CN102464108A - Engine failure treating method for unmanned aerial vehicle - Google Patents
Engine failure treating method for unmanned aerial vehicle Download PDFInfo
- Publication number
- CN102464108A CN102464108A CN2010105318099A CN201010531809A CN102464108A CN 102464108 A CN102464108 A CN 102464108A CN 2010105318099 A CN2010105318099 A CN 2010105318099A CN 201010531809 A CN201010531809 A CN 201010531809A CN 102464108 A CN102464108 A CN 102464108A
- Authority
- CN
- China
- Prior art keywords
- engine
- program module
- control
- fault
- failure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The invention relates to an engine failure treating method for an unmanned aerial vehicle. The engine failure treating method comprises a control computer system, a logic program module, a signal collecting element, a signal collecting program module, and a program module, wherein the control computer system is provided with the functions of data collecting and signal processing; the logic program module is arranged in a control computer and can automatically diagnose, control and process system failure; the signal collecting element and the signal collecting program module are used for extracting a rotate speed sensor signal of an engine and monitoring the voltage and the pulse frequency of an ignitor in real time; and the program module is used for an engine cylinder temperature sensor and is used for monitoring and judging whether cylinder score failure exists or not. According to the method, an accident failure emergency control function for an engine is merged into a failure diagnose unit of the control computer system, an emergency return journey program module comprising a guided system and a control unit for opening a parachute and an air bag, releasing a buffer bracket and the like, thus the engine failure situation can be monitored in real time and can be processed in emergency, the treating method disclosed by the invention is safe and effective, the failure can be monitored in real time and can be automatically diagnosed and processed, the dead problem due to the engine failure is solved, and the method has the advantages that the response is quick, the success rate is high, and the reliability is high.
Description
Technical field
The invention relates to unmanned plane at the driving engine et out of order, aircraft is carried out processing method with the flight-control computer system.
Background technology
Unmanned plane is that a kind of self-contained sensor is few, itself can not trouble-shooting, and a kind of unmanned vehicle that the Autonomous Control ability is relatively poor, it is controlled at much more complicated than people's operational aircraft is arranged to a great extent.And driving engine is the heart of aircraft, also is the major part of easy et out of order.In case driving engine breaks down, the probability that the air crash accident takes place is very high.Usually the reason of unmanned vehicle engine fault mainly comprises:
The engine off fault: engine temperature too high scuffing of cylinder bore, engine igniting system fault, the flame-out parking of fuel feeding sick engine, these faults are that a kind of aircraft that directly causes is unpowered, the accident that the aircraft stall crash is very fatal;
Engine runaway fault: comprise that mainly driving engine wind, throttle (containing steering wheel) are stuck;
Engine runaway can not trouble of shutdown: stuck maybe can not be closed to " stop position " fully of driving engine wind (containing steering wheel).Engine runaway with can not will cause and can not finish the work by trouble of shutdown, can not make a return voyage irretrievable serious consequence safely.
Unmanned plane of the prior art does not adopt the support of automatic diagnosis, control and corresponding failure disposal function device; When engine breakdown; Normally rely on the glide ability of aircraft itself; Select at that time surface condition to force-land and solve, and probability of successful is also little, can not effectively protect the normal flight and the recovery of aircraft basically.Therefore safety, reliability are all relatively poor.How the unmanned vehicle engine of et out of order in the airflight is protected; Particularly to flame-out in flight, out of control and can not stop and protect takes place; To reduce and to avoid the loss of unmanned plane and airborne equipment; Improve the viability of unmanned plane, reduce operating costs and be always design engineers and expect the problem that solves.
Summary of the invention
The objective of the invention is can not trouble-shooting to unmanned plane itself; The Autonomous Control ability is relatively poor; The problem that engine breakdown is fatal provides a kind of safe, effective, can monitor in real time the engine breakdown state; And have the function that aircraft was disposed and reclaimed to automatic diagnosis, control and fault, realize the processing method of unmanned plane " fail safe ".
The technical solution adopted for the present invention to solve the technical problems is: a kind of unmanned vehicle engine fault handling method, comprise the control computer system that has data acquisition and signal conditioning at least, and it is characterized in that it also comprises and being configured in the aerial computing machine:
System failure automatic diagnosis, fault are disposed control module logical program module;
Program module through Signal Collection Technology extract real-time engine speed sensor signal;
The program module that is used for monitors ignition device voltage and frequency;
Be used for the engine cylinder temperature sensor and monitor the program module whether differentiation the scuffing of cylinder bore fault takes place in real time.
And in automatic fault diagnosis, control and fault disposal logical program module, can set:
(1) engine speed threshold value subroutine module;
(2) engine cylinder temperature threshold value subroutine module;
(3) through wind, throttle steering wheel position feedback, differentiate engine runaway with can not the trouble of shutdown subroutine module;
(4) the control computer system adopts " incident management triggering " to reach the program module that " regularly interrupting " mode realizes the diagnosis of corresponding failure and differentiates the nature of trouble and the order of severity according to above-mentioned each thresholding and corresponding steering wheel position feedback;
(5) to aircraft state monitoring and through stand the earthward program module of repayment malfunction coding of TT&C system;
(6) treatment procedures is according to the differentiation of the nature of trouble and the order of severity; Carry out respectively: the control computer system sends " taking home ", " flying to the designated area " or " spiraling " instruction, adopts " incident management triggering " to reach " regularly interrupting " mode and starts the subroutine module that task-set is ordered in relevant prepackage;
(7) it comprises that also the control unit that reclaims of meet an urgent need such as the functional devices that connect parachute, air bag and buffering stand carries out the emergent recovery of unmanned plane;
Said control unit is connected with two road defencive functions at least and starts the program module of triggering approach.
Being connected to emergent parachute-opening control and making a return voyage of said control unit has at least two approach defencive functions to realize starting the subroutine module of triggering.(promptly; Except that passing through the programming control of flight control computer system; Also can send back to the fault alarm situation of ground station according to flight control system, select " manual control " or " remote control " to comprise that " making a return voyage ", " parachute-opening ", " air bag " reach different Disposal Measures such as " buffering stand " release).
The present invention has following beneficial effect than prior art.
The present invention is based on prior art merges; In the failure diagnosis unit of control computer system and comprise in the take home program module and the control units such as parachute-opening, air bag and the release of buffering support of navigationsystem and merge the emergent controllable function of unexpected engine breakdown; The failure diagnosis unit of control computer system is monitored the engine breakdown state in real time; When diagnosis and determine when comprising engine ignitor voltage and frequency, rotating speed and cylinder temperature thresholding, wind/throttle steering wheel faulty condition; The control computer system will take corresponding measure to carry out emergency action according to the diagnotic nature of trouble and the order of severity, reach UAS " fail safe " requirement.Wherein adopt multichannel emergency treatment mode to carry out automatic guidance, guaranteed the reliability of system protection.Having solved unmanned vehicle engine itself can not trouble-shooting, the problem that engine breakdown is fatal.Therefore the invention provides a kind of safely, effective, can monitor in real time, and have automatic diagnosis, control and disposal fault and reclaim the fault handling method of aircraft function the engine breakdown state.Automatic guidance/diagnosis wherein and more options disposal function have excellent performance, success ratio height, respond the advantage fast, that reliability is high.
Description of drawings:
Further specify the present invention below in conjunction with accompanying drawing and embodiment, but therefore do not limit the present invention among the described scope of embodiments.
Fig. 1 is that the improper sky of driving engine of the present invention stops the fault processing module program flow diagram.
Fig. 2 engine breakdown flies to control the control flow block diagram.
Fig. 3 is the present invention stops implementing emergency handling to engine air a schematic flow sheet.
Fig. 4 is that the present invention is to driving engine wind, the stuck fault distinguishing schematic flow sheet of throttle steering wheel.
Fig. 5 is that fault of the present invention is disposed emergent parachute-opening 1 schematic flow sheet.
Fig. 6 is that fault of the present invention is disposed emergent parachute-opening 2 schematic flow sheets.
The specific embodiment
In order to solve unmanned plane during flying device driving engine generation flame-out in flight, the out of control and problem that can not stop and protect; Unmanned vehicle engine fault handling method of the present invention; Comprise the control computer system that has data acquisition and signal conditioning, and configuration-system automatic fault diagnosis module and fault are disposed the logical program module in said control computer.The program module that is used for the engine speed monitoring and adopts functional devices such as control parachuting, buffer air bag/support to carry out the emergent recovery of unmanned plane is based on engine breakdown automatic diagnosis, the fault of control computer system and disposes the control logic program module.It mainly comprises:
(1) " the acquisition of signal program module " of extraction engine speed sensor signal (comprising: elements such as " light is separated ", " A/D collection ", " task manager is caught ");
(2) through real-time monitors ignition device voltage of technology and frequency program modules such as sensing device and A/D gather;
(3) adopt cylinder temperature sensors such as engine thermal photosensitive elements and thermocouple to monitor in real time and differentiate the program module whether the scuffing of cylinder bore fault takes place
(4) in automatic fault diagnosis, control policy and treatment procedures, be provided with:
1) engine speed threshold value program module (can set);
2) engine cylinder temperature threshold value program module (can set);
3) through wind, throttle steering wheel position feedback, differentiate engine runaway with can not the trouble of shutdown program module.The control computer system adopts " DSP Event triggered " or " regularly interrupting " to realize the diagnosis of corresponding failure and the program module of the differentiation nature of trouble and the order of severity according to each thresholding and corresponding steering wheel position feedback;
4) through TT&C system stand earthward the repayment malfunction coding program module;
5) control policy and treatment procedures module are according to the differentiation of the nature of trouble and the order of severity; Send " taking home ", " flying to the designated area ", " spiraling " instruction by the control computer system respectively; And combine aircraft flight border---the monitoring of " speed edges thresholding " and " height border thresholding ", select to start corresponding prepackage and order contingency tasks collection and subroutine module;
The treatment procedures module and the drive control component that also comprise control units such as connecting parachute, air bag and buffering stand, said relevant control unit are connected with two road defencive functions at least and start the triggering approach.
Fig. 1 has mainly described the flow process of rotating speed, cylinder temperature and wind/throttle position signal collection of driving engine.The operation of this flow process is; Flight control system is monitored engine behavior in real time, in real time with engine speed, cylinder temperature, ignition tension and frequency signal, is square wave form signal by light at a distance from waiting device arrangement; Be input to " the task manager module " of computing machine, make it to be hunted down or to gather.
Fig. 2 has mainly described the emergency handling modular program flow process and the driving engine overtemperature fault distinguishing flow process of engine cylinder temperature superelevation.The operation of this flow process is in case the safe thresholding (as greater than 200 ℃) that the engine cylinder temperature continues to be higher than setting takes place, then to be judged to be " scuffing of cylinder bore fault " in the engine air, at once by " emergent parachute-opening 1 " disposal, parachute-opening immediately.
Fig. 3 has mainly described the improper sky of driving engine and has stopped fault processing module program circuit and flame-out in flight fault distinguishing flow process.When engine speed continues certain period when being lower than monitoring and the ignition operation voltage and frequency (ignition tension is less than the setting thresholding) situation of thresholding (as continue xx second less than 1000rpm); Monitoring confirms not have " cutoff command " to require (to take into account the empty ratio in pulsewidth station of PWM through the position current potential like air door steering wheel feedback position; Be that wind, throttle be not in " orderly shutdown " position), then be judged to be " aerial involuntary stoppage " fault.The control computer system is through differentiating the serious situation of diagnosing of fault, and which kind of disposal pattern decision-making adopts.For improving the reliability of system, can adopt the remaining design, increase redundant.In the aircraft current state; According to the barometric height of aircraft dynamic and static pressure sensor acquisition and predefined safe parachute-opening thresholding aspect ratio; Adopt two kinds of disposal options: be lower than safe altitude and select " emergent parachute-opening 1 "; Be higher than safe altitude and select " emergent parachute-opening 2 ", to protect aircraft and equipment to greatest extent.
Fig. 4 has mainly described driving engine wind, the flow process of the stuck fault distinguishing of throttle steering wheel and the mode that air door, the stuck fault of throttle are disposed.Dispose to adopt emergent straight line to make a return voyage and meet an urgent need and discharge the recovery parachute.The operation of this flow process is to receive driving engine wind " pass air door " when flight control system and instruct, the monitoring engine speed; Rotating speed continues x time second as setting up greater than 1000rpm (thresholding that can set), then is judged as the stuck fault of air door and steering wheel, and both the navigation control system was sent " spiraling " instruction; Do " the consumption food tray revolves " flight; Exhaust until fuel oil, natural starting driving engine " flame-out in flight " fault processing module realizes that the parachuting of aircraft is reclaimed.
Receive engine throttle state change (like " specified ", " cart " etc.) instruction when flying control (computing machine) system; The monitoring engine speed; In x time second rotation speed change whether greater than 300rpm (thresholding that can set); " be " then normal, " denying " then is judged as throttle and the stuck fault of steering wheel, and both the navigation control system was sent " straight line makes a return voyage " instruction.
Fig. 5,6 have mainly described with fault and have disposed the two kinds of flow processs of emergent parachute-opening 2 and the mode of fault disposal.The operation of its flow process is, fault adopts emergent release to reclaim parachute, when ground connection, starts air bag and buffering stand (cutting after comprising ground connection umbrella), more efficiently assurance aircraft safety.The release of parachute, air bag and buffering stand (comprising the umbrella of cutting after the ground connection); Through the emergency treatment module; Send driving command by treatment procedures to actuating equipment; Adopt " relay ", " switch circuit " reach " contactless switch " etc., trigger corresponding " initiator ", " electronic " " pneumatic " or " fluid power " actuation mechanism, realize parachute, air bag and buffering stand (comprising the umbrella of cutting after the ground connection) release.Ground signalling can be through acquisitions such as " machinery contact to earth switch ", " low coverage height indicator ", " infrared induction and near fuses ".
Fault is disposed emergent parachute-opening 1; Be parachute-opening immediately; Receive " emergent parachute-opening 1 " instruction when flying control (computing machine) system; At once in a single day be lower than XXXrpm (can set) to the engine speed that sends instructions such as " bolt down procedure control ", " attitude is leveled off ", " closing driving engine wind/throttle (parking) ", monitoring successively through the emergency treatment module, promptly send " parachute-opening " instruction.When aircraft (water, grass etc.) face closely, ground signalling triggers and is triggered, and the emergency treatment module is sent air bag and buffering stand (comprising the umbrella of cutting after the ground connection) and released order.
Fault is disposed emergent parachute-opening 2, but is the retardance parachute-opening, disposes on the module basis in " emergent parachute-opening 1 " fault, increases and highly judges and the downslide program, before parachute-opening, will adjust aircraft to a more favourable and safe cond.
Claims (9)
1. a unmanned vehicle engine fault handling method comprises the control computer system that has data acquisition and signal conditioning at least, it is characterized in that, it also comprises and being configured in the control computer:
System failure automatic diagnosis, control and fault are disposed the logical program module;
Be used to extract the device and the program module of engine speed sensor signal; (A/D gathers, light is separated, incident management etc.)
Through real-time program modules of monitoring engine ignitor voltage and frequency such as sensing device and A/D gather;
Differentiate the program module whether the engine scuffing fault takes place with monitorings in real time such as warm galvanic couple sensor of cylinder and A/D gather.
2. engine breakdown processing method according to claim 1 is characterized in that being set with engine speed threshold value subroutine module at least in described automatic fault diagnosis, control and the fault disposal logical program module.
3. engine breakdown processing method according to claim 1 and 2 is characterized in that being set with engine cylinder temperature threshold value subroutine module at least in described automatic fault diagnosis, control and the fault disposal logical program module.
4. according to claim 1 or 2 or 3 described engine breakdown processing methods; It is characterized in that described automatic fault diagnosis, control and fault are disposed in the logical program module is set with through wind, throttle steering wheel position feedback at least, differentiates engine runaway and subroutine module that can not trouble of shutdown.
5. engine breakdown processing method according to claim 4; It is characterized in that being set with the control computer system at least according to above-mentioned each thresholding and corresponding steering wheel position feedback in described automatic fault diagnosis, control and the fault disposal logical program module, adopt " incident management triggering " or " regularly interrupting " mode to realize the diagnosis of corresponding failure and the program module of the differentiation nature of trouble and the order of severity.
6. engine breakdown processing method according to claim 5 is characterized in that described automatic fault diagnosis, control and fault are disposed to be set with at least in the logical program module to the aircraft state monitoring and through stand the earthward program module of repayment malfunction coding of TT&C system.
7. according to the described engine breakdown processing method of any one claim of claim 1 to 6; It is characterized in that being set with at least in described automatic fault diagnosis, control and the fault disposal logical program module; Control policy and treatment procedures are according to the differentiation of the nature of trouble and the order of severity; Carry out respectively: the control computer system sends " taking home ", " flying to the designated area " or " spiraling " instruction, starts the subroutine module that task-set is ordered in relevant prepackage.
8. engine breakdown processing method according to claim 6 is characterized in that: it also comprises and connects parachute, air bag and buffering stand or the like functional device program module that the control unit that reclaims carries out the emergent recovery of unmanned plane of meet an urgent need.
9. engine breakdown processing method according to claim 6 is characterized in that said control unit is connected with the program module of two road defencive functions and startup triggering approach at least.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105318099A CN102464108A (en) | 2010-11-01 | 2010-11-01 | Engine failure treating method for unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105318099A CN102464108A (en) | 2010-11-01 | 2010-11-01 | Engine failure treating method for unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102464108A true CN102464108A (en) | 2012-05-23 |
Family
ID=46068287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105318099A Pending CN102464108A (en) | 2010-11-01 | 2010-11-01 | Engine failure treating method for unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102464108A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102955478A (en) * | 2012-10-24 | 2013-03-06 | 深圳一电科技有限公司 | Unmanned aerial vehicle flying control method and unmanned aerial vehicle flying control system |
| CN103869811A (en) * | 2014-03-05 | 2014-06-18 | 西南交通大学 | Method for monitoring remote control and servo signal of four-rotor aircraft |
| CN105629946A (en) * | 2014-11-21 | 2016-06-01 | 特莱丽思环球有限合伙公司 | System and method for identifying faults in an aircraft |
| CN106227083A (en) * | 2016-07-20 | 2016-12-14 | 广东容祺智能科技有限公司 | A kind of unmanned plane motor phase failure monitoring and protecting device |
| CN106873615A (en) * | 2015-12-11 | 2017-06-20 | 中国航空工业第六八研究所 | Emergent landing speed instruction set design method of giving an encore |
| CN107074351A (en) * | 2016-09-30 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, device and the unmanned vehicle of unmanned plane |
| CN108120476A (en) * | 2017-12-15 | 2018-06-05 | 中国电子产品可靠性与环境试验研究所 | Unmanned plane actual time safety prior-warning device |
| CN108341072A (en) * | 2018-02-11 | 2018-07-31 | 深圳禾苗通信科技有限公司 | The method, apparatus and unmanned plane of unmanned plane dynamical system fault detect |
| CN108427267A (en) * | 2017-02-15 | 2018-08-21 | 苏州宝时得电动工具有限公司 | One kind is from mobile device progress control method, device and from mobile device |
| CN109279048A (en) * | 2018-11-20 | 2019-01-29 | 中航通飞华南飞机工业有限公司 | A kind of engine and APU revolving speed and avionics system are crosslinked closed loop detection method |
| CN109657699A (en) * | 2018-11-22 | 2019-04-19 | 昆明理工大学 | A method of the Dynamic fault tree analysis based on Markov evaluates turbogenerator |
| CN110962866A (en) * | 2018-09-29 | 2020-04-07 | 比亚迪股份有限公司 | Vehicle fault diagnosis method and device, storage medium and electronic equipment |
| CN112379690A (en) * | 2020-11-05 | 2021-02-19 | 浙江点辰航空科技有限公司 | Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system |
| CN116736747A (en) * | 2023-08-15 | 2023-09-12 | 陕西德鑫智能科技有限公司 | Unmanned aerial vehicle emergency treatment method and device |
| RU2817322C1 (en) * | 2023-04-17 | 2024-04-15 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский автомобильно-дорожный государственный технический университет (МАДИ)" | Method for automatic detection of failures and subsequent emergency control of failed unmanned vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5309756A (en) * | 1991-07-04 | 1994-05-10 | Toyota Jidosha Kabushiki Kaisha | Device for determining malfunction of an engine cylinder |
| US20040193334A1 (en) * | 2003-03-27 | 2004-09-30 | Carl-Olof Carlsson | Waypoint navigation |
| CN1831692A (en) * | 2005-12-26 | 2006-09-13 | 浙江大学 | Constant speed apparatus for speed of unmanned copter engine |
| US20070129856A1 (en) * | 2005-07-14 | 2007-06-07 | Toyota Jidosha Kabushiki Kaisha | Control apparatus and control method for aircraft |
| CN101236431A (en) * | 2008-02-27 | 2008-08-06 | 北京航空航天大学 | No-manned machine distant control chain circuit interruption judging and processing method |
| CN101241653A (en) * | 2008-03-21 | 2008-08-13 | 北京航空航天大学 | A failure simulation method for fly simulation training |
| CN101256412A (en) * | 2008-03-31 | 2008-09-03 | 北京航空航天大学 | Automatic homing control method for accident parking of unmanned vehicle engine |
| WO2010056241A1 (en) * | 2008-11-13 | 2010-05-20 | Sikorsky Aircraft Corporation | Adaptive fail-fixed system for fadec controlled gas turbine engines |
-
2010
- 2010-11-01 CN CN2010105318099A patent/CN102464108A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5309756A (en) * | 1991-07-04 | 1994-05-10 | Toyota Jidosha Kabushiki Kaisha | Device for determining malfunction of an engine cylinder |
| US20040193334A1 (en) * | 2003-03-27 | 2004-09-30 | Carl-Olof Carlsson | Waypoint navigation |
| US20070129856A1 (en) * | 2005-07-14 | 2007-06-07 | Toyota Jidosha Kabushiki Kaisha | Control apparatus and control method for aircraft |
| CN1831692A (en) * | 2005-12-26 | 2006-09-13 | 浙江大学 | Constant speed apparatus for speed of unmanned copter engine |
| CN101236431A (en) * | 2008-02-27 | 2008-08-06 | 北京航空航天大学 | No-manned machine distant control chain circuit interruption judging and processing method |
| CN101241653A (en) * | 2008-03-21 | 2008-08-13 | 北京航空航天大学 | A failure simulation method for fly simulation training |
| CN101256412A (en) * | 2008-03-31 | 2008-09-03 | 北京航空航天大学 | Automatic homing control method for accident parking of unmanned vehicle engine |
| WO2010056241A1 (en) * | 2008-11-13 | 2010-05-20 | Sikorsky Aircraft Corporation | Adaptive fail-fixed system for fadec controlled gas turbine engines |
Non-Patent Citations (1)
| Title |
|---|
| 赵博等: "基于总线网络结构的无人机故障检测与诊断系统设计", 《国防科技》, vol. 31, no. 1, 28 February 2010 (2010-02-28), pages 16 - 19 * |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102955478B (en) * | 2012-10-24 | 2016-01-20 | 深圳一电科技有限公司 | UAV flight control method and system |
| CN102955478A (en) * | 2012-10-24 | 2013-03-06 | 深圳一电科技有限公司 | Unmanned aerial vehicle flying control method and unmanned aerial vehicle flying control system |
| CN103869811B (en) * | 2014-03-05 | 2016-06-15 | 西南交通大学 | The remote control of a kind of quadrotor and the monitoring method of servosignal |
| CN103869811A (en) * | 2014-03-05 | 2014-06-18 | 西南交通大学 | Method for monitoring remote control and servo signal of four-rotor aircraft |
| CN105629946B (en) * | 2014-11-21 | 2018-07-03 | 特莱丽思环球有限合伙公司 | System and method for identifying faults in an aircraft |
| CN105629946A (en) * | 2014-11-21 | 2016-06-01 | 特莱丽思环球有限合伙公司 | System and method for identifying faults in an aircraft |
| CN106873615A (en) * | 2015-12-11 | 2017-06-20 | 中国航空工业第六八研究所 | Emergent landing speed instruction set design method of giving an encore |
| CN106873615B (en) * | 2015-12-11 | 2020-04-07 | 中国航空工业第六一八研究所 | Emergency return landing speed instruction set design method |
| CN106227083A (en) * | 2016-07-20 | 2016-12-14 | 广东容祺智能科技有限公司 | A kind of unmanned plane motor phase failure monitoring and protecting device |
| CN107074351A (en) * | 2016-09-30 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, device and the unmanned vehicle of unmanned plane |
| CN108427267A (en) * | 2017-02-15 | 2018-08-21 | 苏州宝时得电动工具有限公司 | One kind is from mobile device progress control method, device and from mobile device |
| CN108120476A (en) * | 2017-12-15 | 2018-06-05 | 中国电子产品可靠性与环境试验研究所 | Unmanned plane actual time safety prior-warning device |
| CN108120476B (en) * | 2017-12-15 | 2020-09-29 | 中国电子产品可靠性与环境试验研究所 | Real-time safety early warning device for unmanned aerial vehicle |
| CN108341072B (en) * | 2018-02-11 | 2021-06-04 | 深圳禾苗通信科技有限公司 | Method and device for detecting faults of power system of unmanned aerial vehicle and unmanned aerial vehicle |
| CN108341072A (en) * | 2018-02-11 | 2018-07-31 | 深圳禾苗通信科技有限公司 | The method, apparatus and unmanned plane of unmanned plane dynamical system fault detect |
| CN110962866A (en) * | 2018-09-29 | 2020-04-07 | 比亚迪股份有限公司 | Vehicle fault diagnosis method and device, storage medium and electronic equipment |
| CN110962866B (en) * | 2018-09-29 | 2021-11-12 | 比亚迪股份有限公司 | Vehicle fault diagnosis method and device, storage medium and electronic equipment |
| CN109279048A (en) * | 2018-11-20 | 2019-01-29 | 中航通飞华南飞机工业有限公司 | A kind of engine and APU revolving speed and avionics system are crosslinked closed loop detection method |
| CN109279048B (en) * | 2018-11-20 | 2021-09-24 | 中航通飞华南飞机工业有限公司 | Engine and APU (auxiliary Power Unit) rotating speed and avionics system cross-linking closed-loop detection method |
| CN109657699A (en) * | 2018-11-22 | 2019-04-19 | 昆明理工大学 | A method of the Dynamic fault tree analysis based on Markov evaluates turbogenerator |
| CN109657699B (en) * | 2018-11-22 | 2023-08-11 | 昆明理工大学 | Method for analyzing and evaluating turbine engine based on dynamic fault tree of Markov |
| CN112379690A (en) * | 2020-11-05 | 2021-02-19 | 浙江点辰航空科技有限公司 | Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system |
| RU2817322C1 (en) * | 2023-04-17 | 2024-04-15 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский автомобильно-дорожный государственный технический университет (МАДИ)" | Method for automatic detection of failures and subsequent emergency control of failed unmanned vehicle |
| CN116736747A (en) * | 2023-08-15 | 2023-09-12 | 陕西德鑫智能科技有限公司 | Unmanned aerial vehicle emergency treatment method and device |
| CN116736747B (en) * | 2023-08-15 | 2023-11-14 | 陕西德鑫智能科技有限公司 | Unmanned aerial vehicle emergency treatment method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102464108A (en) | Engine failure treating method for unmanned aerial vehicle | |
| CN106402370B (en) | Automatic transmission throttle pedal fault handling method and system | |
| WO2010002437A2 (en) | Smart recovery system | |
| CN111348202A (en) | Method for assisting a single-rotor aircraft during an engine failure | |
| CN103543652A (en) | Monitoring and controlling unit of engine of unmanned aerial vehicle | |
| CN106043715B (en) | A kind of aerial method for controlling automatic ignition of unmanned vehicle engine | |
| CN105620455B (en) | A kind of control method of airplane brake system and its ground protection | |
| CN107097961A (en) | A kind of anti-crash unmanned plane | |
| CN107487230A (en) | Fault control method, electric machine controller and the vehicle of vehicle | |
| CN103693202A (en) | Recovery system of helicopter | |
| EP3539088A1 (en) | Control of flight information recorder operation | |
| CN102092475A (en) | Landing automatic flameout system for unmanned helicopter | |
| US20190047702A1 (en) | Aerial vehicle | |
| CN112389640A (en) | Unmanned aerial vehicle control system that stalls | |
| CN103802676B (en) | A kind of car load power control system | |
| CN109901545A (en) | A kind of bull-dozer safety control system and method | |
| CN205419387U (en) | Stand alone type elevator protection system that falls | |
| CN107985609A (en) | Unmanned plane parachute piece-rate system based on ultrasonic wave module | |
| CN106043255A (en) | Remedy system for mistaken accelerator pedal stepping of car | |
| CN211343214U (en) | Control protection device for braking system of wind turbine generator | |
| CN114044149A (en) | Automatic parachute disengaging system and control method thereof | |
| WO2017161492A1 (en) | Independent elevator crash protection system and protection method | |
| CN110562469A (en) | Anti-crash system for out-of-control unmanned aerial vehicle | |
| US20240152162A1 (en) | Control method and device of unmanned aerial vehicle system, unmanned aerial vehicle system and storage medium | |
| CN114179615A (en) | Collision processing control method and system for fuel cell vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120523 |