CN105620729A - Automatic centering method for side rod of airplane initiative side rod system - Google Patents

Abstract

The invention discloses an automatic centering method for a side rod of an airplane initiative side rod system.For the problem of force control over rods in the airplane initiative side rod system, a torque motor serves as a force loading mechanism, the method for forming a control loop with motor armature current serving as a rod force observer is proposed, accurate control over handle force of the side rod is achieved based on a specialist PID algorithm, and a microcontroller can automatically switch to open-loop rod force control when a current sensor becomes poor in performance and even loses efficacy; meanwhile, the problem of inaccurate centering of a driving rod is solved in an accumulation control mode.By means of the method, high rod force control precision and stability of the initiative side rod can be ensured, the real-time performance and the accuracy of responses of the airplane initiative side rod can be ensured at the same time, and the driving rod can be quickly and precisely centered.

Description

The side lever of a kind of aircraft master end lever system returns middle method automatically

Technical field

The present invention relates to aircraft Controlling System, the side lever particularly relating to a kind of aircraft master end lever system returns middle method automatically.

Background technology

People's sensing system of aircraft can make pilot have control sense when operating aircraft, it is possible to affects the steering characteristics of aircraft, is the very important integral part of aircraft handling system. At present, most of aircraft all have employed fly-by-wire flight control system, wherein, and the passive jociey stick System's composition of Spring loaded people's sensing system of these aircrafts. Such jociey stick has very simple structure, installs very convenient, operates also very stable, but maximum shortcoming drives between stick force and bar displacement to be the direct ratio relation immobilized, can not reflect the flight state of aircraft; Owing to pilot's impression can decline to some extent less than the flight state of aircraft, the flight quality of aircraft and manipulation quality. In order to avoid this kind of shortcoming, initiatively jociey stick system is arisen at the historic moment. This kind of jociey stick system and flight controlling System's composition closed loop so that flight control computer can communicate mutually in real time with jociey stick. Adopting after in this way, pilot can accurately judge the flight state of aircraft by the power on jociey stick handle, therefore can improve handling characteristics and the flight quality of aircraft.

At present, about the control to stick force in the lever system of master end, most employing is by carrying out the control to stick force using the force transducer on jociey stick as feedback stick force, and when using this kind of control mode control side lever, when side lever is in kinestate, speed and acceleration is there is so that this system is unstable, and control accuracy reduces due to side lever. When the rotation of side lever is more big, the stick force control accuracy of this system is more unstable. Meanwhile, when force transducer is subject to electromagnetic interference or lost efficacy, the control feedback amount of this system lost efficacy, and the control performance of aircraft and safety are very serious by this. Herein by adopting, the output value of the armature current sensor of motor is obtained the power on active side lever handle indirectly so that this system is more stable; Adopt expert PID and the mode of intelligence switching so that when stick force feedback amount and actual deviation are very big simultaneously, it is switched to the control of open loop stick force by the control of closed loop stick force.

Summary of the invention

Technical problem to be solved by this invention is for defect involved in background technology, it is provided that the side lever of a kind of aircraft master end lever system returns middle method automatically.

The present invention is for solving the problems of the technologies described above by the following technical solutions:

The side lever of aircraft master end lever system returns a middle method automatically, and described aircraft master end lever system comprises monitoring module and side lever module;

Described monitoring module is for sending instruction to described side lever module, and controls to store and show the real time status information of side lever module;

Described side lever module comprises jociey stick, the first micro-control unit and the 2nd micro-control unit;

Described jociey stick comprises housing, handle, stick force sensor, the body of rod, the first axle, the 2nd axle, pair of bearings and the 2nd to bearing;

Described first axle, the 2nd axle adopt the form of interior housing, and the first axle is inner axis, and the 2nd axle is housing axle, and the first axle can slide at the chute of the 2nd axle;

Described housing is the rectangle of upper and lower opening, and bearing correspondence is arranged in its wall in the heart by pair of bearings, the 2nd;

Described first axle, the 2nd axle pass through pair of bearings, the 2nd respectively to loading ability of bearing, and described housing is all stretched out at two ends;

Lower end and first axle of the described body of rod are connected, and the bottom of upper end and stick force sensor is connected, and top and the handle of stick force sensor are connected;

Described stick force sensor adopts 2 dimension resistance-strain chip stick force sensors, respectively the power on corresponding first axle and the power on the 2nd axle;

Described handle is provided with the change-over switch of the operating mode for switching side lever module, and described operating mode comprises initiatively pattern, follower model, trim pattern and Passive Mode;

Described first micro-control unit comprises the first rotary potentiometer, the first gear reducer, the first torque motor, the first encoder, the first microcontroller, a PWM motor drive module, the first solid state relay, first handle power modulating signal circuit, the first angular displacement signal modulation circuit and the first current sense device;

The described input terminus of the first rotary potentiometer is connected with one end of the first axle, and output terminal is connected with the first angular displacement signal modulation circuit input end;

Described first gear reducer is fixing on the housing by ring flange, and delivery outlet is connected with the other end of the first axle, and input hole is connected with one end of the first torque motor output shaft;

The code-disc of described first encoder is connected with the other end of the first torque motor output shaft, for measuring the rotating speed of the first torque motor output shaft, and is passed to described first microcontroller;

Input terminus and the stick force sensor circuit of described first handle power modulating signal circuit are electrically connected;

A described PWM motor drive module output terminal is electrically connected by the first solid state relay and described first torque motor;

Described first current sense device is for responding to the armature current of the first torque motor, and is passed to described first microcontroller;

Described first microcontroller respectively with the output terminal of first handle power modulating signal circuit, the input terminus of the one PWM motor drive module, the control end of the first solid state relay, the output terminal of the first angular displacement signal modulation circuit, the output terminal of the first encoder, first current sense device, stick force sensor, and monitoring modular electrical is connected, for according to obtain stick force sensor on the first axle stick force output signal, the armature current signal of the first torque motor, the angular signal of the first angular displacement signal modulation circuit and the tach signal of the first torque motor export PWM to ripple the one PWM motor drive module, control the operation of the first torque motor, simultaneously by self with serial port function with monitoring module carry out serial communication, the status information of side lever device is transmitted to monitoring module,

Described 2nd micro-control unit comprises the 2nd rotary potentiometer, the 2nd gear reducer, the 2nd torque motor, the 2nd encoder, the 2nd microcontroller, the 2nd PWM motor drive module, the 2nd solid state relay, the 2nd angular displacement signal modulation circuit, second handle power modulating signal circuit, gear reducing case, right angle reverser and the 2nd current sense device;

The input terminus of described 2nd rotary potentiometer is connected with one end of the 2nd axle, and output terminal is connected with the 2nd angular displacement signal modulation circuit input end;

The described the other end of the 2nd axle is connected with the input gear of gear reducing case, and the output gear of gear reducing case is connected with the output shaft of right angle reverser;

Described right angle reverser is fixing on the housing by ring flange, and input terminus is connected with the delivery outlet of the 2nd gear reducer;

Described 2nd gear reducer is fixing on the housing by ring flange, and input hole is connected with one end of the 2nd torque motor output shaft;

The code-disc of described 2nd encoder is connected with the other end of the 2nd torque motor output shaft, for measuring the rotating speed of the 2nd torque motor output shaft, and is passed to described 2nd microcontroller;

Input terminus and the stick force sensor circuit of described second handle power modulating signal circuit are electrically connected;

Described 2nd PWM motor drive module output terminal is electrically connected by the 2nd solid state relay and described 2nd torque motor;

Described 2nd current sense device is for responding to the armature current of the 2nd torque motor, and is passed to described 2nd microcontroller;

Described 2nd microcontroller respectively with the output terminal of second handle power modulating signal circuit, the input terminus of the 2nd PWM motor drive module, the control end of the 2nd solid state relay, the output terminal of the 2nd angular displacement signal modulation circuit, the output terminal of the 2nd encoder, 2nd current sense device, stick force sensor, and monitoring modular electrical is connected, for according to obtain stick force sensor on the 2nd axle stick force output signal, the armature current signal of the 2nd torque motor, the angular signal of the 2nd angular displacement signal modulation circuit and the tach signal of the 2nd torque motor export PWM ripple to the 2nd PWM motor drive module, control the operation of the 2nd torque motor, simultaneously by self with serial port function with monitoring module carry out serial communication, the status information of side lever device is transmitted to monitoring module,

For the first axle, jociey stick realizes in automatic returning in accordance with the following methods:

Steps A .1), set the first microcontroller and the dutycycle k of PWM ripple that the 2nd microcontroller exports₁��k₂��k₃��k₄So that k₃< k₄< k₁< k₂, the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 10 ��;

Steps A .2), if this corner is more than or equal to 10 ��, the first microcontroller output duty cycle is k₂PWM ripple, and jump to steps A .1);

Steps A .3), if this corner is less than 10 ��, then the first microcontroller output duty cycle is k₁PWM ripple;

Steps A .4), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 5 ��;

Steps A .5), if this corner is more than or equal to 5 ��, then the first microcontroller output duty cycle is k₄PWM ripple, and jump to steps A .4);

Steps A .6), if this corner is less than 5 ��, then the first microcontroller output duty cycle is k₃PWM ripple;

Steps A .7), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether this corner is greater than the threshold of sensitivity of the first rotary potentiometer;

Steps A .8), if this corner is more than or equal to the threshold of sensitivity of the first rotary potentiometer, the first microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length, and jumps to steps A .7);

Steps A .9), if this corner is less than the threshold of sensitivity of angle displacement transducer device, the first microcontroller output duty cycle is the PWM ripple of 0.

Side lever as a kind of aircraft of the present invention master end lever system returns the further prioritization scheme of middle method automatically, and for the 2nd axle, it is as follows that jociey stick realizes the concrete steps in automatically returning:

Step is B.1), the 2nd microcontroller inquiry obtains the angular signal of the 2nd angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 10 ��;

Step is B.2), if this corner is more than or equal to 10 ��, the 2nd microcontroller output duty cycle is k₂PWM ripple, repeating step is B.1);

Step is B.3), if this corner is less than 10 ��, then the 2nd microcontroller output duty cycle is k₁PWM ripple;

Step is B.4), the 2nd microcontroller inquiry obtains the angular signal of the 2nd angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 5 ��;

Step is B.5), if this corner is more than or equal to 5 ��, then the 2nd microcontroller output duty cycle is k₄PWM ripple, repeating step is B.4);

Step is B.6), if this corner is less than 5 ��, then the 2nd microcontroller output duty cycle is k₃PWM ripple;

Step is B.7), the 2nd microcontroller inquiry obtains the angular signal of the 2nd angular displacement signal modulation circuit, and judges whether this corner is greater than the threshold of sensitivity of the 2nd rotary potentiometer;

Step is B.8), if this corner is more than or equal to the threshold of sensitivity of the 2nd rotary potentiometer, then the 2nd microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length, and repeating step is B.7);

Step is B.9), if this corner is less than the threshold of sensitivity of angle displacement transducer device, then the 2nd microcontroller output duty cycle is the PWM ripple of 0.

Side lever as a kind of aircraft of the present invention master end lever system returns the further prioritization scheme of middle method automatically, and the account form of the jociey stick handle power on the first axle is as follows:

Step is C.1), the first empty accounting of microprocessor control output equals the PWM ripple of default minimum empty accounting threshold value;

Step is C.2), the armature current signal of the first torque motor is obtained by the first current sense device, obtain the stick force size of stick force sensor on the first axle simultaneously, and record current first microprocessor control and export the empty accounting of PWM ripple, the armature current signal of the first torque motor and the stick force sensor stick force size on the first axle;

Step is C.3), the first microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length;

Step is C.4), repeating step is C.2) to step C.3), until the dutycycle of PWM ripple that the first microcontroller exports is more than or equal to default most high duty cycle threshold value;

Step is C.5), repeating step is C.1) to step C.4) at least 50 times;

Step is C.6), armature current signal data and the stick force signal data of stick force sensor on the first axle to the first torque motor carry out first-order linear matching, and obtaining the funtcional relationship after matching is:

F₁=s₁��I₁-s₂

Wherein, F₁Represent the jociey stick handle power on the first axle, s₁And s₂Represent F₁With I₁Between the parameter of analysis formula.

Side lever as a kind of aircraft of the present invention master end lever system returns the further prioritization scheme of middle method automatically, and the account form of the jociey stick handle power on the 2nd axle is as follows:

Step is D.1), the 2nd empty accounting of microprocessor control output equals the PWM ripple of default minimum empty accounting threshold value;

Step is D.2), the armature current signal of the 2nd torque motor is obtained by the 2nd current sense device, obtain the stick force size of stick force sensor on the 2nd axle simultaneously, and record current 2nd microprocessor control and export the empty accounting of PWM ripple, the armature current signal of the 2nd torque motor and the stick force sensor stick force size on the 2nd axle;

Step is D.3), the 2nd microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length;

Step is D.4), repeating step is D.2) to step D.3), until the dutycycle of PWM ripple that the 2nd microcontroller exports is more than or equal to default most high duty cycle threshold value;

Step is D.5), repeating step is D.1) to step D.4) at least 50 times;

Step is D.6), armature current signal data and the stick force signal data of stick force sensor on the 2nd axle to the 2nd torque motor carry out first-order linear matching, and obtaining the funtcional relationship after matching is:

F₂=s₃��I₂-s₄

Wherein, F₂Represent the jociey stick handle power on the 2nd axle, s₃And s₄Represent F₂With I₂Between the parameter of analysis formula.

Side lever as a kind of aircraft of the present invention master end lever system returns the further prioritization scheme of middle method automatically, and first, second microcontroller described adopts STM32 chip.

Side lever as a kind of aircraft of the present invention master end lever system returns the further prioritization scheme of middle method automatically, and first, second rotary potentiometer described employing electric angle is the accurate rotary potentiometer of 90 degree.

Side lever as a kind of aircraft of the present invention master end lever system returns the further prioritization scheme of middle method automatically, and first, second encoder described adopts the incremental encoder of high line number.

The present invention adopts above technical scheme compared with prior art, has following technique effect:

1. can reduce the volume and weight of aircraft active jociey stick system, more have actual equipment meaning;

2. jociey stick can be made to have response speed faster by design control law;

3. the neutral position of jociey stick system, it is possible to according to the custom of pilot, convenient adjustment, and jociey stick returns middle process rapidly, and in returning, position is accurate;

4. the stick force information of degree of precision can be provided;

5. being switched by solid state relay so that hardware structure is simple, control is simple, and initiatively side lever is more stable, it is possible to work at more severe airborne circumstance.

6. the stick force opened loop control of this system has had degree of precision, and when stick force feeds back sensor failure, this system can be switched to the control of open loop stick force by the control of closed loop stick force in time automatically so that the active pattern of this system is more stable.

7. can solve because of the wrong input problem of jociey stick caused by aircraft vibration or aircraft oblique attitude;

8. when jociey stick system is switched to Passive Mode by active pattern, it is possible to solve jociey stick and rotate discontinuous phenomenon.

Accompanying drawing explanation

The structural representation of Fig. 1 aircraft master end system;

The structural representation of Fig. 2 aircraft master end lever system monitoring module;

The form schematic diagram of Fig. 3 aircraft master end lever system serial port communication data bag;

The side lever physical construction schematic diagram of Fig. 4 aircraft master end lever system;

The overall control software flow figure of the side lever apparatus module of Fig. 5 aircraft master end lever system;

The side lever follower model control schematic diagram of Fig. 6 aircraft master end lever system;

The side lever of Fig. 7 aircraft master end lever system is Schema control schematic diagram initiatively;

The bar force control method schematic diagram of the side lever active pattern of Fig. 8 aircraft master end lever system;

The side lever of the side lever active pattern of Fig. 9 aircraft master end lever system returns middle control schema.

In figure, 1-handle, 2-stick force sensor, the 3-body of rod, 4-first axle, 5-the 2nd axle, 6-pair of bearings, 7-the 2nd to bearing, 8-housing.

Embodiment

Below in conjunction with accompanying drawing, the technical scheme of the present invention is described in further detail:

As shown in Figure 1, the present invention is primarily of two big module compositions for this system: monitoring module and side lever module.

Monitoring module is run in an experiment on PC, during actual equipment, runs, and communicated by the mode of serial communication with side lever module on flight control computer. Monitoring module can obtain real-time status and the data of jociey stick, it is possible to the operating mode of setting side lever module. The formation of monitoring module is as shown in Figure 2, this module comprises communication unit, control unit, stick force curve setting unit, mode instruction input unit, display unit and storage element, and described control unit is electrically connected with the unit that communicates, stick force curve setting unit, mode instruction input unit, display unit, storage element respectively.

Described communication unit and side lever module carry out serial communication. Form and the length of data packet are fixed, and the concrete form of each bag data as shown in Figure 3, is first data head, and data head comprises two sections, is 0XAA and 0X55 respectively, if correct, continue to resolve, otherwise wait next bag data; Then it is a bit address code, it is communicate with pitching passage or roll channel by its judgement, then it is a function code, the type of the communication information is determined by this function code, comprising the parameter under the operating mode of setting side lever module, the setting a certain operating mode of side lever module and receive the movement state information come of side lever module transfer, last data bit is then the particular content of information. The data bit often wrapped is the figure place of data code by completing maximum figure shift needed for a command routing or information transmission in the lever system of described master end, and therefore often bag data can determine length.

Described stick force curve setting unit is used for input lever force curve parameter, and is passed to described control unit.

Described mode instruction input unit is for setting the operating mode of side lever module, and is passed to described control unit, and described operating mode comprises initiatively pattern, follower model, trim pattern and Passive Mode.

Described display unit is used for the real time status information of output box, virtual meter panel and graphic representation display side lever module.

Described storage element is for storing the real time status information of side lever module.

Described control unit is for sending instruction to described side lever module, and controls to store and show the real time status information of side lever module.

Described side lever module comprises jociey stick, the first micro-control unit and the 2nd micro-control unit.

Jociey stick has two degree of freedom, is respectively used to control luffing and the rolling campaign of aircraft, and the first micro-control unit, the 2nd micro-control unit are then respectively used to these two degree of freedom be adjusted.

Jociey stick comprises housing, handle, stick force sensor, the body of rod, the first axle, the 2nd axle, pair of bearings and the 2nd to bearing, its physical construction is with reference to Twin-shaft machinery rotor gyro, as shown in Figure 4, the form of housing in adopting, first axle is inner axis, 2nd axle is housing axle, and the first axle can slide at the chute of the 2nd axle.

Described housing is the rectangle of upper and lower opening, and bearing correspondence is arranged in its wall in the heart by pair of bearings, the 2nd;

Described first axle, the 2nd axle pass through pair of bearings, the 2nd respectively to loading ability of bearing, and described housing is all stretched out at two ends;

Lower end and first axle of the described body of rod are connected, and the bottom of upper end and stick force sensor is connected, and top and the handle of stick force sensor are connected;

The power that described stick force sensor is applied on jociey stick handle for measuring pilot;

Described handle is provided with the change-over switch of initiatively pattern and Passive Mode and the change-over switch of trim pattern and active pattern.

Described first micro-control unit comprises the first rotary potentiometer, the first gear reducer, the first torque motor, the first encoder, the first microcontroller, a PWM motor drive module, the first solid state relay, first handle power modulating signal circuit, the first angular displacement signal modulation circuit and the first current sense device;

The described input terminus of the first rotary potentiometer is connected with one end of the first axle, and output terminal is connected with the first angular displacement signal modulation circuit input end;

Described first gear reducer is fixing on the housing by ring flange, and delivery outlet is connected with the other end of the first axle, and input hole is connected with one end of the first torque motor output shaft;

The code-disc of described first encoder is connected with the other end of the first torque motor output shaft, for measuring the rotating speed of the first torque motor output shaft, and is passed to described first microcontroller;

Input terminus and the stick force sensor circuit of described first handle power modulating signal circuit are electrically connected;

A described PWM motor drive module output terminal is electrically connected by the first solid state relay and described first torque motor;

Described first current sense device is for responding to the armature current of the first torque motor, and is passed to described first microcontroller;

Described first microcontroller respectively with the output terminal of first handle power modulating signal circuit, the input terminus of the one PWM motor drive module, the control end of the first solid state relay, the output terminal of the first angular displacement signal modulation circuit, the output terminal of the first encoder, first current sense device, stick force sensor, and the communication unit in monitoring module is electrically connected, for according to obtain stick force sensor on the first axle stick force output signal, the armature current signal of the first torque motor, the angular signal of the first angular displacement signal modulation circuit and the tach signal of the first torque motor export PWM to ripple the one PWM motor drive module, control the operation of the first torque motor, simultaneously by self with serial port function with monitoring module carry out serial communication, the status information of side lever device is transmitted to monitoring module.

When left and right moves jociey stick handle, jociey stick drives the first axle to rotate in the first bearing, and the end of the first axle slides in the chute of the 2nd axle; Driving the first gear reducer and the first rotary potentiometer to rotate, the first gear reducer drives the first torque motor to rotate simultaneously, and the first torque motor drives the first encoder to rotate. When the first torque motor energising is rotated, sequence of motion is with to describe process above contrary.

Described 2nd micro-control unit comprises the 2nd rotary potentiometer, the 2nd gear reducer, the 2nd torque motor, the 2nd encoder, the 2nd microcontroller, the 2nd PWM motor drive module, the 2nd solid state relay, the 2nd angular displacement signal modulation circuit, second handle power modulating signal circuit, gear reducing case, right angle reverser and the 2nd current sense device;

The input terminus of described 2nd rotary potentiometer is connected with one end of the 2nd axle, and output terminal is connected with the 2nd angular displacement signal modulation circuit input end;

The described the other end of the 2nd axle is connected with the input gear of gear reducing case, and the output gear of gear reducing case is connected with the output shaft of right angle reverser;

Described right angle reverser is fixing on the housing by ring flange, and input terminus is connected with the delivery outlet of the 2nd gear reducer;

Described 2nd gear reducer is fixing on the housing by ring flange, and input hole is connected with one end of the 2nd torque motor output shaft;

The code-disc of described 2nd encoder is connected with the other end of the 2nd torque motor output shaft, for measuring the rotating speed of the 2nd torque motor output shaft, and is passed to described 2nd microcontroller;

Input terminus and the stick force sensor circuit of described second handle power modulating signal circuit are electrically connected;

Described 2nd PWM motor drive module output terminal is electrically connected by the 2nd solid state relay and described 2nd torque motor;

Described 2nd current sense device is for responding to the armature current of the 2nd torque motor, and is passed to described 2nd microcontroller;

Described 2nd microcontroller respectively with the output terminal of second handle power modulating signal circuit, the input terminus of the 2nd PWM motor drive module, the control end of the 2nd solid state relay, the output terminal of the 2nd angular displacement signal modulation circuit, the output terminal of the 2nd encoder, 2nd current sense device, stick force sensor, and the communication unit in monitoring module is electrically connected, for according to obtain stick force sensor on the 2nd axle stick force output signal, the armature current signal of the 2nd torque motor, the angular signal of the 2nd angular displacement signal modulation circuit and the tach signal of the 2nd torque motor export PWM ripple to the 2nd PWM motor drive module, control the operation of the 2nd torque motor, simultaneously by self with serial port function with monitoring module carry out serial communication, the status information of side lever device is transmitted to monitoring module.

When push-and-pull jociey stick handle, jociey stick drives the 2nd axle to rotate in the 2nd bearing; Driven gear reduction box and the 2nd rotary potentiometer rotate simultaneously, gear reducing case drives right angle reverser to rotate, right angle reverser drives the 2nd gear reducer to rotate, and the 2nd gear reducer drives the 2nd torque motor to rotate, and the 2nd torque motor drives the 2nd encoder to rotate. When the 2nd torque motor energising is rotated, sequence of motion is with to describe process above contrary.

Described stick force sensor, adopts 2 dimension resistance-strain chip stick force sensors, the 2 dimensions power that responsive pilot is applied on jociey stick handle corresponding two degree of freedom respectively, i.e. power on corresponding first axle and the power on the 2nd axle respectively.

These two handle force signals have two purposes:

1. it is used for after first, second micro-control unit collection respectively sending to monitoring module by serial ports;

2., as judging that the hand of pilot is with or without the condition being held on handle, this effect determines the judgement condition that jociey stick automatically returns middle action executing in active pattern.

First, second gear reducer described adopts accurate planetary reducer. Planetary reduction gear device is connected with torque motor, is used for slowing down and increases torque.

The rareearth permanent-magnet DC that first, second torque motor described employing peak value locked-rotor voltage is 27V has brushing force torque motor, and motor output shaft, through two grades of accurate servo planetary reducers, exports bigger moment. Described stick force sensor adopts 2 dimension resistance-strain chip stick force sensors, the 2 dimensions power that responsive pilot applies in two degree of freedom on jociey stick handle respectively.

Described gear reducing case adopts accurate one-level straight tooth column gear reducing case.

Described right angle reverser adopts accurate servo cone gear right angle reverser.

First, second microcontroller described adopts STM32 chip. Microcontroller adopts the chip of STM32F103 series, use three passages of its a/d converter, gathering the output signal of rotary potentiometer, jociey stick force transducer and Hall current sensor, the mode interrupted by DMA carries out certain filtering algorithm process simultaneously; Gather and process handle force signal, the angular displacement signal of jociey stick handle, the angular velocity signal of jociey stick handle, the armature current signal of torque motor, obtain control electric current by relevant control algorithm, expect corner and expect moment, then export PWM ripple and go drive-motor output expect moment or expect corner through motor drive module. Monitoring module microcontroller adopts the USART module carried, and carries out the status information of serial communication real-time Transmission jociey stick with monitoring module in the way of serial communication.

First, second PWM motor drive module described, being used for the motor control signal to be amplified to can driving moment motor; The present invention adopts width modulation type of drive, and motor drive module is barricaded as a complete H-bridge drive circuit by two panels BTN7971B, and principle is similar to the H bridge that MOS pipe is built, it is possible to drive big current, is enough to generate heat little for driving 1 tunnel to have brush DC torque motor. Adopt the mode of light-coupled isolation simultaneously, damage coupled module during the fault such as prevent that driving circuit from puncturing, so just can effectively protect the safety of STM32 chip and circuit module, prevent from being burned.

The PWM of STM32 exports and realizes by timer, and significant parameter has two: frequency and dutycycle, just can adjust this two parameters by specifically arranging TIMX_ARR and TIMX_CCRX two registers. In the present invention, it is contemplated that to the aircraft initiatively real-time of jociey stick system and the processing power of STM32, frequency being adjusted to 10KHz, namely the cycle is 0.1ms. Dutycycle is accurate to after radix point three, and adjusts in real time according to the control voltage required for motor.

First, second rotary potentiometer described employing electric angle is the accurate rotary potentiometer of 90 degree. Its output terminal is modulated circuit by angular displacement signal and is connected with the GPIO mouth of microcontroller, and a passage of the a/d converter that angular displacement signal is carried by this microcontroller gathers with the carrying out of fixed cycle. Rotary potentiometer is used for measuring the deflection angle of jociey stick handle.

First, second encoder described adopts the incremental encoder of high line number, and two output leads of each encoder are connected with the incremental encoder interface of respective microcontroller respectively, and angle rate signal is gathered with the carrying out of fixed cycle by this microcontroller. Incremental encoder is used for measuring corner and the circular frequency of motor rotating shaft, indirectly obtains corner and the circular frequency of jociey stick handle.

First, second current sense device described adopts Huo Er closed loop current sensor, a wherein lead-in wire of first, second torque motor is each passed through first, second current sense device, and another passage of the a/d converter that the output terminal of first, second current sense device carries with respective microcontroller respectively gathers with the carrying out of fixed cycle. Hall current sensor is adopted to carry out the armature current of measure force torque motor.

Aircraft master end lever system mainly contains four kinds of patterns: follower model, trim pattern, initiatively pattern and Passive Mode. Trim pattern, initiatively pattern and Passive Mode pattern can be switched by monitoring module input instruction, can also switch by the button on side lever handle, trim switching over trim pattern in side lever handle top and initiatively pattern, the switching of Passive Mode and initiatively pattern is controlled by the change-over switch of side lever handle side; By monitoring, module sends instruction to follower model, can switch under active pattern and trim pattern. The control schema of whole system is as shown in Figure 5.

After powering on, first initialization system; Then judging whether side lever apparatus module has data to input, if had, reading the data of monitoring module; If not having data to input, then read the key-press status on side lever handle. If jociey stick is in follower model, then controls jociey stick handle according to angle information, it is specially the position control of motor. If jociey stick is in trim pattern, then microprocessor control torque motor makes jociey stick handle locking in this angle. If jociey stick is in initiatively pattern, then reading angular value, if angle value changes, then output voltage control torque motor rotates, and exports moment, makes jociey stick handle produce expected force. If jociey stick is in Passive Mode, motor does not work; Microcontroller in side lever apparatus module makes torque motor open circuit by control solid state relay.

Follower model:

Described follower model refers to that jociey stick is by monitoring module controlling run, and control block diagram is as shown in Figure 6. Monitoring module the expectation rotational angle theta of jociey stick handle by the microcontroller of Serial Port Transmission to side lever apparatus module, the microcontroller of side lever apparatus module exports the PWM ripple of corresponding dutycycle to driving module after resolved data, thus drive-motor drives side lever handle to forward expected angle to; The signal of the real-time acquisition angle displacement sensor of microcontroller simultaneously, and the actual rotational angle �� of side lever handle " is fed back to monitoring module. Therefore the deflection that module can control aircraft active side lever handle in real time is monitored, it is possible to obtain the deflection angle of handle in real time. Monitoring module also can send flight envelope curve to the microcontroller of side lever apparatus module so that jociey stick handle runs according to the corresponding command.

When initiatively jociey stick system is in servo-actuated operational mode, handle force signal does not deal with, and motor is in normal rotation state. Now adopt the method for voltage control motor rotating speed. Due to the employing of active jociey stick system is DC torque motor, and motor rotating speed and voltage are proportional, so needing to change service voltage during adjustment rotating speed.

$n=\frac{U}{C_e\mathrm{\&Phi;}}-\frac{R}{C_e{C}_T{\mathrm{\&Phi;}}^2}T$

In upper formula, U is the terminal voltage of torque motor, C_eIt is the electromotive force constant of torque motor, C_TBeing the torque constant of torque motor, R is armature resistance, and �� is the magnetic flux of motor, and n is rotational speed of torque motor, and T is motor output torque.

Jociey stick system is under follower model, and the external force owing to being applied on jociey stick handle is zero, it is possible to torque motor is regarded as permanent torque and exports.

Trim pattern:

Described trim pattern refers to, jociey stick in such a mode, adopts certain control algorithm, makes jociey stick remain on certain angle and maintains static.

Initiatively pattern:

Described active pattern as shown in Figure 7, refers to that microcontroller is according to the flight state of aircraft and bar displacement information, and control motor produces different torques, thus produces different feedback forces on handle.

Initiatively pattern is divided into stick force follow and automatically return middle two portions. Under this pattern, when the power on jociey stick is greater than the startup power of setting, motor is in stick force and follows the tracks of state. Now, the armature current obtained by hall sensing device measurement forms the handle force observer of jociey stick, and by certain control algorithm, control motor terminal voltage indirectly controls current of electric and makes this system export degree of precision and more stable handle power.

When detecting that pilot looses one's grip, during jociey stick returns automatically. When the deflection angle of jociey stick and neutral position is greater than a certain angle of setting, by the terminal voltage higher to motor offer, control motor is returned near jociey stick neutral position faster.

Initiatively pattern should be system default working order, it is also possible to is switched to initiatively pattern by the main Passive Mode change-over switch in active side lever handle side face.

Passive Mode:

When this systematic evaluation is to Passive Mode, by controlling, a solid state relay makes torque motor open circuit to microcontroller in side lever apparatus module, torque motor does not work, this system just exports angular travel and the angular velocity information of jociey stick handle, after ensureing that motor lost efficacy, pilot can drive the basic function that aircraft makes a return voyage safely.

The main input of the microcontroller of side lever apparatus module has from the angle of pitch of expectation jociey stick handle of monitoring module and roll angle and from the armature current etc. of the jociey stick handle power of jociey stick, jociey stick handle corner, torque motor. The speed of officer's push-and-pull jociey stick is also the input of microcontroller, the most important thing is handle force signal. The corresponding corresponding jociey stick handle power of the different deflection angle of jociey stick handle, and the different corresponding different control voltages of jociey stick handle power. Therefore the deflection angle of jociey stick handle and control voltage are one to one. This kind of corresponding relation can be stored in microcontroller with the form of an analysis formula, and this analysis formula is multiple input single output, and namely multiple different parameter is as initial conditions, and control voltage is as output; When specifically controlling, by tabling look-up or analysis formula just can obtain the expected force of jociey stick handle.

Handle power controlling party block diagram when aircraft master end lever system is in active pattern is as shown in Figure 8, monitoring module is transferred to the expectation corner of jociey stick handle the microcontroller of side lever apparatus module, side lever handle power is expected by calculating, the jociey stick handle power expected obtains the corresponding control voltage of torque motor by the control algorithm in microcontroller, electric machine rotation Driving Torque so that have certain power on jociey stick handle; Jociey stick handle force transducer records actual handle power and expects handle force rate relatively, by difference handle masterpiece for feedback goes drive-motor adjustment torque by control algorithm again, so repeatedly, until side handle obtains expected force.

In order to obtain driving more accurately stick force, system needs stick force controlled frequency faster. The motor of this system is a perceptual device, and when the input voltage of motor changes, armature current can not change with it at once, there is a transient process. Therefore when the control cycle of the system of design, it has to be taken into account this problem.

When motor is in stall state, the balance of voltage equation of the armature circuit of torque motor is as follows:

$U=R\&CenterDot;I+L\frac{dI}{dt}$

Wherein, U represents the terminal voltage of torque motor, and R represents motor armature resistance, and L represents the armature inductance of motor, and I represents the armature current of torque motor, and t represents the time.

Both sides integration can obtain:

$t=\frac{L}{R}\&CenterDot;ln\frac{I_0-U/R}{I-U/R}$

Wherein, I₀Represent the armature current of the torque motor in t=0 moment, when in each regulate process, when electric current reaches the 98% of stationary value, it is believed that electric transient process terminates, now:

$t=\frac{L}{R}\&CenterDot;ln\frac{I_0-U/R}{I_0+0.98\&CenterDot;(\frac{U}{R}-I_0)}\&ap;4\frac{L}{R}$

The motor parameter of torque motor selected by above a few formula and this system, it is seen that, the controlled frequency maximum value of motor.

Because the mechanical mechanism of this system exists frictiontorque, when therefore jociey stick is in return every time, position out of true. Conventional control method so that because friction problem when jociey stick is in returning, become slow when moving near neutral position, and position out of true. In jociey stick can accurately being returned fast herein by adopting the strategy of variable speed control and cumulative control. Concrete control flow process is as shown in Figure 9. Wherein, k₃< k₄< k₁< k₂, k₁��k₂��k₃��k₄It is the dutycycle of the PWM ripple that the first and second microcontrollers set in advance export.

Judge whether jociey stick is in back middle pattern by jociey stick force transducer, when when being all less than, in the output value of the first axle and the 2nd axle, the stick force threshold value set in advance of stick force sensor, it is believed that jociey stick handle is in the state of loosing one's grip; Now, jociey stick enters pattern in automatically returning, by different deflection angle interval is arranged different PWM ripple dutyfactor values, it is possible to realize jociey stick return fast in and do not shake; Meanwhile, by implementing cumulative control strategy near neutral position, it is possible to realize during jociey stick accurately returns, overcome because frictional force cause return in out of true problem.

For the first axle, jociey stick realizes in automatic returning in accordance with the following methods:

Steps A .1), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 10 ��;

Steps A .2), if this corner is more than or equal to 10 ��, the first microcontroller output duty cycle is k₂PWM ripple, and jump to steps A .1);

Steps A .3), if this corner is less than 10 ��, then the first microcontroller output duty cycle is k₁PWM ripple;

Steps A .4), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 5 ��;

Steps A .5), if this corner is more than or equal to 5 ��, then the first microcontroller output duty cycle is k₄PWM ripple, and jump to steps A .4);

Steps A .6), if this corner is less than 5 ��, then the first microcontroller output duty cycle is k₃PWM ripple;

Steps A .7), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether this corner is greater than the threshold of sensitivity of the first rotary potentiometer;

Steps A .8), if this corner is more than or equal to the threshold of sensitivity of the first rotary potentiometer, the first microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length, and jumps to steps A .7);

Steps A .9), if this corner is less than the threshold of sensitivity of angle displacement transducer device, the first microcontroller output duty cycle is the PWM ripple of 0.

For the 2nd axle, it is the same with the first axle that jociey stick realizes the method in automatically returning, and the 2nd microcontroller inquiry obtains the angular signal that the 2nd angular displacement signal modulates circuit, and change the dutycycle of PWM ripple according to the size of corner, specific as follows:

Step is B.1), the 2nd microcontroller inquiry obtains the angular signal of the 2nd angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 10 ��;

Step is B.2), if this corner is more than or equal to 10 ��, the 2nd microcontroller output duty cycle is k₂PWM ripple, repeating step is B.1);

Step is B.3), if this corner is less than 10 ��, then the 2nd microcontroller output duty cycle is k₁PWM ripple;

Step is B.4), the 2nd microcontroller inquiry obtains the angular signal of the 2nd angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 5 ��;

Step is B.5), if this corner is more than or equal to 5 ��, then the 2nd microcontroller output duty cycle is k₄PWM ripple, repeating step is B.4);

Step is B.6), if this corner is less than 5 ��, then the 2nd microcontroller output duty cycle is k₃PWM ripple;

Step is B.7), the 2nd microcontroller inquiry obtains the angular signal of the 2nd angular displacement signal modulation circuit, and judges whether this corner is greater than the threshold of sensitivity of the 2nd rotary potentiometer;

Step is B.8), if this corner is more than or equal to the threshold of sensitivity of the 2nd rotary potentiometer, then the 2nd microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length, and repeating step is B.7);

Step is B.9), if this corner is less than the threshold of sensitivity of angle displacement transducer device, then the 2nd microcontroller output duty cycle is the PWM ripple of 0.

The size of torque motor Driving Torque is only relevant with the armature current of motor, unrelated with the rotating speed of load. When load increases, the armature current of motor increases; Otherwise, the armature current of motor reduces. The direction of the Driving Torque of torque motor is exported the positive and negative decision of the dutycycle of PWM ripple by corresponding microcontroller.

The account form of the jociey stick handle power on the first axle is as follows:

Step is C.1), the first empty accounting of microprocessor control output equals the PWM ripple of default minimum empty accounting threshold value;

Step is C.2), the armature current signal of the first torque motor is obtained by the first current sense device, obtain the stick force size of stick force sensor on the first axle simultaneously, and record current first microprocessor control and export the empty accounting of PWM ripple, the armature current signal of the first torque motor and the stick force sensor stick force size on the first axle;

Step is C.3), the first microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length;

Step is C.4), repeating step is C.2) to step C.3), until the dutycycle of PWM ripple that the first microcontroller exports is more than or equal to default most high duty cycle threshold value;

Step is C.5), repeating step is C.1) to step C.4) at least 50 times;

Step is C.6), armature current signal data and the stick force signal data of stick force sensor on the first axle to the first torque motor carry out first-order linear matching, and obtaining the funtcional relationship after matching is:

F₁=s₁��I₁-s₂

Wherein, F₁Represent the jociey stick handle power on the first axle, s₁And s₂Represent F₁With I₁Between the parameter of analysis formula.

The account form of the jociey stick handle power on the 2nd axle is the same with the first axle, specific as follows:

Step is D.1), the 2nd empty accounting of microprocessor control output equals the PWM ripple of default minimum empty accounting threshold value;

Step is D.2), the armature current signal of the 2nd torque motor is obtained by the 2nd current sense device, obtain the stick force size of stick force sensor on the 2nd axle simultaneously, and record current 2nd microprocessor control and export the empty accounting of PWM ripple, the armature current signal of the 2nd torque motor and the stick force sensor stick force size on the 2nd axle;

Step is D.3), the 2nd microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length;

Step is D.4), repeating step is D.2) to step D.3), until the dutycycle of PWM ripple that the 2nd microcontroller exports is more than or equal to default most high duty cycle threshold value;

Step is D.5), repeating step is D.1) to step D.4) at least 50 times;

Step is D.6), armature current signal data and the stick force signal data of stick force sensor on the 2nd axle to the 2nd torque motor carry out first-order linear matching, and obtaining the funtcional relationship after matching is:

F₂=s₃��I₂-s₄

Wherein, F₂Represent the jociey stick handle power on the 2nd axle, s₃And s₄Represent F₂With I₂Between the parameter of analysis formula.

This system adopts the control method of expert PID. Control in two degree of freedom all adopts identical control method, same to control. The control concrete grammar of the first axle is as follows:

Step e .1), gather the armature current signal of the first torque motor of current time;

Step e .2), the jociey stick handle power on the first axle is calculated according to the armature current signal of the first torque motor;

Step e .3), obtain the angular signal of the first angular displacement signal modulation circuit of current time;

Step e .4), according to the angular signal of pre-set stick force curve and the first angular displacement signal modulation circuit of current time, obtain the theoretical preset value of jociey stick handle power on current time first axle;

Step e .5), by step e .2) value that calculates subtracts step e .4) value that calculates, obtain the stick force error value of current time; Stick force error value according to current time and pre-set stick force curve obtain the PWM wave error value of current time k, are designated as e (k); Making e (k-1) and e (k-2) be respectively moment k-1 and the PWM wave error value in upper two moment k-2, the initial value of e (k), e (k-1) and e (k-2) is all set to zero; | e (k) | represent the absolute value size of current time PWM wave error value; PWM (k) represents the dutycycle of the PWM ripple that current time first microcontroller exports, and PWM (k-1) represents the dutycycle of the PWM ripple that upper moment first microcontroller exports;

Step e .6), calculated the difference between the PWM wave error value of current time and the PWM wave error value in a upper moment, being designated as �� e (k), �� e (k-1) represented the difference between the PWM wave error value in a upper moment and the PWM wave error value in upper two moment:

$\left\{\begin{array}{c}\mathrm{\&Delta;}e\left(k\right)=e\left(k\right)-e(k-1)\\ \mathrm{\&Delta;}e(k-1)=e(k-1)-e(k-2)\end{array}\right.$

Step e .7), when | e (k) | >=M₁Time, M₁For the control threshold value on a large scale set in advance, the absolute value of error is very big, does not introduce stick force feedback, now in control process, control the first microcontroller PWM ripple so that its sky accounting equals the corresponding PWM ripple dutycycle of angular signal of current angular displacement signal modulation circuit;

So now PWM (k) equals the PWM ripple dutycycle corresponding with the angular signal of current angular displacement signal modulation circuit, is also the PWM ripple dutyfactor value in stick force opened loop control situation;

Step e .8) when e (k) �� e (k) >=0, now the absolute value of error is in increase, or remains unchanged, under this condition, if | e (k) | >=M₂, M₂Controlling threshold value among a small circle for setting in advance, it is believed that error is relatively big, by implementing stronger control action kou so that the absolute value of error reduces rapidly, now, the first microcontroller exports PWM ripple according to following empty accounting:

PWM (k)=PWM (k-1)+k₅{k_p[e(k)-e(k-1)]+k_ie(k)+k_d[e(k)-2e(k-1)+e(k-2)]}

Wherein, k₅Represent the intensity of feedback control effect, k_pRepresent proportional control factor, k_iRepresent integral control coefficient, k_dRepresent derivative control coefficient;

Step e .9), when | e (k) |��M₂, now although the absolute value of error is in increase, but the absolute value of error is little, it is possible to implement general control action kou, just changes the variation tendency of error so that it is the absolute value of error reduces, and now, the first microcontroller exports PWM ripple according to following empty accounting:

PWM (k)=PWM (k-1)+k_p[e(k)-e(k-1)]+k_ie(k)+k_d[e (k)-2e (k-1)+e (k-2)];

Step e .10), as e (k) �� e (k) < 0 and �� e (k) �� e (k-1) > 0, or during e (k)=0, now the absolute value of error is towards the direction change reduced, or arrive expected value, now, the first microcontroller exports PWM ripple according to following empty accounting:

PWM (k)=PWM (k-1);

Step e .11), as e (k) �� e (k) < 0 and �� e (k) �� e (k-1) < 0, specification error is in extreme value state, now, if | e (k) | >=M₂, the first microcontroller exports PWM ripple according to following empty accounting:

PWM (k)=PWM (k-1)+k₅k_pE (k);

Step e .12) if | e (k) | < M₂, now:

PWM (k)=PWM (k-1)+k₆k_pE (k);

Wherein, k₆It is used for adjusting the parameter of integral action when representing the only integral action set in advance; And k₅>k₆;

Step e .13) when | e (k) | < ��, the first microcontroller exports PWM ripple according to following empty accounting:

PWM (k)=PWM (k-1)+k_iE (k);

Wherein, �� is the threshold limit value of the error value size set according to stick force precision set in advance.

Control concrete grammar and first axle of the 2nd axle are completely the same, repeat no more.

It should be appreciated that unless otherwise defined, all terms used herein (comprise technical term and scientific terminology) and have the meaning identical with the general understanding of the those of ordinary skill in art of the present invention those skilled in the art of the present technique. It should be further understood that those terms of definition should be understood to have the meaning consistent with the meaning in the context of prior art in such as general dictionary, and unless defined as here, can not explain by idealized or too formal implication.

Above-described embodiment; the object of the present invention, technical scheme and useful effect have been further described; it is it should be understood that; the foregoing is only the specific embodiment of the present invention; it is not limited to the present invention; within the spirit and principles in the present invention all, any amendment of making, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (7)

1. the side lever of aircraft master end lever system returns a middle method automatically, and described aircraft master end lever system comprises monitoring module and side lever module;

Described monitoring module is for sending instruction to described side lever module, and controls to store and show the real time status information of side lever module;

Described side lever module comprises jociey stick, the first micro-control unit and the 2nd micro-control unit;

Described jociey stick comprises housing, handle, stick force sensor, the body of rod, the first axle, the 2nd axle, pair of bearings and the 2nd to bearing;

Described first axle, the 2nd axle adopt the form of interior housing, and the first axle is inner axis, and the 2nd axle is housing axle, and the first axle can slide at the chute of the 2nd axle;

Described housing is the rectangle of upper and lower opening, and bearing correspondence is arranged in its wall in the heart by pair of bearings, the 2nd;

Described first axle, the 2nd axle pass through pair of bearings, the 2nd respectively to loading ability of bearing, and described housing is all stretched out at two ends;

Lower end and first axle of the described body of rod are connected, and the bottom of upper end and stick force sensor is connected, and top and the handle of stick force sensor are connected;

Described stick force sensor adopts 2 dimension resistance-strain chip stick force sensors, respectively the power on corresponding first axle and the power on the 2nd axle;

Described handle is provided with the change-over switch of the operating mode for switching side lever module, and described operating mode comprises initiatively pattern, follower model, trim pattern and Passive Mode;

Described first micro-control unit comprises the first rotary potentiometer, the first gear reducer, the first torque motor, the first encoder, the first microcontroller, a PWM motor drive module, the first solid state relay, first handle power modulating signal circuit, the first angular displacement signal modulation circuit and the first current sense device;

The described input terminus of the first rotary potentiometer is connected with one end of the first axle, and output terminal is connected with the first angular displacement signal modulation circuit input end;

Described first gear reducer is fixing on the housing by ring flange, and delivery outlet is connected with the other end of the first axle, and input hole is connected with one end of the first torque motor output shaft;

The code-disc of described first encoder is connected with the other end of the first torque motor output shaft, for measuring the rotating speed of the first torque motor output shaft, and is passed to described first microcontroller;

Input terminus and the stick force sensor circuit of described first handle power modulating signal circuit are electrically connected;

A described PWM motor drive module output terminal is electrically connected by the first solid state relay and described first torque motor;

Described first current sense device is for responding to the armature current of the first torque motor, and is passed to described first microcontroller;

Described first microcontroller respectively with the output terminal of first handle power modulating signal circuit, the input terminus of the one PWM motor drive module, the control end of the first solid state relay, the output terminal of the first angular displacement signal modulation circuit, the output terminal of the first encoder, first current sense device, stick force sensor, and monitoring modular electrical is connected, for according to obtain stick force sensor on the first axle stick force output signal, the armature current signal of the first torque motor, the angular signal of the first angular displacement signal modulation circuit and the tach signal of the first torque motor export PWM to ripple the one PWM motor drive module, control the operation of the first torque motor, simultaneously by self with serial port function with monitoring module carry out serial communication, the status information of side lever device is transmitted to monitoring module,

Described 2nd micro-control unit comprises the 2nd rotary potentiometer, the 2nd gear reducer, the 2nd torque motor, the 2nd encoder, the 2nd microcontroller, the 2nd PWM motor drive module, the 2nd solid state relay, the 2nd angular displacement signal modulation circuit, second handle power modulating signal circuit, gear reducing case, right angle reverser and the 2nd current sense device;

The input terminus of described 2nd rotary potentiometer is connected with one end of the 2nd axle, and output terminal is connected with the 2nd angular displacement signal modulation circuit input end;

The described the other end of the 2nd axle is connected with the input gear of gear reducing case, and the output gear of gear reducing case is connected with the output shaft of right angle reverser;

Described right angle reverser is fixing on the housing by ring flange, and input terminus is connected with the delivery outlet of the 2nd gear reducer;

Described 2nd gear reducer is fixing on the housing by ring flange, and input hole is connected with one end of the 2nd torque motor output shaft;

The code-disc of described 2nd encoder is connected with the other end of the 2nd torque motor output shaft, for measuring the rotating speed of the 2nd torque motor output shaft, and is passed to described 2nd microcontroller;

Input terminus and the stick force sensor circuit of described second handle power modulating signal circuit are electrically connected;

Described 2nd PWM motor drive module output terminal is electrically connected by the 2nd solid state relay and described 2nd torque motor;

Described 2nd current sense device is for responding to the armature current of the 2nd torque motor, and is passed to described 2nd microcontroller;

Described 2nd microcontroller respectively with the output terminal of second handle power modulating signal circuit, the input terminus of the 2nd PWM motor drive module, the control end of the 2nd solid state relay, the output terminal of the 2nd angular displacement signal modulation circuit, the output terminal of the 2nd encoder, 2nd current sense device, stick force sensor, and monitoring modular electrical is connected, for according to obtain stick force sensor on the 2nd axle stick force output signal, the armature current signal of the 2nd torque motor, the angular signal of the 2nd angular displacement signal modulation circuit and the tach signal of the 2nd torque motor export PWM ripple to the 2nd PWM motor drive module, control the operation of the 2nd torque motor, simultaneously by self with serial port function with monitoring module carry out serial communication, the status information of side lever device is transmitted to monitoring module,

It is characterized in that, for the first axle, jociey stick realizes in automatic returning in accordance with the following methods:

Steps A .1), set the first microcontroller and the dutycycle k of PWM ripple that the 2nd microcontroller exports₁��k₂��k₃��k₄So that k₃< k₄< k₁< k₂, the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 10 ��;

Steps A .2), if this corner is more than or equal to 10 ��, the first microcontroller output duty cycle is k₂PWM ripple, and jump to steps A .1);

Steps A .3), if this corner is less than 10 ��, then the first microcontroller output duty cycle is k₁PWM ripple;

Steps A .4), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 5 ��;

Steps A .5), if this corner is more than or equal to 5 ��, then the first microcontroller output duty cycle is k₄PWM ripple, and jump to steps A .4);

Steps A .6), if this corner is less than 5 ��, then the first microcontroller output duty cycle is k₃PWM ripple;

Steps A .7), the first microcontroller inquiry obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether this corner is greater than the threshold of sensitivity of the first rotary potentiometer;

Steps A .8), if this corner is more than or equal to the threshold of sensitivity of the first rotary potentiometer, the first microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length, and jumps to steps A .7);

Steps A .9), if this corner is less than the threshold of sensitivity of angle displacement transducer device, the first microcontroller output duty cycle is the PWM ripple of 0.

2. the side lever of aircraft master end according to claim 1 lever system returns middle method automatically, it is characterised in that, for the 2nd axle, it is as follows that jociey stick realizes the concrete steps in automatically returning:

Step is B.1), the 2nd microcontroller inquiry obtains the angular signal of the 2nd angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 10 ��;

Step is B.2), if this corner is more than or equal to 10 ��, the 2nd microcontroller output duty cycle is k₂PWM ripple, repeating step is B.1);

Step is B.3), if this corner is less than 10 ��, then the 2nd microcontroller output duty cycle is k₁PWM ripple;

Step is B.4), the 2nd microcontroller inquiry obtains the angular signal of the 2nd angular displacement signal modulation circuit, and judges whether this corner is more than or equal to 5 ��;

Step is B.5), if this corner is more than or equal to 5 ��, then the 2nd microcontroller output duty cycle is k₄PWM ripple, repeating step is B.4);

Step is B.6), if this corner is less than 5 ��, then the 2nd microcontroller output duty cycle is k₃PWM ripple;

Step is B.7), the 2nd microcontroller inquiry obtains the angular signal of the 2nd angular displacement signal modulation circuit, and judges whether this corner is greater than the threshold of sensitivity of the 2nd rotary potentiometer;

Step is B.8), if this corner is more than or equal to the threshold of sensitivity of the 2nd rotary potentiometer, then the 2nd microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length, and repeating step is B.7);

Step is B.9), if this corner is less than the threshold of sensitivity of angle displacement transducer device, then the 2nd microcontroller output duty cycle is the PWM ripple of 0.

3. the side lever of aircraft master end according to claim 1 lever system returns middle method automatically, it is characterised in that, the account form of the jociey stick handle power on the first axle is as follows:

Step is C.1), the first empty accounting of microprocessor control output equals the PWM ripple of default minimum empty accounting threshold value;

Step is C.2), the armature current signal of the first torque motor is obtained by the first current sense device, obtain the stick force size of stick force sensor on the first axle simultaneously, and record current first microprocessor control and export the empty accounting of PWM ripple, the armature current signal of the first torque motor and the stick force sensor stick force size on the first axle;

Step is C.3), the first microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length;

Step is C.4), repeating step is C.2) to step C.3), until the dutycycle of PWM ripple that the first microcontroller exports is more than or equal to default most high duty cycle threshold value;

Step is C.5), repeating step is C.1) to step C.4) at least 50 times;

Step is C.6), armature current signal data and the stick force signal data of stick force sensor on the first axle to the first torque motor carry out first-order linear matching, and obtaining the funtcional relationship after matching is:

F₁=s₁��I₁-s₂

Wherein, F₁Represent the jociey stick handle power on the first axle, s₁And s₂Represent F₁With I₁Between the parameter of analysis formula.

4. the side lever of aircraft master end according to claim 1 lever system returns middle method automatically, it is characterised in that, the account form of the jociey stick handle power on the 2nd axle is as follows:

Step is D.1), the 2nd empty accounting of microprocessor control output equals the PWM ripple of default minimum empty accounting threshold value;

Step is D.2), the armature current signal of the 2nd torque motor is obtained by the 2nd current sense device, obtain the stick force size of stick force sensor on the 2nd axle simultaneously, and record current 2nd microprocessor control and export the empty accounting of PWM ripple, the armature current signal of the 2nd torque motor and the stick force sensor stick force size on the 2nd axle;

Step is D.3), the 2nd microcontroller strengthens the dutycycle exporting PWM ripple according to default dutycycle step-length;

Step is D.4), repeating step is D.2) to step D.3), until the dutycycle of PWM ripple that the 2nd microcontroller exports is more than or equal to default most high duty cycle threshold value;

Step is D.5), repeating step is D.1) to step D.4) at least 50 times;

Step is D.6), armature current signal data and the stick force signal data of stick force sensor on the 2nd axle to the 2nd torque motor carry out first-order linear matching, and obtaining the funtcional relationship after matching is:

F₂=s₃��I₂-s₄

Wherein, F₂Represent the jociey stick handle power on the 2nd axle, s₃And s₄Represent F₂With I₂Between the parameter of analysis formula.

5. the side lever of aircraft master end according to claim 1 lever system returns middle method automatically, it is characterised in that, first, second microcontroller described adopts STM32 chip.

6. the side lever of aircraft master end according to claim 1 lever system returns middle method automatically, it is characterised in that, first, second rotary potentiometer described employing electric angle is the accurate rotary potentiometer of 90 degree.

7. the side lever of aircraft master end according to claim 1 lever system returns middle method automatically, it is characterised in that, first, second encoder described adopts the incremental encoder of high line number.