CN102464108A - Engine failure treating method for unmanned aerial vehicle - Google Patents

Engine failure treating method for unmanned aerial vehicle Download PDF

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Publication number
CN102464108A
CN102464108A CN 201010531809 CN201010531809A CN102464108A CN 102464108 A CN102464108 A CN 102464108A CN 201010531809 CN201010531809 CN 201010531809 CN 201010531809 A CN201010531809 A CN 201010531809A CN 102464108 A CN102464108 A CN 102464108A
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China
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engine
control
failure
fault
program module
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CN 201010531809
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Chinese (zh)
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孙晓林
宋承志
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成都飞机工业(集团)有限责任公司
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Priority to CN 201010531809 priority Critical patent/CN102464108A/en
Publication of CN102464108A publication Critical patent/CN102464108A/en

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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

无人机发动机故障处理方法 UAV engine failure processing method

技术领域 FIELD

[0001] 本发明是关于无人机在发动机发生故障,用飞行控制计算机系统对飞机进行处理方法。 [0001] The present invention relates to an engine failure occurs in the UAV, for aircraft flight control processing method using a computer system.

背景技术 Background technique

[0002] 无人机是一种自身携带传感器少,本身不能排除故障,自主控制能力较差的一种无人驾驶飞行器,其控制在很大程度上要比有人作战飞机复杂得多。 [0002] UAV is a carry their own small sensor itself can not rule out failure, poor self-control of an unmanned aircraft, which is largely under control much more complex than some combat aircraft. 而发动机是飞机的心脏,也是容易发生故障的主要部件。 The engine is the heart of the aircraft, but also prone to major component failure. 一旦发动机出现故障,发生坠机事故的几率非常高。 Once the engine failure, the probability of the occurrence of the crash is very high. 通常无人机发动机故障的原因主要包括: The reason is usually UAV engine failure include:

[0003] 发动机停车故障:发动机温度过高拉缸、发动机点火系统故障、供油故障发动机熄火停车,这些故障是一种直接导致飞机无动力,飞机失速坠毁非常致命的事故; [0003] engine shutdown malfunction: pull-cylinder engine temperature is too high, the engine ignition system fault, turn off the engine stop oil supply failure, the failure is a direct result of these non-powered aircraft, the plane stalled and crashed very fatal accident;

[0004] 发动机失控故障:主要包括发动机风、油门(含舵机)卡死; [0004] Engine control Failure: including an engine air throttle (including servo) stuck;

[0005] 发动机失控不能停车故障:发动机风(含舵机)卡死或不能关闭到完全“停车位置”。 [0005] runaway can not stop the engine failure: the engine air (including steering) stuck to the fully closed or not "parked position." 发动机失控和不能停车故障将导致不能完成任务,不能安全返航,无法回收的严重后 Seriously out of control and can not stop after the engine failure will lead to not complete the task, can not be returned safely, it can not be recycled

:^ ο : ^ Ο

[0006] 现有技术中的无人机没有采用自动诊断、控制和相应故障处置功能装置的支持, 在发动机故障时,通常是依靠飞机本身的滑翔能力,选择当时地面条件进行迫降来解决,而且成功的概率也不大,基本上不能有效保护飞机的正常飞行和回收。 [0006] prior art UAV no automatic diagnosis, support and control the corresponding fault disposal function of the device, when the engine failure, usually rely on the ability to glide the aircraft itself, was selected to address an emergency landing ground conditions, and the probability of success is not large, basically can not effectively protect the normal flight and recovery of aircraft. 因此安全性、可靠性均较差。 Therefore the safety and reliability are poor. 如何对空中飞行中发生故障的无人机发动机进行保护,特别是对发生空中停车、失控和不能停车进行保护,以降低和避免无人机及机载设备的损失,提高无人机的生存力,降低使用费用一直是设计师们期盼解决的问题。 How to protect the UAV engine failure in flight, especially for in-flight shutdown occurs, runaway protection and can not stop, in order to reduce and avoid the loss of UAVs and airborne equipment, improve the viability of UAVs , reduce costs has been the designers hope to solve the problem.

发明内容 SUMMARY

[0007] 本发明的目的是针对无人机本身不能排除故障,自主控制能力较差,发动机故障致命的问题,提供一种安全、有效,能够对发动机故障状态进行实时监控,并具有自动诊断、 控制和故障处置并回收飞机的功能,实现无人机“故障安全”的处理方法。 [0007] The object of the present invention is directed to the UAV itself can not troubleshooting poor autonomous control, engine failure fatal problem, to provide a safe, effective, capable of real-time monitoring of the state of engine failure, and automatic diagnosis, control and fault recovery and disposal of aircraft capabilities, UAV treatment methods "fail safe".

[0008] 本发明解决其技术问题所采用的技术方案是:一种无人机发动机故障处理方法, 至少包括带有数据采集及信号处理的控制计算机系统,其特征在于,它还包括配置在空中计算机中的: [0008] The aspect of the present invention to solve the technical problem is: A fault processing method UAV engine comprising at least a control computer system with a data acquisition and signal processing, characterized in that it further comprises arranged in the air computer:

[0009] 系统故障自动诊断、故障处置控制模块逻辑程序模块; [0009] The automatic fault diagnosis, fault logic control module disposition program module;

[0010] 通过信号采集技术实时提取发动机转速传感器信号的程序模块; [0010] Extraction engine speed sensor signal by the real-time signal acquisition technology program module;

[0011] 用于监测点火装置电压和频度的程序模块; [0011] means for monitoring the voltage and frequency of the ignition module of the program;

[0012] 用于发动机缸温传感器实时监测判别是否发生拉缸故障的程序模块。 [0012] for an engine cylinder temperature sensor determines whether the real-time monitoring program module Scuffing failure has occurred.

[0013] 以及在故障自动诊断、控制和故障处置逻辑程序模块中可设定的: [0013] and the automatic fault diagnosis, fault control and logic module disposition can be set:

[0014] (1)发动机转速门限值子程序模块; [0014] (1) an engine speed threshold subroutine modules;

[0015] (2)发动机缸温门限值子程序模块; [0015] (2) an engine cylinder temperature threshold subroutine modules;

3[0016] (3)通过风、油门舵机位置反馈,判别发动机失控和不能停车故障子程序模块; 3 [0016] (3) through the air, the throttle servo position feedback, and determines the engine can not stop runaway fault subroutine modules;

[0017] (4)控制计算机系统根据上述各门限及相应舵机位置反馈,采用“事件管理触发” 及“定时中断”方式实现相应故障的诊断并判别故障性质和严重程度的程序模块; [0017] (4) and controls the computer system limits corresponding servo feedback based on the position of each door, a "Trigger Event Management" and "timer interrupt" manner corresponding fault diagnosis and fault discriminating the nature and severity of the program module;

[0018] (5)对飞机状态监控并通过测控系统向地面站回报故障编码的程序模块; [0018] (5) to monitor and report the status of the aircraft by the fault code program modules, measurement and control system to the ground station;

[0019] (6)处置程序根据故障性质和严重程度的判别,分别进行:控制计算机系统发出“应急返航”、“飞向指定区域”或“盘旋”指令,采用“事件管理触发”及“定时中断”方式启动相关预装订任务集的子程序模块; [0019] (6) The procedures for the disposal of the nature and severity of the fault discrimination, are carried out: a computer control system sends "emergency return", "fly to a designated area," or "hover" instruction, a "Trigger Event Management" and "Timing interrupt "way to start the pre-binding set of tasks related to the subroutine modules;

[0020] (7)它还包括连接降落伞、气囊及缓冲支架等功能装置进行应急回收的控制单元进行无人机应急回收; [0020] (7) further comprises a connecting parachute, balloon stent and a buffer control means functions such as emergency recovery unit performs recovery UAV emergency;

[0021] 所述控制单元至少连接有二路保护功能及启动触发途径的程序模块。 [0021] The control unit is connected to at least Road pathway activation trigger protection and program modules.

[0022] 所述控制单元的连接到应急开伞控制和返航至少有二路途径保护功能来实现启动触发的子程序模块。 [0022] The control unit is connected to the emergency parachute, and return control has at least two channels ways to implement the protection function of the trigger module startup routine. (即,除通过飞控计算机系统的程序控制外,还可根据飞控系统发回给地面站的故障报警情况,选择“手控”或“遥控”进行包括“返航”、“开伞”、“气囊”及“缓冲支架”释放等不同的处置措施)。 (I.e., except for program control of the flight control computer system, but also back to the flight control system according to the fault alarm condition ground station, select the "manual" or "remote control" for comprising "return", "parachute" "AIR BAG" and "buffer bracket" release, such as different disposal measures).

[0023] 本发明相比于现有技术具有如下有益效果。 [0023] The present invention compared to the prior art has the following advantages.

[0024] 本发明基于现有技术融合,在控制计算机系统的故障诊断单元及包括导航系统的应急返航程序模块以及开伞、气囊和缓冲支架释放等控制单元中融合意外发动机故障应急控制功能,控制计算机系统的故障诊断单元对发动机故障状态进行实时监控,当诊断并判别出包括发动机点火装置电压及频度、转速和缸温门限、风/油门舵机故障状态时,控制计算机系统将根据诊断的故障性质及严重程度,采取相应措施进行紧急处置,达到无人机系统“故障安全”要求。 [0024] The present invention is based on the integration of the prior art, in the control of a computer system failure diagnosis unit includes a navigation system and program modules and return emergency parachute, the balloon and the stent and releasing the buffer control unit fusion unexpected engine failure emergency control functions, control fault diagnosis unit of the computer system to the engine fault conditions monitored in real time when the diagnostic and discriminated comprises an ignition device voltage and the frequency of the engine speed and the cylinder temperature threshold wind / throttle servo fault condition, controls the computer system according to the diagnosis the nature and severity of the failure, take appropriate measures to carry out emergency treatment, to achieve unmanned systems "failsafe" requirements. 其中采用多路应急处置方式进行自动控制,保证了系统保护的可靠性。 Which uses multiple emergency mode is automatically controlled to ensure the reliability of the protection system. 解决了无人机发动机本身不能排除故障,发动机故障致命的问题。 UAV engine itself can not solve the troubleshooting, engine failure fatal problem. 因此本发明提供了一种安全、有效,能够对发动机故障状态进行实时监控,并具有自动诊断、控制和处置故障并回收飞机功能的故障处理方法。 The present invention thus provides a safe, effective, capable of real-time monitoring of the state of engine failure, and automatic diagnosis, control and disposal of faults and fault recovery function of aircraft approach. 其中的自动控制/诊断及多选择处置功能,具有性能优异、成功率高、响应快、可靠性高的优点。 Wherein the automatic control / diagnostic function and multiple choice disposal, having excellent performance, a high success rate, fast response, and high reliability.

附图说明 BRIEF DESCRIPTION

[0025]下面结合附图和实施例进一步说明本发明,但并不因此将本发明限制在所述的实施例范围之中。 [0025] The following figures and examples further illustrate the invention, but not to limit the invention thus in conjunction with the embodiments described range.

[0026] 图1是本发明发动机非正常空停故障处理模块程序流程图。 [0026] FIG. 1 is an engine of the present invention, the non-stop failure of the normal space module program flowchart.

[0027] 图2发动机故障飞控控制流程框图。 [0027] FIG 2 engine failure control flow diagram for flight control.

[0028] 图3是本发明对发动机空停实施应急处理的流程示意图。 [0028] FIG. 3 is a flow chart of an engine stop air emergency embodiment of the present invention.

[0029] 图4是本发明对发动机风、油门舵机卡死故障判别流程示意图。 [0029] FIG. 4 is a wind engine, throttle servo stuck fault discriminating a schematic flow diagram of the present invention.

[0030] 图5是本发明的故障处置应急开伞1流程示意图。 [0030] FIG. 5 is a schematic flow diagram of the present invention, the failure emergency parachute disposal.

[0031] 图6是本发明的故障处置应急开伞2流程示意图。 [0031] FIG. 6 is a schematic flow diagram of a fault 2 according to the present invention, the disposal emergency parachute.

具体实施方式 Detailed ways

[0032] 为了解决无人机飞行器发动机发生空中停车、失控和不能停车进行保护的问题, 本发明无人机发动机故障处理方法,包括带有数据采集及信号处理的控制计算机系统,并在所述控制计算机中配置系统故障自动诊断模块和故障处置逻辑程序模块。 [0032] In order to solve the occurrence of UAV aircraft engine air parking, the parking is not out of control, and protection and conservation, UAV engine failure processing method of the present invention, with a control computer system includes a data acquisition and signal processing, and the the control computer system configuration automatic fault diagnosis and fault module disposal logic program modules. 用于发动机转速监测以及采用控制伞降、缓冲气囊/支架等功能装置进行无人机应急回收的程序模块是基于控制计算机系统的发动机故障自动诊断、故障处置控制逻辑程序模块。 For motor speed monitoring and control using parachute, buffer balloon / stent functions UAV emergency recovery means is a program module based on an engine control computer system automatic fault diagnosis, fault control logic program modules disposal. 它主要包括: It includes:

[0033] (1)提取发动机转速传感器信号的“信号采集程序模块”(包括:“光隔”、“A/D采集”、“事件管理器捕获”等元件); [0033] (1) an engine speed sensor signal extracted "signal acquisition program module" (including: "optically isolated", "A / D Acquisition", "Event Manager captures" element, etc.);

[0034] (2)通过感应器件及A/D采集等技术实时监测点火装置电压及频度程序模块; [0034] (2) through the inductive device and A / D acquisition techniques real-time monitoring of the ignition voltage and frequency of program modules;

[0035] (3)采用发动机热敏元件和热电偶等缸温传感器实时监测判别拉缸故障是否发生的程序模块 [0035] (3) The engine cylinder thermosensitive element and a thermocouple temperature sensor of real-time monitoring program module determines whether the fault occurs Scuffing

[0036] (4)在故障自动诊断、控制策略和处置程序中设置的: [0036] (4) In the automatic fault diagnosis, control and disposal strategy set in the program:

[0037] 1)发动机转速门限值程序模块(可设定); [0037] 1) an engine speed threshold program modules (settable);

[0038] 2)发动机缸温门限值程序模块(可设定); [0038] 2) an engine cylinder temperature threshold program modules (settable);

[0039] 3)通过风、油门舵机位置反馈,判别发动机失控和不能停车故障程序模块。 [0039] 3) through the air, the throttle servo position feedback failure judgment can not stop the engine out of control and program modules. 控制计算机系统根据各门限及相应舵机位置反馈,采用“DSP事件触发”或“定时中断”实现相应故障的诊断并判别故障性质和严重程度的程序模块; Controlling a computer system in accordance with various thresholds and corresponding position feedback servo, using the "DSP trigger event" or "interrupt timer" corresponding to realize fault diagnosis and fault discriminating the nature and severity of the program module;

[0040] 4)通过测控系统向地面站回报故障编码的程序模块; [0040] 4) Control of return error code by the system to the ground station program modules;

[0041] 5)控制策略和处置程序模块根据故障性质和严重程度的判别,分别由控制计算机系统发出“应急返航”、“飞向指定区域”、“盘旋”指令,以及结合飞机飞行边界——“速度边界门限”和“高度边界门限”的监控,选择启动相应的预装订应急任务集和子程序模块; [0041] 5) control strategy and disposal program modules based on the nature and severity of the fault discrimination, were issued "emergency return" by the computer control system, "fly to the designated area", "hovering" command, and the combination of aircraft borders - "boundary threshold speed" and "high threshold boundary" monitor, the pre-selected start the corresponding emergency task sets and subroutines binding module;

[0042] 还包括连接降落伞、气囊及缓冲支架等控制单元的处置程序模块和驱动控制部件,所述相关控制单元至少连接有二路保护功能及启动触发途径。 [0042] Disposal of program modules and further comprises a drive control means connected to the control unit parachute, and a buffer such as a stent balloon, the associated control unit is connected to at least two-way protection and start trigger means.

[0043] 图1主要描述了发动机的转速、缸温及风/油门位置信号采集的流程。 [0043] Figure 1 describes the engine speed, temperature and air cylinder / throttle position signal acquisition process. 该流程的运作过程是,飞控系统实时监测发动机工作状态,实时将发动机转速、缸温、点火电压及频度信号,由光隔等器件整理为方波形式信号,输入到计算机的“事件管理器模块”,使之被捕获或采集。 The operating procedure of the process, the flight control system real-time monitoring engine operating state, the real-time engine speed, cylinder temperature, the ignition voltage and frequency of the signal, by the optical barrier devices such as finishing a square wave form of the signal input to the "Event management computer module ", so as to be caught or collected.

[0044] 图2主要描述了发动机气缸温度超高的应急处理模块程序流程和发动机超温故障判别流程。 [0044] FIG 2 describes a high temperature in the engine cylinder block emergency program flow and engine overtemperature fault determination process. 该流程的运作过程是,一旦发生发动机气缸温度持续高于设定的安全门限(如大于200°C ),则判定为发动机空中“拉缸故障”,即刻按“应急开伞1”处置,立即开伞。 The operation process flow is higher than the set temperature for the engine cylinder safety threshold (e.g., greater than 200 ° C) in the event, it is determined that the engine air "Scuffing fault", immediately press the "emergency parachute 1" treating, immediately parachute.

[0045] 图3主要描述了发动机非正常空停故障处理模块程序流程和空中停车故障判别流程。 [0045] Figure 3 describes the engine non-stop failure of the normal space module program flow and air flow stop fault discrimination. 当发动机转速持续一定时段低于门限(如小于IOOOrpm持续XX秒)的监测、以及点火工作电压及频度(点火电压小于设定门限)情况时,如风门舵机反馈位置监测确认没有“停车指令”要求(通过位置电位计及PWM的脉宽站空比,即风、油门不在“正常停车”位置), 则判定为“空中意外停车”故障。 When the engine speed is below a threshold for a certain period of time (e.g., less than IOOOrpm XX sec duration) is monitored, and the voltage and frequency of ignition operation (the ignition voltage is less than a set threshold) when the case, monitoring of wind door position servo feedback acknowledgment no "stop command "requirements (through-air ratio and the position of the potentiometer station PWM pulse width, i.e. air, an accelerator is not" normal stop "position), it is determined that" air unplanned downtime "fault. 控制计算机系统通过对诊断到的故障严重情况判别,决策采用何种处置模式。 Controlling a computer system for the diagnosis of a serious case of a failure to distinguish, what disposition mode decision adopted. 为提高系统的可靠性,可采用余度设计,增加冗余。 In order to improve system reliability, redundancy can be designed to increase redundancy. 在飞机当前状态, 根据飞机动静压传感器采集的气压高度与预先设定的安全开伞门限高度比较,采用两种处置方式:低于安全高度选择“应急开伞1”,高于安全高度选择“应急开伞2”,以最大限度地保护飞机及设备。 In the current state of the aircraft, the aircraft pressure sensor according to collect Hybrid height compared with a preset threshold height parachute safety door, disposal in two ways: to select a safe altitude below the "emergency parachute 1", to select a safe height above " 2 emergency parachute "in order to maximize the protection of aircraft and equipment.

[0046] 图4主要描述了发动机风、油门舵机卡死故障判别的流程和风门、油门卡死故障处置的方式。 [0046] FIG. 4 describes an engine air throttle servo stuck fault determination process and the damper, the throttle stuck fault disposal method. 处置采用应急直线返航和应急释放回收降落伞。 Disposal of using emergency return straight and emergency recovery parachute release. 该流程的运作过程是,当飞控系统接到发动机风“关风门”指令,监测发动机转速,转速持续χ秒时间如大于1000rpm(可设定的门限)成立,则判断为风门及舵机卡死故障,既向导航控制系统发出“盘旋”指令,作“耗油盘旋”飞行,直至燃油耗尽,自然启动发动机“空中停车”故障处理模块,实现飞机的伞降回收。 During this operation process, when the flight control system to the engine wind "throttle off" instruction, monitoring engine speed, duration χ speed such as greater than 1000 rpm for seconds (settable threshold) is established, it is determined that the steering damper and card dead failure, both issued a "hover" command to the navigation control system, as "fuel hovering" flying until the fuel runs out, start the engine naturally "air parking" Troubleshooting module, the recovery parachute aircraft.

[0047] 当飞控(计算机)系统接到发动机油门状态改变(如“额定”、“大车”等)指令,监测发动机转速,在χ秒时间转速变化是否大于300rpm(可设定的门限),“是”则正常,“否” 则判断为油门及舵机卡死故障,既向导航控制系统发出“直线返航”指令。 [0047] When the flight control (computer) system to the engine throttle to change the state (such as "rating", "cart") is input, monitoring the engine speed, the χ rotation speed variation is greater than a second time at 300 rpm (settable threshold) "a" is normal, "NO" is determined to be stuck throttle and steering gear failure, both issued a "linear return" command to the navigation control system.

[0048] 图5,6主要描述了和故障处置应急开伞2的两种流程和故障处置的方式。 [0048] Figures 5, 6 describes the disposal and Fault emergency parachute two kinds of processes and failures in a manner disposal 2. 其流程的运作过程是,故障采用应急释放回收降落伞,在接地时启动气囊及缓冲支架(包括接地后的切伞),更为有效的保证飞机安全。 Operation process flow is its failure to release the use of the emergency recovery parachute, balloon launch and a buffer bracket (including umbrella cut the ground) in the ground, more effective guarantee the safety of aircraft. 降落伞、气囊及缓冲支架的释放(包括接地后的切伞),通过应急处置模块,按处置程序向执行设备发出驱动指令,采用“继电器”、“开关电路” 及“接触器”等,触发相应的“燃爆器”、“电动” “气动”或“液力”作动机构,实现降落伞、气囊及缓冲支架(包括接地后的切伞)释放。 Parachute, airbag and release the buffer bracket (including cut umbrella after the ground), through emergency handling module, on the disposal program issues a drive instruction to the execution device, a "relay", "switching circuit" and "contact" and the like, triggers the corresponding the "blasting" on, "electric", "air" or "hydraulic" as a mechanism to achieve a parachute, and a buffer airbag holder (including the grounding bevel cut) released. 接地信号,可通过“机械触地开关”、“近距高度表”、“红外感应及近的引信”等获得。 Ground signal, through the "mechanical touchdown switch", "altimeter close", "near infrared and inductive fuze" and the like is obtained.

[0049] 故障处置应急开伞1,为立即开伞,当飞控(计算机)系统接到“应急开伞1”指令, 即刻通过应急处置模块依次向发出“关闭程序控制”、“姿态改平”、“关发动机风/油门(停车),,等指令、监测的发动机转速一旦低于XXXrpm(可设定),即发出“开伞”指令。当飞机接近地(水、草等)面,接地信号触发被触发,应急处置模块发出气囊及缓冲支架(包括接地后的切伞)释放指令。 [0049] Disposal of the emergency parachute fault 1, is immediately parachute, when the flight control (computer) system to "emergency parachute 1" command issued immediately to turn "OFF Program control" by the emergency module "attitude to level "," off the engine air / throttle (parking) ,, and other instructions, to monitor the engine speed is lower than once XXXrpm (settable), i.e., issue a "parachute" instruction. close when the aircraft (water, grass, etc.) surface, ground trigger signal is triggered, the airbag module sends emergency and the buffer bracket (including the grounding bevel cut) release instruction.

[0050] 故障处置应急开伞2,为可延迟性开伞,在“应急开伞1”故障处置模块基础上,增加高度判断和下滑程序,在开伞前将调整飞机到一个更为有利和安全的条件状态。 [0050] 2 fault disposal emergency parachute, to be delayed parachute, in the "emergency parachute 1" fault handling module based on the judgment and increase the height of declining program will be adjusted before the aircraft parachute to a more favorable and safe condition status.

Claims (9)

1. 一种无人机发动机故障处理方法,至少包括带有数据采集及信号处理的控制计算机系统,其特征在于,它还包括配置在控制计算机中的:系统故障自动诊断、控制和故障处置逻辑程序模块;用于提取发动机转速传感器信号的器件及程序模块;(A/D采集、光隔、事件管理等)通过感应器件及A/D采集等实时监测发动机点火装置电压和频度的程序模块;用缸温热电偶传感器及A/D采集等实时监测判别发动机拉缸故障是否发生的程序模块。 A UAV engine failure processing method, comprising at least a control computer system with a data acquisition and signal processing, characterized by further comprising a control computer configured: automatic fault diagnosis, and fault control logic disposal program modules; and means for extracting a program module of an engine speed sensor signal; (a / D acquisition, optically isolated, event management, etc.) through the sensing device and a / D acquisition of real-time monitoring of the ignition voltage and frequency of the engine, program modules ; thermocouple temperature sensor cylinders and a / D acquisition of real-time monitoring program module determines the engine Scuffing whether the fault occurred.
2.根据权利要求1所述的发动机故障处理方法,其特征在于所述的故障自动诊断、控制和故障处置逻辑程序模块中至少设定有发动机转速门限值子程序模块。 2. The method of troubleshooting engine according to claim 1, wherein said automatic fault diagnosis, fault control and logic module dispose at least the threshold engine speed is set subroutine modules.
3.根据权利要求1或2所述的发动机故障处理方法,其特征在于所述的故障自动诊断、 控制和故障处置逻辑程序模块中至少设定有发动机缸温门限值子程序模块。 3. The failure processing method according to an engine according to claim 12, wherein said automatic fault diagnosis, fault control and logic module disposal setting at least an engine cylinder temperature threshold subroutine modules.
4.根据权利要求1或2或3所述的发动机故障处理方法,其特征在于所述的故障自动诊断、控制和故障处置逻辑程序模块中至少设定有通过风、油门舵机位置反馈,判别发动机失控和不能停车故障的子程序模块。 The failure processing method of claim 1 or 2 or 3 engine as claimed in claim, wherein said automatic fault diagnosis, fault control and logic module disposal set at least through the air, the throttle servo position feedback, it is determined out of control and can not stop the engine failure subroutine modules.
5.根据权利要求4所述的发动机故障处理方法,其特征在于所述的故障自动诊断、控制和故障处置逻辑程序模块中至少设定有控制计算机系统根据上述各门限及相应舵机位置反馈,采用“事件管理触发”或“定时中断”方式实现相应故障的诊断并判别故障性质和严重程度的程序模块。 The method of troubleshooting engine according to claim 4, wherein said automatic fault diagnosis, and fault control logic disposition program module controls the computer system has at least set limits and the corresponding servo feedback based on the position of each door, a "trigger event management" or "timer interrupt" the appropriate way to achieve fault diagnosis and determine the nature and severity of the failure of the program modules.
6.根据权利要求5所述的发动机故障处理方法,其特征在于所述的故障自动诊断、控制和故障处置逻辑程序模块中至少设定有对飞机状态监控并通过测控系统向地面站回报故障编码的程序模块。 The failure processing method as claimed in claim 5, wherein the engine, wherein the automatic fault diagnosis, fault control and logic module disposition is set to at least monitor the state of the aircraft and by the measurement and control system to the ground station returns error code the program modules.
7.根据权利要求1至6任何一个权利要求所述的发动机故障处理方法,其特征在于所述的故障自动诊断、控制和故障处置逻辑程序模块中至少设定有,控制策略和处置程序根据故障性质和严重程度的判别,分别进行:控制计算机系统发出“应急返航”、“飞向指定区域”或“盘旋”指令,启动相关预装订任务集的子程序模块。 The method of troubleshooting engine 1-6 according to any one of the preceding claims claim, wherein said automatic fault diagnosis, fault control and logic module at least disposal is set, the control strategy according to the fault and disposal procedures the nature and severity of the determination, respectively: a computer control system sends "emergency return", "fly to a designated area," or "hover" instruction, the start subroutine module related pre-set tasks binding.
8.根据权利要求6所述的发动机故障处理方法,其特征在于:它还包括连接降落伞、气囊及缓冲支架等等功能装置进行应急回收的控制单元进行无人机应急回收的程序模块。 8. The method of troubleshooting engine according to claim 6, characterized in that: further comprising connecting a parachute, and the airbag cushion holder means functions like the control unit performs emergency recovery UAV emergency recovery program modules.
9.根据权利要求6所述的发动机故障处理方法,其特征在于所述控制单元至少连接有二路保护功能及启动触发途径的程序模块。 9. The method of troubleshooting engine according to claim 6, wherein said control program module unit is connected to at least start trigger Road protection and pathways.
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