CN102700542B - Dual-redundancy electric brake device of airplane and control method for dual-redundancy electric brake device - Google Patents
Dual-redundancy electric brake device of airplane and control method for dual-redundancy electric brake device Download PDFInfo
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- CN102700542B CN102700542B CN201210176390.9A CN201210176390A CN102700542B CN 102700542 B CN102700542 B CN 102700542B CN 201210176390 A CN201210176390 A CN 201210176390A CN 102700542 B CN102700542 B CN 102700542B
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Abstract
The invention discloses a dual-redundancy electric brake device of an airplane and a control method for the dual-redundancy electric brake device. A redundant driving controller part receives a brake pressure given signal and drives a brake actuator to work, so that brake pressure applied to a braked wheel follows the brake pressure given signal. By adopting a redundant technology, easily damaged mechanisms in an airplane brake driving device are subjected to warm backup; under the condition of normal working, the corresponding parts work at half of rated power, so that the service life of the driving device is prolonged, and the reliability of the driving device is improved; when certain redundancy of the driving device fails, a fault can be detected in real time and isolated, so that a fault motor quits a working state, and the driving device runs after being switched to a single-channel mode; and therefore, the reliability of a braking system of an airplane is improved.
Description
Technical field
The present invention relates to a kind of two remaining Electric Braking Devices Using and control method, the two remaining Electric Braking Devices Using of especially a kind of aircraft and control method.
Background technology
Airplane brake system is the subsystem on aircraft with relatively independent function, and its effect is the static weight, dynamic impulsion load of carrying aircraft and the kinetic energy while absorbing aircraft landing, realizes the braking of taking off, land, slide, turning and the control of aircraft.
At present, electric brake control system achievement in research has: the patent " the reduction power mode of aircraft electric brake system " that the patent " aircraft electrical brake control system architecture " that publication number is CN101117155 and publication number are CN101568458 is two kinds of technology of Boeing's research.The article " design of aircraft electric braking actuator and gordian technique research " that is published in " computer measurement and control " is that a kind of CPLD of design and DSP are the technology of the controller of brake system major control chip.These electric brakes all do not adopt redundancy, and reliability is not high.The present invention adopts two redundancy technology designs, improves the reliability of whole brake system.
Summary of the invention
In order to improve the reliability of airplane brake system, the invention provides a kind of two remaining actuating devices of Electric Brake System of Aircraft, under normal circumstances, can complete normal aircraft brake, in the time that actuating device one remaining breaks down, can detect in real time trouble point and isolate, under single channel, complete brake function, thereby improve the reliability of airplane brake system.
The technical solution adopted for the present invention to solve the technical problems is: comprise redundant drive controller, braking action device and the wheel of being stopped.Redundant drive controller part receives the given signal of brake pressure, drives the work of braking action device, makes to be applied to the brake pressure of being stopped on wheel and follows the given signal of brake pressure.
Wherein, redundant drive controller part comprises brake pressure feedback conditioning unit, the given receiving element of brake pressure, DSP unit, CPLD unit, buffer circuit unit, power drive unit, current acquisition unit, overcurrent protection auxiliary unit and power-supply system unit.Given brake pressure signal is converted into voltage signal by the given receiving element of brake pressure, input DSP unit, after the two-way brake pressure feedback signal amplification filtering that brake pressure feedback conditioning unit records two remaining pressure sensors, input DSP unit, the duty cycle signals of two windings of braking action device is controlled respectively in the output of DSP unit.CPLD unit overlaps hall signal by duty cycle signals and braking action device two and carries out logic operation, and the modulation commutation signal of two windings runnings of braking action device is controlled in output respectively, through buffer circuit unit and power drive unit, controls the operation of braking action device.Gather the bus current of two margin brushless DC motors at power drive unit; through overcurrent protection auxiliary unit; by bus current and predefined overcurrent threshold; if bus current is greater than predefined overcurrent threshold value; over-current signal is low; if bus current is less than or equal to predefined overcurrent threshold value, over-current signal is high, and over-current signal is sent in DSP unit.In the time that over current fault appears in motor, DSP unit inspection over-current signal is low, turn-offs duty cycle signals, thereby gets rid of over current fault.Current acquisition unit gathers bus current and the phase current of two margin brushless DC motor windings on power drive unit, and will after bus current and phase current filtering, input DSP unit.Power-supply system unit receives two and controls power supply; through diode, two power supplys are connected in parallel; to brake pressure feedback conditioning unit, the given receiving element of brake pressure, DSP unit, CPLD unit, buffer circuit unit, power drive unit, current acquisition unit, the power supply of overcurrent protection auxiliary unit; power-supply system unit receives two driving powers, powers to power drive unit.
Braking action device adopts two margin brushless DC motors.Wherein, the stator winding of two margin brushless DC motors is that two windings that overlap the spatially Y type connection of 30 ° of electric angles of mutual deviation form, on double winding is electric, be isolated from each other, magnetic Field Coupling on space, remaining each other each other, two margin brushless DC motors share a permanent magnet rotor.Every cover winding of two margin brushless DC motors has separately independently Hall element, and two cover Hall elements remaining each other, is collectively referred to as two remaining Hall elements.The signal that two remaining Hall elements send is called two remaining hall signals.
The present invention also provides the control method of said apparatus, comprises the following steps:
The first step: gather two-way brake pressure feedback signal, and carry out AD conversion.
Second step: if two-way brake pressure feedback signal is less than predefined error threshold, enter the 4th step, otherwise enter the 3rd step.
The 3rd step: Ruo Yi road brake pressure feedback signal is greater than the range maxim of pressure sensor, or be less than its range minimum value, diagnose this road pressure sensor failure, by the brake pressure feedback signal assignment of another road pressure sensor to pressure feedback, enter the 5th step, otherwise enter the 4th step.
The 4th step: pressure feedback equals two-way brake pressure feedback signal sum divided by two.
The 5th step: gather two remaining Hall element signals, Ruo Yi road Hall element signal is 000 or 111, diagnoses this road Hall element fault, enters the 6th step.
The 6th step: gather each remaining winding bus current and phase current.
The 7th step: Ruo Yi road winding bus current is greater than predefined short circuit threshold value, starts short circuit timing, if short circuit timing is greater than predefined short circuit upper limit threshold, diagnosing this road winding is short trouble, enters the tenth step.Ruo Yi road winding bus current is greater than motor minimum working current, and be less than predefined standard 0 digit current lower limit, start the timing of opening circuit, if the timing of opening circuit is greater than the predefined upper limit threshold that opens circuit, diagnosing this road winding is open circuit fault, enters the tenth step.Otherwise enter the 8th step.
The 8th step: gather the given signal of brake pressure, and carry out AD conversion.
The 9th step: if the value of pressure ring counting machine is greater than pressure ring Ct value, by pressure ring counter O reset, carry out pressure ring PID calculating according to brake pressure is given with brake pressure feedback, then the value of pressure ring counting machine is added to 1; Otherwise directly the value of pressure ring counting machine is added to 1.
The tenth step: Ruo Yi road short circuit in winding fault or open circuit fault or corresponding Gai road Hall element fault, Ze Jianggai road dutycycle is set to 0, another road electric current loop is given as pressure ring output, be fed back to another road bus current, carry out electric current loop PID computing, DSP is passed in electric current loop PID computing output, produces duty cycle signals, return to the first step, otherwise enter the 11 step.
The 11 step: the given half that is respectively pressure ring output of two-way electric current loop, be fed back to bus current separately, through electric current loop PID computing separately, operation result input DSP, produces respectively duty cycle signals separately, returns to the first step.
The invention has the beneficial effects as follows: the present invention adopts redundancy, carry out hot spare by holding damageable mechanism in aircraft brake actuating device, under normal operation, make the half of corresponding component working at rated power operation, improve the life and reliability of actuating device.In the time that the some remainings of actuating device break down, can make actuating device switch under single and move, guarantee aircraft safety brake.
Below in conjunction with drawings and Examples, the present invention is further described.
Accompanying drawing explanation
Fig. 1 is brake redundant drive apparatus structure.
In figure, 1-redundant drive controller, 2-braking action device, the 3-wheel of being stopped
Fig. 2 is redundant drive controller architecture
In figure; 4-bis-margin brushless DC motors; 5-brake pressure feedback conditioning unit, the given receiving element of 6-brake pressure, 7-DSP unit; 8-current acquisition unit; 9-overcurrent protection auxiliary unit, 10-power-supply system unit, 11-CPLD unit; 12-buffer circuit unit, 13-power drive unit.
Fig. 3, two remaining actuating device control methods.
The specific embodiment
As shown in Figure 1, the present invention includes redundant drive controller 1, braking action device 2 and the wheel 3 of being stopped.Redundant drive controller 1 receives the given signal of brake pressure, through control method control, drives the two margin brushless DC motors 4 in braking action device 2 to work, and makes to be applied to the brake pressure of being stopped on wheel 3 and follows the given signal of brake pressure.In the present invention, control power supply, driving power, motor winding, motor Hall element, pressure sensor, power drive unit are backed up to design.
Wherein, redundant drive controller 1 comprises brake pressure feedback conditioning unit 5, the given receiving element 6 of brake pressure, DSP unit 7, CPLD unit 11, buffer circuit unit 12, power drive unit 13, current acquisition unit 8, overcurrent protection auxiliary unit 9 and power-supply system unit 13.The given receiving element 6 of brake pressure is converted into 0～3V voltage signal by given brake pressure signal (0～40mA) through resistance, the AD port of input DSP unit 7, carry out analogue to digital conversion, brake pressure feedback conditioning unit 5 is by brake pressure feedback signal (the two-way 0～20mV differential pressure signal being recorded by two remaining pressure sensors) amplification filtering to 0～3V voltage signal, the AD port of input DSP unit 7, carry out analogue to digital conversion, regulate by control program, through the task manager of DSP unit 7, the duty cycle signals of two 4 two windings of margin brushless DC motor is controlled respectively in output.Duty cycle signals and 4 liang of cover hall signals of two margin brushless DC motor are carried out logic operation by CPLD unit 11, the modulation commutation signal of two winding runnings of two margin brushless DC motors 4 is controlled in output respectively, through buffer circuit unit 12 and power drive unit 13, control two margin brushless DC motors 4 and move.At power drive unit 13; gather the bus current of two margin brushless DC motors 4; through overcurrent protection auxiliary unit 9; by bus current and predefined overcurrent threshold; if bus current is greater than predefined overcurrent threshold value, over-current signal is low, if bus current is less than or equal to predefined overcurrent threshold value; over-current signal is high, and over-current signal is sent in DSP unit 7.In the time that over current fault appears in motor, it is low that DSP unit 7 detects over-current signal, turn-offs duty cycle signals, thereby gets rid of over current fault.Current acquisition unit 8 gathers bus current and the phase current of two margin brushless DC motor 4 windings on power drive unit 13, and will after bus current and phase current filtering, input DSP unit 7.Power-supply system unit 10 receives two and controls power supply; through diode, two power supplys are connected in parallel; power to brake pressure feedback conditioning unit 5, the given receiving element 6 of brake pressure, DSP unit 7, CPLD unit 11, buffer circuit unit 12, power drive unit 13, current acquisition unit 8, overcurrent protection auxiliary unit 9; power-supply system unit 10 receives two driving powers, powers to power drive unit 13.
Control method of the present invention is:
The first step: gather brake pressure feedback signal, and carry out AD conversion.Enter second step.
Second step: if | remaining 1 brake pressure feedback-remaining 2 brake pressure feedbacks | the predefined error threshold of < (in this model machine, predefined error threshold is 500N), enters the 7th step, otherwise enters the 3rd step.
The 3rd step: if remaining 1 brake pressure feedback is greater than range maxim (15000N), or remaining 1 rudder face pressure feedback is less than range minimum value (100N), enters the 4th step.Otherwise enter the 5th step.
The 4th step: be diagnosed as remaining 1 pressure sensor failure, remaining 2 brake pressure values of feedback are assigned to pressure feedback.Enter the 8th step.
The 5th step: if remaining 2 brake pressures feedbacks are greater than range maxim (15000N), or remaining 2 brake pressures feedbacks are less than range minimum value (100N), enter the 6th step.Otherwise enter the 7th step.
The 6th step: be diagnosed as remaining 2 pressure sensor failures, remaining 1 brake pressure value of feedback is assigned to pressure feedback.Enter the 8th step.
The 7th step: pressure feedback=(remaining 1 brake pressure feedback+remaining 2 brake pressure feedbacks)/2, enter the 8th step.
The 8th step: gather two remaining Hall element signals.Enter the 9th step.
The 9th step: if remaining 1 hall signal is 000 or 111, enter the tenth step, otherwise enter the 11 step.
The tenth step: be diagnosed as remaining 1 Hall element fault.Enter the 11 step.
The 11 step: if remaining 2 hall signals are 000 or 111, enter the 12 step, otherwise enter the 13 step.
The 12 step: be diagnosed as remaining 2 Hall element faults.Enter the 13 step.
The 13 step: gather each remaining winding bus current and phase current.Enter 14 steps.
The 14 step: if remaining 1 winding bus current is greater than predefined short circuit threshold value (in this model machine, predefined short circuit threshold value is 2A), enters the 15 step, otherwise enter the 18 step.
The 15 step: remaining 1 short circuit counting machine adds 1.Enter the 16 step.
The 16 step: if remaining 1 short circuit counting machine is greater than predefined short circuit upper limit threshold (in this model machine, predefined short circuit upper limit threshold is 10), enters the 17 step, otherwise enter the 18 step.
The 17 step: be diagnosed as remaining 1 short circuit in winding fault.Enter the 22 step.
The 18 step: if remaining 2 winding bus currents are greater than predefined short circuit threshold value (in this model machine, predefined short circuit threshold value is 2A), enter the 19 step, otherwise enter the 22 step.
The 19 step: remaining 2 short circuit counting machines add 1.Enter the 20 step.
The 20 step: if remaining 2 short circuit counting machines are greater than predefined short circuit upper limit threshold (in this model machine, predefined short circuit upper limit threshold is 10), enter the 21 step, otherwise enter the 22 step.
The 21 step: be diagnosed as remaining 2 short circuit in winding faults.Enter the 22 step.
The 22 step: if remaining 1 winding bus current is greater than motor minimum working current lower limit (in this model machine, under motor minimum working current, be limited to 50mA) or remaining 2 winding bus currents be greater than motor minimum working current lower limit (in this model machine, under motor minimum working current, be limited to 50mA), enter the 23 step, otherwise enter the 31 step.
The 23 step: if remaining 1 winding phase current is less than predefined standard 0 digit current lower limit (in this model machine, being limited to 30mA under predefined standard 0 digit current), enters the 24 step, otherwise enter the 27 step.
The 24 step: remaining 1 winding circuit breaker counter adds 1, enters the 25 step.
The 25 step: if the value of remaining 1 winding circuit breaker counter is greater than the predefined upper limit threshold that opens circuit (in this model machine, the predefined upper limit threshold that opens circuit is 10), enters the 26 step, otherwise enter the 27 step.
The 26 step: be diagnosed as remaining 1 winding open circuit fault.Enter the 31 step.
The 27 step: if remaining 2 winding phase currents are less than predefined standard 0 digit current lower limit (in this model machine, being limited to 30mA under predefined standard 0 digit current), enter the 28 step, otherwise enter the 31 step.
The 28 step: remaining 2 winding circuit breaker counters add 1, enter the 29 step.
The 29 step: if the value of remaining 2 winding circuit breaker counters is greater than the predefined upper limit threshold that opens circuit (in this model machine, the predefined upper limit threshold that opens circuit is 10), enters the 30 step, otherwise enter the 31 step.
The 30 step: be diagnosed as remaining 2 winding open circuit faults.Enter the 31 step.
The 31 step: gather the given signal of brake pressure, and carry out AD conversion.Enter the 32 step.
The 32 step: if the value of pressure ring counting machine is greater than pressure ring Ct value (in this model machine, pressure ring Ct value is 1ms), enter the 33 step.Otherwise enter the 34 step.
The 33 step: pressure ring counter O reset, carry out pressure ring PID calculating according to brake pressure is given with brake pressure feedback.Enter the 34 step.
The 34 step: the value of pressure ring counting machine adds 1, enters the 35 step.
The 35 step: if remaining 1 short circuit in winding fault or remaining 1 winding open circuit fault or remaining 1 Hall element fault enter the 36 step.Otherwise enter the 37 step.
The 36 step: remaining 1 dutycycle is set to 0, remaining 2 electric current loops are given as pressure ring output, are fed back to remaining 2 bus currents, carry out remaining 2 electric current loop PID computings, and the task manager of DSP is passed in remaining 2 electric current loop PID outputs, produces remaining 2 duty cycle signals.Enter the first step.
The 37 step: if remaining 2 short circuit in winding faults or remaining 2 winding open circuit faults or remaining 2 Hall element faults enter the 38 step.Otherwise enter the 39 step.
The 38 step: remaining 2 dutycycles are set to 0, remaining 1 electric current loop is given as pressure ring output, is fed back to remaining 1 bus current, carries out remaining 1 electric current loop PID computing, and the task manager of DSP is passed in remaining 1 electric current loop PID output, produces remaining 1 duty cycle signals.Enter the first step.
The 39 step: the given half that is respectively pressure ring output of remaining 1 and remaining 2 electric current loops, be fed back to the bus current of remaining separately, through the electric current loop PID computing of remaining separately, operation result is inputted DSP task manager separately, produces respectively the duty cycle signals of remaining 1 and remaining 2.Enter the first step.
Claims (1)
1. the control method of the two remaining Electric Braking Devices Using of aircraft, the two remaining Electric Braking Devices Using of described aircraft comprise redundant drive controller, braking action device and the wheel of being stopped, redundant drive controller part receives the given signal of brake pressure, drive the work of braking action device, make to be applied to the brake pressure of being stopped on wheel and follow the given signal of brake pressure; Wherein, redundant drive controller part comprises brake pressure feedback conditioning unit, the given receiving element of brake pressure, DSP unit, CPLD unit, buffer circuit unit, power drive unit, current acquisition unit, overcurrent protection auxiliary unit and power-supply system unit; Given brake pressure signal is converted into voltage signal by the given receiving element of brake pressure, input DSP unit, after the two-way brake pressure feedback signal amplification filtering that brake pressure feedback conditioning unit records two remaining pressure sensors, input DSP unit, the duty cycle signals of two windings of braking action device is controlled respectively in the output of DSP unit; CPLD unit overlaps hall signal by duty cycle signals and braking action device two and carries out logic operation, and the modulation commutation signal of two windings runnings of braking action device is controlled in output respectively, through buffer circuit unit and power drive unit, controls the operation of braking action device; Gather the bus current of two margin brushless DC motors at power drive unit, through overcurrent protection auxiliary unit, by bus current and predefined overcurrent threshold, if bus current is greater than predefined overcurrent threshold value, over-current signal is low, if bus current is less than or equal to predefined overcurrent threshold value, over-current signal is high, and over-current signal is sent in DSP unit; In the time that over current fault appears in motor, DSP unit inspection over-current signal is low, turn-offs duty cycle signals, thereby gets rid of over current fault; Current acquisition unit gathers bus current and the phase current of two margin brushless DC motor windings on power drive unit, and will after bus current and phase current filtering, input DSP unit; Power-supply system unit receives two and controls power supply, through diode, two power supplys are connected in parallel, to brake pressure feedback conditioning unit, the given receiving element of brake pressure, DSP unit, CPLD unit, buffer circuit unit, power drive unit, current acquisition unit, the power supply of overcurrent protection auxiliary unit, power-supply system unit receives two driving powers, powers to power drive unit; Described braking action device adopts two margin brushless DC motors; Wherein, the stator winding of two margin brushless DC motors is that two windings that overlap the spatially Y type connection of mutual deviation 300 electric angles form, on double winding is electric, be isolated from each other, magnetic Field Coupling on space, remaining each other each other, two margin brushless DC motors share a permanent magnet rotor; Every cover winding of two margin brushless DC motors has separately independently Hall element, and two cover Hall elements remaining each other, is characterized in that comprising the steps:
The first step: gather two-way brake pressure feedback signal, and carry out AD conversion;
Second step: if two-way brake pressure feedback signal is less than predefined error threshold, enter the 4th step, otherwise enter the 3rd step;
The 3rd step: Ruo Yi road brake pressure feedback signal is greater than the range maxim of pressure sensor, or be less than its range minimum value, diagnose this road pressure sensor failure, by the brake pressure feedback signal assignment of another road pressure sensor to pressure feedback, enter the 5th step, otherwise enter the 4th step;
The 4th step: pressure feedback equals two-way brake pressure feedback signal sum divided by two;
The 5th step: gather two remaining Hall element signals, Ruo Yi road Hall element signal is 000 or 111, diagnoses this road Hall element fault, enters the 6th step;
The 6th step: gather each remaining winding bus current and phase current;
The 7th step: Ruo Yi road winding bus current is greater than predefined short circuit threshold value, starts short circuit timing, if short circuit timing is greater than predefined short circuit upper limit threshold, diagnosing this road winding is short trouble, enters the tenth step; Ruo Yi road winding bus current is greater than motor minimum working current, and be less than predefined standard 0 digit current lower limit, start the timing of opening circuit, if the timing of opening circuit is greater than the predefined upper limit threshold that opens circuit, diagnosing this road winding is open circuit fault, enters the tenth step; Otherwise enter the 8th step;
The 8th step: gather the given signal of brake pressure, and carry out AD conversion;
The 9th step: if the value of pressure ring counting machine is greater than pressure ring Ct value, by pressure ring counter O reset, carry out pressure ring PID calculating according to brake pressure is given with brake pressure feedback, then the value of pressure ring counting machine is added to 1; Otherwise directly the value of pressure ring counting machine is added to 1;
The tenth step: Ruo Yi road short circuit in winding fault or open circuit fault or corresponding Gai road Hall element fault, Ze Jianggai road dutycycle is set to 0, another road electric current loop is given as pressure ring output, be fed back to another road bus current, carry out electric current loop PID computing, DSP is passed in electric current loop PID computing output, produces duty cycle signals, return to the first step, otherwise enter the 11 step;
The 11 step: the given half that is respectively pressure ring output of two-way electric current loop, be fed back to bus current separately, through electric current loop PID computing separately, operation result input DSP, produces respectively duty cycle signals separately, returns to the first step.
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| CN201210176390.9A CN102700542B (en) | 2012-05-31 | 2012-05-31 | Dual-redundancy electric brake device of airplane and control method for dual-redundancy electric brake device |
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| CN201210176390.9A CN102700542B (en) | 2012-05-31 | 2012-05-31 | Dual-redundancy electric brake device of airplane and control method for dual-redundancy electric brake device |
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| CN102923116A (en) * | 2012-11-19 | 2013-02-13 | 西安航空制动科技有限公司 | Electromechanical brake driver of aircraft |
| CN103213506B (en) * | 2013-05-06 | 2015-07-15 | 西北工业大学 | Controlling method for double Y-type brushless direct current motor of aircraft electric brake |
| CN103248290A (en) * | 2013-05-23 | 2013-08-14 | 西北工业大学 | Grey sliding mode control method for dual-redundancy brushless direct current motor of electric brake of airplane |
| CN103929179B (en) * | 2014-04-11 | 2017-07-04 | 西北工业大学 | A kind of Electric Brake System of Aircraft systematic sampling anti-interference method |
| CN104002784B (en) * | 2014-05-14 | 2017-01-11 | 西安航空制动科技有限公司 | Brake control system of multi-wheel-train brake machine wheel |
| CN104049638B (en) * | 2014-06-19 | 2017-01-04 | 金陵科技学院 | The attitude of flight vehicle distributing fault-tolerant control system of Actuator dynamic |
| 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 |
| CN108216595A (en) * | 2016-12-14 | 2018-06-29 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of efficient brake pressure control method |
| CN106712613B (en) * | 2016-12-22 | 2019-04-05 | 兰州空间技术物理研究所 | A kind of stepper motor crossing redundancy driving control system |
| CN108897269B (en) * | 2018-07-09 | 2020-10-27 | 西北工业大学 | Fault-tolerant control method for pressure sensor of airplane all-electric brake system |
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