20 | 2021-09-24 | 中国商用飞机有限责任公司 | Aircraft high lift system |
| CN111976955B (en) * | 2020-07-24 | 2023-03-14 | 中国航空工业集团公司西安飞行自动控制研究所 | Method and device for processing single-side jamming fault of civil aviation flight control double-steering-column disk |
| CN116834946A (en) * | 2021-01-18 | 2023-10-03 | 何春远 | Method for coping physical and environmental limit problems of transportation means and application thereof |
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| WO2000069721A1 (en) * | 1999-05-14 | 2000-11-23 | Hydro-Aire, Inc. | Dual redundant active/active brake-by-wire architecture |
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| JP5819780B2 (en) * | 2012-05-30 | 2015-11-24 | 住友精密工業株式会社 | Aircraft steering device control device |
| CN205486939U (en) * | 2015-12-29 | 2016-08-17 | 朱元彩 | Coacher control device |
| US10913527B2 (en) * | 2016-03-22 | 2021-02-09 | The Boeing Company | Method and apparatus for latent fault detection and management for fly-by-wire flight control systems |
| CN108109472B (en) * | 2017-12-27 | 2023-08-25 | 天津津航神舟科技有限公司 | Simulation throttle ring device for main distance rod of helicopter simulator |
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| CN109606460B (en) * | 2019-01-11 | 2023-05-05 | 吉林大学 | Steering wheel connection decision method of double-rudder driving automobile based on steer-by-wire |
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| CN108710405A (en) * | 2017-12-07 | 2018-10-26 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of loose coupling integrated flight display |
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