CN105620729B - Method during a kind of side lever of aircraft master end lever system is returned automatically - Google Patents

Method during a kind of side lever of aircraft master end lever system is returned automatically Download PDF

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Publication number
CN105620729B
CN105620729B CN201610104316.4A CN201610104316A CN105620729B CN 105620729 B CN105620729 B CN 105620729B CN 201610104316 A CN201610104316 A CN 201610104316A CN 105620729 B CN105620729 B CN 105620729B
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axle
microcontroller
control
stick
torque motor
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CN105620729A (en
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王欢
孙永荣
熊智
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Toys (AREA)

Abstract

Method in being returned automatically the invention discloses a kind of side lever of aircraft master end lever system.For stick force control problem in the lever system of aircraft master end, power load maintainer is used as using torque motor, propose the method that control loop is constituted using armature electric current as stick force observer, and the accurate control to side lever handle power is realized based on PID expert algorithm, when performance of current sensors, which is deteriorated, even to fail, microcontroller can automatically switch to the control of open loop stick force；The problem of solving inaccurate during control stick is returned using cumulative control mode simultaneously.This method can ensure that active side lever has higher stick force control accuracy and stability, while can ensure the real-time and accuracy of aircraft active side lever response, during control stick can be returned quickly and accurately.

Description

Method during a kind of side lever of aircraft master end lever system is returned automatically
Technical field
The present invention relates to the automatic Hui Zhongfang of side lever of aircraft control system, more particularly to a kind of aircraft master end lever system Method.
Background technology
The artificial feel system of aircraft can make pilot have controling power sense in operating aircraft, can influence the maneuverability of aircraft Can, it is the highly important part of flight control system.At present, most of aircrafts employ fax flight control system System, wherein, spring-loaded passive driving lever system constitutes the artificial feel system of these aircrafts.Such control stick has Foolproof structure, installs very convenient, operates also very stable, but maximum shortcoming is control force and bar displacement Between be changeless proportional relationship, it is impossible to reflect the state of flight of aircraft；Because pilot is not felt by the flight of aircraft State, the flight quality and handling quality of aircraft can decline.In order to avoid this shortcoming, actively drive lever system meet the tendency of and It is raw.This driving lever system constitutes closed loop with flight control system so that flight control computer can be real-time with control stick Ground is communicated.After in this way, pilot can judge flying for aircraft exactly by the power on control stick grip Row state, therefore the handling characteristic and flight quality of aircraft can be improved.
At present, on the control to stick force in the lever system of master end, majority is using by the force snesor on control stick The control to stick force is carried out as feedback stick force, and when controlling side lever using such a control mode, when side lever is in motion shape During state, because side lever has speed and acceleration so that the system is unstable, and control accuracy is reduced.When the rotation of side lever is got over When big, the stick force control accuracy of the system is more unstable.Meanwhile, when force snesor is by electromagnetic interference or failure, this is The control feedback quantity failure of system, this is very serious for control performance and safety to aircraft.Herein by using electricity The output valve of the armature supply sensor of machine obtains the power on active side lever handle indirectly so that the system is more stablized；Simultaneously By the way of expert PID and intelligence switching so that when stick force feedback quantity and very big actual deviation, controlled by closed loop stick force It is switched to the control of open loop stick force.
The content of the invention
The technical problems to be solved by the invention are that there is provided a kind of aircraft master for defect involved in background technology Method during the side lever of dynamic side lever system is returned automatically.
The present invention uses following technical scheme to solve above-mentioned technical problem：
Method during a kind of side lever of aircraft master end lever system is returned automatically, aircraft master end lever system includes monitoring mould Block and side lever module；
The monitoring module is used to send instructions to the side lever module, and controls to store and show the real-time of side lever module Status information；
The side lever module includes control stick, the first micro-control unit and the second micro-control unit；
The control stick includes housing, handle, stick force sensor, the body of rod, first axle, the second axle, a pair of bearings and the Two pairs of bearings；
The first axle, the second axle use the form of interior housing, and first axle is inner axis, and the second axle is housing axle, first Axle can the second axle slide；
The housing is the rectangle of upper and lower opening, and a pair of bearings, second pair of bearing are correspondingly arranged at the center of its four wall On；
The first axle, the second axle are respectively by a pair of bearings, second pair of loading ability of bearing, and the shell is stretched out at two ends Body；
The lower end of the body of rod is connected with first axle, and upper end and the bottom of stick force sensor are connected, the top of stick force sensor Portion is connected with handle；
The stick force sensor corresponds to power in first axle and the using two-dimentional resistance-strain chip stick force sensor respectively Power on two axles；
The handle is provided with the switching switch for the mode of operation for being used to switch side lever module, and the mode of operation includes master Dynamic model formula, follower model, with flat-die type powdered and Passive Mode；
First micro-control unit includes the first rotating potentiometer, first gear decelerator, the first torque motor, the One encoder, the first microcontroller, the first PWM motor drive modules, the first solid-state relay, first handle power modulated signal electricity Road, the first angular displacement signal modulation circuit and the first current sensor；
The input of first rotating potentiometer and one end of first axle are connected, output end and the first angular displacement signal Modulation circuit input is connected；
The first gear decelerator is fixed on the housing by ring flange, and the other end of delivery outlet and first axle connects Connect, input hole is connected with one end of the first torque motor output shaft；
The code-disc of first encoder is connected with the other end of the first torque motor output shaft, for measuring the first torque The rotating speed of motor output shaft, and pass it to first microcontroller；
The input of the first handle power modulating signal circuit is electrically connected with stick force sensor circuit；
The first PWM motor drive modules output end is electric by the first solid-state relay and first torque motor It is connected；
First current sensor is used for the armature supply for sensing the first torque motor, and passes it to described first Microcontroller；
First microcontroller output end respectively with first handle power modulating signal circuit, the driving of the first PWM motors The input of module, the control end of the first solid-state relay, the output end of the first angular displacement signal modulation circuit, the first encoder Output end, the first current sensor, stick force sensor and monitoring module be electrically connected, for according to the stick force of acquisition sense Stick force output signal of the device in first axle, the armature current signal of the first torque motor, the first angular displacement signal modulation circuit Angular signal and the tach signal of the first torque motor export PWM ripples to the first PWM motor drive modules, control the first power The operation of torque motor, while carrying out serial communication by the serial port function and monitoring module of itself institute's band, is transmitted to monitoring module The status information of side lever module；
Second micro-control unit includes the second rotating potentiometer, second gear decelerator, the second torque motor, the Two encoders, the second microcontroller, the 2nd PWM motor drive modules, the second solid-state relay, the second angular displacement signal modulation electricity Road, second handle power modulating signal circuit, gear reduction box, quadrant and the second current sensor；
The input of second rotating potentiometer is connected with one end of the second axle, output end and the second angular displacement signal Modulation circuit input is connected；
The input gear of the other end of second axle and gear reduction box is connected, the output gear of gear reduction box with it is straight The output shaft connection of angle commutator；
The quadrant is fixed on the housing by ring flange, the output of input and second gear decelerator Hole is connected；
The second gear decelerator is fixed on the housing by ring flange, and input hole and the second torque motor are exported One end connection of axle；
The code-disc of the second encoder is connected with the other end of the second torque motor output shaft, for measuring the second torque The rotating speed of motor output shaft, and pass it to second microcontroller；
The input of the second handle power modulating signal circuit is electrically connected with stick force sensor circuit；
The 2nd PWM motor drive modules output end is electric by the second solid-state relay and second torque motor It is connected；
Second current sensor is used for the armature supply for sensing the second torque motor, and passes it to described second Microcontroller；
Second microcontroller output end respectively with second handle power modulating signal circuit, the driving of the 2nd PWM motors The input of module, the control end of the second solid-state relay, output end, the second encoder of the second angular displacement signal modulation circuit Output end, the second current sensor, stick force sensor and monitoring module be electrically connected, for according to the stick force of acquisition sense Stick force output signal of the device on the second axle, the armature current signal of the second torque motor, the second angular displacement signal modulation circuit Angular signal and the tach signal of the second torque motor export PWM ripples to the 2nd PWM motor drive modules, control the second power The operation of torque motor, while carrying out serial communication by the serial port function and monitoring module of itself institute's band, is transmitted to monitoring module The status information of side lever module；
For first axle, control stick is realized in automatic time in accordance with the following methods：
Step is A.1), the dutycycle k for the PWM ripples that the first microcontroller of setting is exported1、k2、k3、k4So that k3＜ k4＜ k1＜ k2, the inquiry of the first microcontroller obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether the corner is big In equal to 10 °；
Step is A.2), if the corner is more than or equal to 10 °, the first microcontroller output duty cycle is k2PWM ripples, and redirect To step A.1)；
Step is A.3), if the corner is less than 10 °, the first microcontroller output duty cycle is k1PWM ripples；
Step is A.4), the inquiry of the first microcontroller obtains the angular signal of the first angular displacement signal modulation circuit, and judges Whether the corner is more than or equal to 5 °；
Step is A.5), if the corner is more than or equal to 5 °, the first microcontroller output duty cycle is k4PWM ripples, and jump Go to step A.4)；
Step is A.6), if the corner is less than 5 °, the first microcontroller output duty cycle is k3PWM ripples；
Step is A.7), the inquiry of the first microcontroller obtains the angular signal of the first angular displacement signal modulation circuit, and judges Whether the corner is more than the threshold of sensitivity of the first rotating potentiometer；
Step is A.8), if the corner is more than or equal to the threshold of sensitivity of the first rotating potentiometer, the first microcontroller is pressed The dutycycle of output PWM ripples is increased according to default dutycycle step-length, and jumps to step A.7)；
Step is A.9), if the corner is less than the threshold of sensitivity of angular displacement sensor, the first microcontroller output duty cycle For 0 PWM ripples.
The further prioritization scheme of method in being returned automatically as a kind of side lever of aircraft master end lever system of the invention, for Second axle, control stick realizes automatic comprising the following steps that in returning：
Step is B.1), the dutycycle k for the PWM ripples that the second microcontroller of setting is exported1、k2、k3、k4So that k3＜ k4＜ k1＜ k2, the inquiry of the second microcontroller obtains the angular signal of the second angular displacement signal modulation circuit, and judges whether the corner is big In equal to 10 °；
Step is B.2), if the corner is more than or equal to 10 °, the second microcontroller output duty cycle is k2PWM ripples, repeat walk Suddenly B.1)；
Step is B.3), if the corner is less than 10 °, the second microcontroller output duty cycle is k1PWM ripples；
Step is B.4), the inquiry of the second microcontroller obtains the angular signal of the second angular displacement signal modulation circuit, and judges Whether the corner is more than or equal to 5 °；
Step is B.5), if the corner is more than or equal to 5 °, the second microcontroller output duty cycle is k4PWM ripples, repeat Step is B.4)；
Step is B.6), if the corner is less than 5 °, the second microcontroller output duty cycle is k3PWM ripples；
Step is B.7), the inquiry of the second microcontroller obtains the angular signal of the second angular displacement signal modulation circuit, and judges Whether the corner is more than the threshold of sensitivity of the second rotating potentiometer；
Step is B.8), if the corner is more than or equal to the threshold of sensitivity of the second rotating potentiometer, the second microcontroller The dutycycle of output PWM ripples is increased according to default dutycycle step-length, repeat step is B.7)；
Step is B.9), if the corner is less than the threshold of sensitivity of angular displacement sensor, the second microcontroller output duty Than the PWM ripples for 0.
The further prioritization scheme of method, first in being returned automatically as a kind of side lever of aircraft master end lever system of the invention The calculation of control stick grip power on axle is as follows：
Step is C.1), the first microprocessor control output duty cycle is equal to the PWM ripples of default minimum duty cycle threshold value；
Step is C.2), the armature current signal of the first torque motor is obtained by the first current sensor, while obtaining bar Stick force size of the force snesor in first axle, and record the dutycycle of current first microprocessor control output PWM ripples, first Stick force size of the armature current signal and stick force sensor of torque motor in first axle；
Step is C.3), the first microcontroller increases the dutycycle for exporting PWM ripples according to default dutycycle step-length；
Step is C.4), repeat step is C.2) to step C.3), until the first microcontroller export PWM ripples dutycycle it is big In equal to default most high duty cycle threshold value；
Step is C.5), repeat step is C.1) to step C.4) at least 50 times；
Step is C.6), to the stick force of the armature current signal data and stick force sensor of the first torque motor in first axle Signal data carries out first-order linear fitting, and the functional relation after being fitted is：
F1=s1·I1-s2
Wherein, F1Represent the control stick grip power in first axle, I1Represent the armature current value of the first torque motor, s1With s2Represent F1With I1Between analytic expression parameter.
The further prioritization scheme of method, second in being returned automatically as a kind of side lever of aircraft master end lever system of the invention The calculation of control stick grip power on axle is as follows：
Step is D.1), the second microprocessor control output duty cycle is equal to the PWM ripples of default minimum duty cycle threshold value；
Step is D.2), the armature current signal of the second torque motor is obtained by the second current sensor, while obtaining bar Stick force size of the force snesor on the second axle, and record the dutycycle of current second microprocessor control output PWM ripples, second Stick force size of the armature current signal and stick force sensor of torque motor on the second axle；
Step is D.3), the second microcontroller increases the dutycycle for exporting PWM ripples according to default dutycycle step-length；
Step is D.4), repeat step is D.2) to step D.3), until the second microcontroller export PWM ripples dutycycle it is big In equal to default most high duty cycle threshold value；
Step is D.5), repeat step is D.1) to step D.4) at least 50 times；
Step is D.6), to the stick force of the armature current signal data and stick force sensor of the second torque motor on the second axle Signal data carries out first-order linear fitting, and the functional relation after being fitted is：
F2=s3·I2-s4
Wherein, F2Represent the control stick grip power on the second axle, I2Represent the armature current value of the second torque motor, s3With s4Represent F2With I2Between analytic expression parameter.
The further prioritization scheme of method in being returned automatically as a kind of side lever of aircraft master end lever system of the invention, it is described First, second microcontroller uses STM32 chips.
The further prioritization scheme of method in being returned automatically as a kind of side lever of aircraft master end lever system of the invention, it is described First, second rotating potentiometer uses electric angle for 90 degree of precision rotation Middle Eocene device.
The further prioritization scheme of method in being returned automatically as a kind of side lever of aircraft master end lever system of the invention, it is described First, second encoder uses the incremental encoder of high line number.
The present invention uses above technical scheme compared with prior art, with following technique effect：
1. the volume and weight that aircraft actively drives lever system can be reduced, more there is actual equipment meaning；
2. by design control law control stick can be made to have faster response speed；
, can be according to the custom of pilot 3. drive the neutral position of lever system, convenient regulation, and control stick return in process Rapidly, position is accurate in returning；
4. the stick force information of degree of precision can be provided；
5. being switched by solid-state relay so that hardware configuration is simple, control is simple, and active side lever is more stable, can In the work of worse airborne circumstance.
6. the stick force opened loop control of the system has degree of precision, and when stick force feedback transducer fails, this is System can be switched to the control of open loop stick force with timely automated by the control of closed loop stick force so that the aggressive mode of the system is more stablized.
7. the wrong input of control stick caused by being tilted because of aircraft vehicle vibrations or aspect can be solved the problems, such as；
8. when driving lever system is switched to Passive Mode by aggressive mode, control stick can be solved and rotate discontinuous existing As.
Brief description of the drawings
The structural representation of Fig. 1 aircraft active side systems；
The structural representation of Fig. 2 aircrafts master end lever system monitoring module；
The form schematic diagram of Fig. 3 aircrafts master end lever system serial port communication data bag；
The side lever mechanical structure schematic diagram of Fig. 4 aircrafts master end lever system；
The overall control software flow pattern of the side lever module of Fig. 5 aircrafts master end lever system；
The side lever follower model control schematic diagram of Fig. 6 aircrafts master end lever system；
The side lever aggressive mode control schematic diagram of Fig. 7 aircrafts master end lever system；
The stick force control method schematic diagram of the side lever aggressive mode of Fig. 8 aircrafts master end lever system；
Control flow chart during the side lever of the side lever aggressive mode of Fig. 9 aircrafts master end lever system is returned.
In figure, 1- handles, 2- stick force sensors, the 3- bodies of rod, 4- first axles, the axles of 5- second, 6- a pair of bearings, 7- second To bearing, 8- housings.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
The system is as shown in figure 1, the present invention is main by two big module compositions：Monitoring module and side lever module.
Monitoring module is run on PC in an experiment, during actual equipment, is run on flight control computer, and with side lever mould Block is communicated by way of serial communication.Monitoring module can obtain the real-time status and data of control stick, it is possible to set Determine the mode of operation of side lever module.The composition of monitoring module is as shown in Fig. 2 the module includes communication unit, control unit, stick force Curve setting unit, mode instruction input block, display unit and storage element, described control unit respectively with communication unit, Stick force curve setting unit, mode instruction input block, display unit, storage element are electrically connected.
The communication unit carries out serial communication with side lever module.The form and length of packet are fixed, each bag data Specific form as shown in figure 3, be data head first, data head includes two sections, be 0XAA and 0X55 respectively, if correct after Continuous parsing, otherwise waits for next bag data；Followed by one bit address code, be and pitch channel or roll channel by its judgement Communication, followed by bit function code, the type of the communication information is determined by the function code, the Working mould of setting side lever module is included The movement state information that formula, the parameter under the setting a certain mode of operation of side lever module and reception side lever module transfer come, most Data bit afterwards is then the particular content of information.The data bit often wrapped completes subcommand transmission in the master end lever system Or the digit that most digit order numbers needed for information transmission are numeric data code, therefore can determine length per bag data.
The stick force curve setting unit is used for input lever force curve parameter, and passes it to described control unit.
The mode instruction input block is used for the mode of operation for setting side lever module, and it is single to pass it to the control Member, the mode of operation is comprising aggressive mode, follower model, with flat-die type powdered and Passive Mode.
The display unit is used to show that the real-time status of side lever module is believed with output box, virtual meter panel and curve map Breath.
The storage element is used for the real time status information for storing side lever module.
Described control unit is used to send instructions to the side lever module, and controls to store and show the real-time of side lever module Status information.
The side lever module includes control stick, the first micro-control unit and the second micro-control unit.
Control stick has two frees degree, is respectively used to control elevating movement and the rolling movement of aircraft, the first microcontroller list Member, the second micro-control unit are then respectively used to be adjusted the two frees degree.
Control stick includes housing, handle, stick force sensor, the body of rod, first axle, the second axle, a pair of bearings and second pair Bearing, its mechanical structure refers to Twin-shaft machinery rotor gyro, as shown in figure 4, using the form of interior housing, first axle is inside casing Axle, the second axle be housing axle, first axle can the second axle slide.
The housing is the rectangle of upper and lower opening, and a pair of bearings, second pair of bearing are correspondingly arranged at the center of its four wall On；
The first axle, the second axle are respectively by a pair of bearings, second pair of loading ability of bearing, and the shell is stretched out at two ends Body；
The lower end of the body of rod is connected with first axle, and upper end and the bottom of stick force sensor are connected, the top of stick force sensor Portion is connected with handle；
The stick force sensor is used to measure the power that pilot is applied on control stick grip；
Switching switch of the handle provided with aggressive mode and Passive Mode and with flat-die type powdered cutting with aggressive mode Change switch.
First micro-control unit includes the first rotating potentiometer, first gear decelerator, the first torque motor, the One encoder, the first microcontroller, the first PWM motor drive modules, the first solid-state relay, first handle power modulated signal electricity Road, the first angular displacement signal modulation circuit and the first current sensor；
The input of first rotating potentiometer and one end of first axle are connected, output end and the first angular displacement signal Modulation circuit input is connected；
The first gear decelerator is fixed on the housing by ring flange, and the other end of delivery outlet and first axle connects Connect, input hole is connected with one end of the first torque motor output shaft；
The code-disc of first encoder is connected with the other end of the first torque motor output shaft, for measuring the first torque The rotating speed of motor output shaft, and pass it to first microcontroller；
The input of the first handle power modulating signal circuit is electrically connected with stick force sensor circuit；
The first PWM motor drive modules output end is electric by the first solid-state relay and first torque motor It is connected；
First current sensor is used for the armature supply for sensing the first torque motor, and passes it to described first Microcontroller；
First microcontroller output end respectively with first handle power modulating signal circuit, the driving of the first PWM motors The input of module, the control end of the first solid-state relay, the output end of the first angular displacement signal modulation circuit, the first encoder Output end, the first current sensor, stick force sensor and monitoring module in communication unit be electrically connected, for according to obtaining Stick force output signal of the stick force sensor in first axle, the armature current signal of the first torque motor, the first angular displacement The tach signal of the angular signal of signal modulation circuit and the first torque motor exports PWM ripples and drives mould to the first PWM motors Block, controls the operation of the first torque motor, while serial communication is carried out by the serial port function and monitoring module of itself institute's band, to Monitoring module transmits the status information of side lever module.
When left and right moves control stick grip, control stick drives first axle to be rotated in clutch shaft bearing, the first the tip of the axis Slided in the chute of the second axle；First gear decelerator and the first rotating potentiometer is driven to rotate simultaneously, first gear subtracts Fast device drives the first torque motor to rotate, and the first torque motor drives the first encoder to rotate.Turn when the first torque motor is powered When dynamic, sequence of motion is opposite with process is described above.
Second micro-control unit includes the second rotating potentiometer, second gear decelerator, the second torque motor, the Two encoders, the second microcontroller, the 2nd PWM motor drive modules, the second solid-state relay, the second angular displacement signal modulation electricity Road, second handle power modulating signal circuit, gear reduction box, quadrant and the second current sensor；
The input of second rotating potentiometer is connected with one end of the second axle, output end and the second angular displacement signal Modulation circuit input is connected；
The input gear of the other end of second axle and gear reduction box is connected, the output gear of gear reduction box with it is straight The output shaft connection of angle commutator；
The quadrant is fixed on the housing by ring flange, the output of input and second gear decelerator Hole is connected；
The second gear decelerator is fixed on the housing by ring flange, and input hole and the second torque motor are exported One end connection of axle；
The code-disc of the second encoder is connected with the other end of the second torque motor output shaft, for measuring the second torque The rotating speed of motor output shaft, and pass it to second microcontroller；
The input of the second handle power modulating signal circuit is electrically connected with stick force sensor circuit；
The 2nd PWM motor drive modules output end is electric by the second solid-state relay and second torque motor It is connected；
Second current sensor is used for the armature supply for sensing the second torque motor, and passes it to described second Microcontroller；
Second microcontroller output end respectively with second handle power modulating signal circuit, the driving of the 2nd PWM motors The input of module, the control end of the second solid-state relay, output end, the second encoder of the second angular displacement signal modulation circuit Output end, the second current sensor, stick force sensor and monitoring module in communication unit be electrically connected, for according to obtaining Stick force output signal of the stick force sensor on the second axle, the armature current signal of the second torque motor, the second angular displacement The tach signal of the angular signal of signal modulation circuit and the second torque motor exports PWM ripples and drives mould to the 2nd PWM motors Block, controls the operation of the second torque motor, while serial communication is carried out by the serial port function and monitoring module of itself institute's band, to Monitoring module transmits the status information of side lever module.
When push-and-pull control stick grip, control stick drives the second axle to be rotated in second bearing；The gear deceleration is driven simultaneously Case and the second rotating potentiometer are rotated, and gear reduction box drives quadrant to rotate, and quadrant drives second gear Decelerator is rotated, and second gear decelerator drives the second torque motor to rotate, and the second torque motor drives second encoder to rotate. When the second torque motor, which is powered, to be rotated, sequence of motion is opposite with process is described above.
The stick force sensor, using two-dimentional resistance-strain chip stick force sensor, sensitive pilot applies two dimension respectively The power of two frees degree of correspondence on control stick grip, i.e., correspond to the power in the power and the second axle in first axle respectively.
This two handle force signals have two purposes：
1. it is used for sending to monitoring module by serial ports after being gathered by first, second micro-control unit respectively；
2. whetheing there is the condition being held on handle as the hand for judging pilot, this effect determines control stick in aggressive mode In it is automatic return in action executing Rule of judgment.
First, second gear reduction unit is using accurate planetary reducer.Planetary reduction gear and torque motor phase Even, for slowing down and increasing torque.
First, second torque motor uses voltage at peak torque to have brushing force torque motor for 27V rareearth permanent-magnet DC, Motor output shaft exports larger torque by two grades of elaborate servo planetary reducers.The stick force sensor uses two Resistance-strain chip stick force sensor is tieed up, what two-dimentional pilot sensitive respectively applied on control stick grip in two frees degree Power.
The gear reduction box is using accurate one-level straight spur gear reduction box.
The quadrant uses elaborate servo bevel gear quadrant.
First, second microcontroller uses STM32 chips.Microcontroller is made using the chip of STM32F103 series With three passages of its AD converter, while gathering rotary potentiometer, control force sensor and Hall current sensor Output signal, certain filtering algorithm processing is carried out by way of DMA is interrupted；Gather and handle handle force signal, control stick The angular displacement signal of handle, the angular velocity signal of control stick grip, the armature current signal of torque motor, pass through related control Algorithm obtains control electric current, expects corner and expect torque, then exports PWM ripples and removes motor by motor drive module Output expects torque or expects corner.Monitoring module microcontroller using the USART modules that carry, in the way of serial communication with Monitoring module carries out the status information of serial communication real-time Transmission control stick.
The first, second PWM motor drive modules, can be with driving moment electricity for motor control signal is amplified to Machine；The present invention uses pulsewidth modulation type of drive, and motor drive module is barricaded as a complete H bridge by two panels BTN7971B and driven Circuit, principle is similar to the H bridges that metal-oxide-semiconductor is built, and can drive high current, it is sufficient to for driving 1 tunnel brushed DC torque motor, Heating is small.Simultaneously by the way of light-coupled isolation, coupled module is damaged during the failure such as prevent drive circuit from puncturing, The safety of STM32 chips and circuit module thus can be effectively protected, prevents from being burned.
STM32 PWM outputs are realized by timer, and major parameter has two：Frequency and dutycycle, by specifically setting Putting two registers of TIMX_ARR and TIMX_CCRX just can adjust the two parameters.In the present invention, it is contemplated that aircraft is actively driven The real-time of lever system and STM32 disposal ability are sailed, frequency is adjusted to 10KHz, i.e. cycle for 0.1ms.Dutycycle is accurate Three after to decimal point, and control voltage according to required for motor is adjusted in real time.
First, second rotating potentiometer uses electric angle for 90 degree of precision rotation Middle Eocene device.It is exported End is connected by the GPIO mouths of angular displacement signal modulation circuit and microcontroller, the AD that angular displacement signal is carried by the microcontroller One passage being acquired with the fixed cycle of converter.Rotating potentiometer is used for measuring the deflection angle of control stick grip Degree.
First, second encoder uses the incremental encoder of high line number, two output leads of each encoder It is connected respectively with the incremental encoder interface of respective microcontroller, angle rate signal is by the microcontroller with the fixed cycle It is acquired.Incremental encoder is used for the corner and angular speed of measurement motor rotating shaft, and turning for control stick grip is obtained indirectly Angle and angular speed.
First, second current sensor use Hall closed-loop current sensors, first, second torque motor its In a lead be each passed through first, second current sensor, the output end of first, second current sensor respectively with it is respective Another passage being acquired with the fixed cycle for the AD converter that microcontroller is carried.Measured using Hall current sensor The armature supply of torque motor.
Aircraft master end lever system mainly has four kinds of patterns：Follower model, with flat-die type powdered, aggressive mode and by dynamic model Formula.It can be switched over flat-die type powdered, aggressive mode and Passive Mode pattern by monitoring module input instruction, can also be Flat-die type powdered and aggressive mode, Passive Mode are matched somebody with somebody in trim switch switching in button switching on side lever handle, side lever handle top Switching with aggressive mode switchs control by the switching of side lever handle side；Follower model is sent by monitoring module and instructed, can Changed in aggressive mode and with flat-die type powdered incision.The control flow chart of whole system is as shown in Figure 5.
After upper electricity, system is initialized first；Then judge whether side lever module has data input, if then reading The data of monitoring module；If without data input, reading the key-press status on side lever handle.If control stick is in dynamic model Formula, then control the position control of control stick grip, specially motor according to angle information.If control stick, which is in, matches somebody with somebody flat-die type powdered, Then microprocessor control torque motor makes control stick grip be locked in the angle.The pattern if control stick has the initiative, reads Angle value, if angle value changes, output voltage control torque motor is rotated, output torque, control stick grip is produced expectation Power.If control stick is in Passive Mode, motor does not work；Microcontroller in side lever module is by controlling solid-state relay Device causes torque motor open circuit.
Follower model：
The follower model refers to that control stick is controlled to run by monitoring module, and control block diagram is as shown in Figure 6.Monitoring module handle Microcontroller of the expectation rotational angle theta of control stick grip by Serial Port Transmission to side lever module, the micro-control of side lever module Device processed exports the PWM ripples of corresponding dutycycle to drive module after resolved data, so that motor drives side lever handle to turn To expected angle；Microcontroller gathers the signal of angular displacement sensor in real time simultaneously, and the actual rotational angle θ " of side lever handle is anti- Feed monitoring module.Therefore monitoring module can control the deflection of aircraft active side lever handle in real time, it is possible in one's handsly real-time The deflection angle of handle.Monitoring module also can send flight envelope to the microcontroller of side lever module so that control stick grip Run according to the corresponding command.
When actively driving lever system in servo-actuated operational mode, handle force signal is not dealt with, and motor is in normal rotation State.The method for now using voltage controlled motor rotating speed.DC torque electricity is used due to actively driving lever system Machine, motor speed and voltage are proportional, so needing that during adjustment rotating speed service voltage can be changed.
In above formula, U is the terminal voltage of torque motor, CeIt is the back EMF constant of torque motor, CTIt is the torque of torque motor Constant, R is armature resistance, and Φ is the magnetic flux of motor, and n is rotational speed of torque motor, and T is motor output torque.
Lever system is driven under follower model, can be torque electricity because the external force being applied on control stick grip is zero Machine regards permanent torque output as.
With flat-die type powdered：
Described to refer to flat-die type powdered, control stick in such a mode, using certain control algolithm, makes control stick be maintained at certain Individual angle is fixed.
Aggressive mode：
The aggressive mode is controlled as shown in fig. 7, refer to state of flight and bar displacement information of the microcontroller according to aircraft Motor processed produces different torques, so as to produce different feedback forces on handle.
Aggressive mode is divided into stick force with two parts in amiable automatic time.Under this pattern, when the power on control stick is more than setting Startup power when, motor be in stick force tracking mode.Now, the armature supply obtained by Hall sensor measurement, which is constituted, to be driven The handle force observer of bar, by certain control algolithm, controlled motor terminal voltage carrys out indirect control current of electric so that this is System output degree of precision and relatively stable handle power.
When detecting pilot and loosing one's grip, during control stick is returned automatically.Set when the deflection angle of control stick and neutral position is more than During fixed a certain angle, by providing higher terminal voltage to motor, controlled motor is set to return to control stick neutral position faster attached Closely.
Aggressive mode should be system default working condition, can also be cut by the main Passive Mode in active side lever handle side face Change switch and be switched to aggressive mode.
Passive Mode：
When the system is switched to Passive Mode, the microcontroller in side lever module is by controlling a solid-state relay Device causes torque motor open circuit, and torque motor does not work, and the system is angular displacement and the angular speed for exporting control stick grip Information, to ensure after motor failure, pilot can drive an airplane the basic function maked a return voyage of safety.
The main input of the microcontroller of side lever module has the pitching of the expectation control stick grip from monitoring module Angle and roll angle and control stick grip power, control stick grip corner, the armature supply of torque motor from control stick etc..Drive The speed of the person's of sailing push-and-pull control stick is also the input of microcontroller, it is most important that handle force signal.The difference of control stick grip The corresponding control stick grip power of deflection angle correspondence, and the different control voltage of different control stick grip power correspondences.Therefore The deflection angle of control stick grip is one-to-one with control voltage.This corresponding relation can be in the form of an analytic expression Microcontroller is stored in, the analytic expression is multiple input single output, i.e., multiple different parameters are used as input condition, control electricity Pressure is used as output；In specific control, by tabling look-up or analytic expression can be obtained by the expected force of control stick grip.
Aircraft master end lever system have the initiative pattern when handle power control block as shown in figure 8, monitoring module handle The expectation corner of control stick grip is transferred to the microcontroller of side lever module, and side lever handle power is expected by calculating, Desired control stick grip power obtains the corresponding control voltage of torque motor by the control algolithm in microcontroller, and motor is rotated Output torque so that have certain power on control stick grip；Control stick grip force snesor measures actual handle power with expecting hand Handle power compares, and goes motor to adjust torque by control algolithm again for feedback difference handle masterpiece, so repeatedly, until side Handle obtains expected force.
In order to obtain more accurate control force, system needs faster stick force control frequency.The motor of this system is one Individual perceptual device, when the input voltage of motor changes, armature supply can not change therewith at once, there is a transient process. Therefore in the controlling cycle of design system, it is necessary to consider this problem.
When motor is in locked rotor condition, the voltage equation of the armature circuit of torque motor is as follows：
Wherein, U represents the terminal voltage of torque motor, and R represents armature resistance, and L represents the armature inductance of motor, I generations The armature supply of table torque motor, t represents the time.
Both sides integration can be obtained：
Wherein, I0The armature supply of the torque motor at t=0 moment is represented, during each regulation, electric current reaches stabilization Value 98% when, it is believed that electric transient process terminates, now：
The parameter of electric machine of torque motor according to selected by several formulas above and the system, it is known that, the control frequency of motor is most Big value.
Because the mechanical mechanism of the system has friction torque, therefore control stick, when in returning every time, position is simultaneously inaccurate. Conventional control method so that control stick, because friction problem, becomes slow when in returning when moving near neutral position, and position Put inaccurate.Allow herein by the strategy using speed Control and cumulative control during control stick quickly accurately returns.Tool Body control flow is as shown in Figure 9.Wherein, k3＜ k4＜ k1＜ k2, k1、k2、k3、k4It is the first and second micro-control set in advance The dutycycle for the PWM ripples that device processed is exported.
Judge whether control stick is in back middle pattern by control force sensor, when stick force sensor is in first axle When being respectively less than stick force threshold value set in advance with the output valve of the second axle, it is believed that control stick grip is in state of loosing one's grip；Now, drive Sail bar and enter pattern in automatic return, by setting different PWM ripple dutyfactor values to different deflection angles interval, it is possible to achieve drive Sail during bar is quickly returned without shaking；Meanwhile, by implementing cumulative control strategy near neutral position, it is possible to achieve control stick is accurate Hui Zhong, overcomes because of inaccurate problem in being returned caused by frictional force.
For first axle, control stick is realized in automatic time in accordance with the following methods：
Step is A.1), the inquiry of the first microcontroller obtains the angular signal of the first angular displacement signal modulation circuit, and judges Whether the corner is more than or equal to 10 °；
Step is A.2), if the corner is more than or equal to 10 °, the first microcontroller output duty cycle is k2PWM ripples, and redirect To step A.1)；
Step is A.3), if the corner is less than 10 °, the first microcontroller output duty cycle is k1PWM ripples；
Step is A.4), the inquiry of the first microcontroller obtains the angular signal of the first angular displacement signal modulation circuit, and judges Whether the corner is more than or equal to 5 °；
Step is A.5), if the corner is more than or equal to 5 °, the first microcontroller output duty cycle is k4PWM ripples, and jump Go to step A.4)；
Step is A.6), if the corner is less than 5 °, the first microcontroller output duty cycle is k3PWM ripples；
Step is A.7), the inquiry of the first microcontroller obtains the angular signal of the first angular displacement signal modulation circuit, and judges Whether the corner is more than the threshold of sensitivity of the first rotating potentiometer；
Step is A.8), if the corner is more than or equal to the threshold of sensitivity of the first rotating potentiometer, the first microcontroller is pressed The dutycycle of output PWM ripples is increased according to default dutycycle step-length, and jumps to step A.7)；
Step is A.9), if the corner is less than the threshold of sensitivity of angular displacement sensor, the first microcontroller output duty cycle For 0 PWM ripples.
For the second axle, control stick realizes automatic method in returning as first axle, and the inquiry of the second microcontroller is obtained The angular signal of second angular displacement signal modulation circuit, and the dutycycle of PWM ripples is changed according to the size of corner, specifically such as Under：
Step is B.1), the inquiry of the second microcontroller obtains the angular signal of the second angular displacement signal modulation circuit, and judges Whether the corner is more than or equal to 10 °；
Step is B.2), if the corner is more than or equal to 10 °, the second microcontroller output duty cycle is k2PWM ripples, repeat walk Suddenly B.1)；
Step is B.3), if the corner is less than 10 °, the second microcontroller output duty cycle is k1PWM ripples；
Step is B.4), the inquiry of the second microcontroller obtains the angular signal of the second angular displacement signal modulation circuit, and judges Whether the corner is more than or equal to 5 °；
Step is B.5), if the corner is more than or equal to 5 °, the second microcontroller output duty cycle is k4PWM ripples, repeat Step is B.4)；
Step is B.6), if the corner is less than 5 °, the second microcontroller output duty cycle is k3PWM ripples；
Step is B.7), the inquiry of the second microcontroller obtains the angular signal of the second angular displacement signal modulation circuit, and judges Whether the corner is more than the threshold of sensitivity of the second rotating potentiometer；
Step is B.8), if the corner is more than or equal to the threshold of sensitivity of the second rotating potentiometer, the second microcontroller The dutycycle of output PWM ripples is increased according to default dutycycle step-length, repeat step is B.7)；
Step is B.9), if the corner is less than the threshold of sensitivity of angular displacement sensor, the second microcontroller output duty Than the PWM ripples for 0.
The size of torque motor output torque is only relevant with the armature supply of motor, and the rotating speed with load is unrelated.Work as load During increase, the armature supply increase of motor；Conversely, the armature supply of motor reduces.The direction of the output torque of torque motor by The positive and negative decision of the dutycycle of corresponding microcontroller output PWM ripples.
The calculation of control stick grip power in first axle is as follows：
Step is C.1), the first microprocessor control output duty cycle is equal to the PWM ripples of default minimum duty cycle threshold value；
Step is C.2), the armature current signal of the first torque motor is obtained by the first current sensor, while obtaining bar Stick force size of the force snesor in first axle, and record the dutycycle of current first microprocessor control output PWM ripples, first Stick force size of the armature current signal and stick force sensor of torque motor in first axle；
Step is C.3), the first microcontroller increases the dutycycle for exporting PWM ripples according to default dutycycle step-length；
Step is C.4), repeat step is C.2) to step C.3), until the first microcontroller export PWM ripples dutycycle it is big In equal to default most high duty cycle threshold value；
Step is C.5), repeat step is C.1) to step C.4) at least 50 times；
Step is C.6), to the stick force of the armature current signal data and stick force sensor of the first torque motor in first axle Signal data carries out first-order linear fitting, and the functional relation after being fitted is：
F1=s1·I1-s2
Wherein, F1Represent the control stick grip power in first axle, I1Represent the armature current value of the first torque motor, s1With s2Represent F1With I1Between analytic expression parameter.
The calculation of control stick grip power on second axle is specific as follows as first axle：
Step is D.1), the second microprocessor control output duty cycle is equal to the PWM ripples of default minimum duty cycle threshold value；
Step is D.2), the armature current signal of the second torque motor is obtained by the second current sensor, while obtaining bar Stick force size of the force snesor on the second axle, and record the dutycycle of current second microprocessor control output PWM ripples, second Stick force size of the armature current signal and stick force sensor of torque motor on the second axle；
Step is D.3), the second microcontroller increases the dutycycle for exporting PWM ripples according to default dutycycle step-length；
Step is D.4), repeat step is D.2) to step D.3), until the second microcontroller export PWM ripples dutycycle it is big In equal to default most high duty cycle threshold value；
Step is D.5), repeat step is D.1) to step D.4) at least 50 times；
Step is D.6), to the stick force of the armature current signal data and stick force sensor of the second torque motor on the second axle Signal data carries out first-order linear fitting, and the functional relation after being fitted is：
F2=s3·I2-s4
Wherein, F2Represent the control stick grip power on the second axle, I2Represent the armature current value of the second torque motor, s3With s4Represent F2With I2Between analytic expression parameter.
The system uses the control method of expert PID.Control in two frees degree uses identical control method, together When control.The control specific method of first axle is as follows：
Step is E.1), gather the armature current signal of first torque motor at current time；
Step is E.2), the control stick grip obtained in first axle is calculated according to the armature current signal of the first torque motor Power；
Step is E.3), obtain the angular signal of the first angular displacement signal modulation circuit at current time；
Step is E.4), according to pre-set stick force curve and the first angular displacement signal modulation circuit at current time Angular signal, obtain the theoretical preset value of control stick grip power in current time first axle；
Step is E.5), by step E.2) calculate obtained value and subtract step E.4) obtained value is calculated, obtain current time Stick force error amount；Obtain current time k's according to the stick force error amount at current time and pre-set stick force curve PWM wave error values, are designated as e (k)；It was respectively that last moment k-1 and the PWM ripples at upper two moment k-2 are missed to make e (k-1) and e (k-2) Difference, e (k), e (k-1) and e (k-2) initial value is all set to zero；| e (k) | represent the absolute of current time PWM wave error value It is worth size；PWM (k) represents the dutycycle of the PWM ripples of the microcontroller of current time first output, and PWM (k-1) represents last moment The dutycycle of the PWM ripples of first microcontroller output；
Step is E.6), the difference between the PWM wave errors value and the PWM wave error values of last moment at current time is calculated, Δ e (k) is designated as, Δ e (k-1) represented the difference between the PWM wave errors value of last moment and the PWM wave error values at upper two moment Value：
Step is E.7), when | e (k) | >=M1When, M1For a wide range of control threshold value set in advance, the absolute value of error is very big, Not leading-in pole force feedback in control process, now, controls the first microcontroller PWM ripples so that its dutycycle is equal to when anterior angle position The corresponding PWM ripple dutycycles of the angular signal of shifting signal modulation circuit；
So now PWM (k) is equal to the PWM ripple duty corresponding with the angular signal of current angular displacement signal modulation circuit Than, namely the PWM ripple dutyfactor values in the case of stick force opened loop control；
Step is E.8) as e (k) Δ e (k) >=0, now the absolute value of error is in increase, or keeps constant, at this Under part, if | e (k) | >=M2, M2To preset small range control threshold value, it is believed that error is larger, is made by implementing stronger control With so that the absolute value of error reduces rapidly, now, and the first microcontroller exports PWM ripples according to following dutycycle：
PWM (k)=PWM (k-1)+k5{kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]}
Wherein, k5Represent the intensity of feedback control effect, kpRepresent proportional control factor, kiRepresent integral control coefficient, kd Represent derivative control coefficient；
Step is E.9), when | e (k) |≤M2Although now the absolute value of error is in increase, and the absolute value of error is not Greatly, it is possible to implement general control action, simply change the variation tendency of error, reduce the absolute value of its error, now, the One microcontroller exports PWM ripples according to following dutycycle：
PWM (k)=PWM (k-1)+kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]；
Step is E.10), as e (k) Δ e (k) ＜ 0 and Δ e (k) Δs e (k-1) ＞ 0, during or e (k)=0, now error Absolute value or has reached desired value towards the direction change of reduction, and now, the first microcontroller is exported according to following dutycycle PWM ripples：
PWM (k)=PWM (k-1)；
Step is E.11), as e (k) Δ e (k) ＜ 0 and Δ e (k) Δs e (k-1) ＜ 0, specification error is in extreme value state, Now, if e (k) | >=M2, the first microcontroller is according to following dutycycle output PWM ripples：
PWM (k)=PWM (k-1)+k5kpe(k)；
Step is E.12) if | e (k) | ＜ M2, now：
PWM (k)=PWM (k-1)+k6kpe(k)；
Wherein, k6Represent during only integral action set in advance for adjusting the parameter of integral action；And k5>k6；
Step is E.13) when | e (k) | ＜ ε, the first microcontroller exports PWM ripples according to following dutycycle：
PWM (k)=PWM (k-1)+kie(k)；
Wherein, ε is the threshold limit value of the error amount size set previously according to stick force precision set.
The control specific method and first axle of second axle are completely the same, repeat no more.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein (including skill Art term and scientific terminology) with the general understanding identical meaning with the those of ordinary skill in art of the present invention.Also It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art The consistent meaning of meaning, and unless defined as here, will not be explained with idealization or excessively formal implication.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not limited to this hair Bright, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. should be included in the present invention Protection domain within.

Claims (7)

  1. Method during 1. a kind of side lever of aircraft master end lever system is returned automatically, aircraft master end lever system includes monitoring module With side lever module；
    The monitoring module is used to send instructions to the side lever module, and controls to store and show the real-time status of side lever module Information；
    The side lever module includes control stick, the first micro-control unit and the second micro-control unit；
    The control stick includes housing, handle, stick force sensor, the body of rod, first axle, the second axle, a pair of bearings and second pair Bearing；
    The first axle, the second axle use the form of interior housing, and first axle is inner axis, and the second axle is housing axle, first axle energy Enough slides in the second axle；
    The housing is the rectangle of upper and lower opening, and a pair of bearings, second pair of bearing are correspondingly arranged on the center of its four wall；
    The first axle, the second axle are respectively by a pair of bearings, second pair of loading ability of bearing, and the housing is stretched out at two ends；
    The lower end of the body of rod is connected with first axle, and upper end and the bottom of stick force sensor are connected, the top of stick force sensor with Handle is connected；
    The stick force sensor corresponds to the power and the second axle in first axle respectively using two-dimentional resistance-strain chip stick force sensor On power；
    The handle is provided with the switching switch for the mode of operation for being used to switch side lever module, and the mode of operation includes active mould Formula, follower model, with flat-die type powdered and Passive Mode；
    First micro-control unit is compiled comprising the first rotating potentiometer, first gear decelerator, the first torque motor, first Code device, the first microcontroller, the first PWM motor drive modules, the first solid-state relay, first handle power modulating signal circuit, First angular displacement signal modulation circuit and the first current sensor；
    The input of first rotating potentiometer and one end of first axle are connected, and output end is modulated with the first angular displacement signal Circuit input end is connected；
    The first gear decelerator is fixed on the housing by ring flange, the other end connection of delivery outlet and first axle, Input hole is connected with one end of the first torque motor output shaft；
    The code-disc of first encoder is connected with the other end of the first torque motor output shaft, for measuring the first torque motor The rotating speed of output shaft, and pass it to first microcontroller；
    The input of the first handle power modulating signal circuit is electrically connected with stick force sensor circuit；
    The first PWM motor drive modules output end passes through the first solid-state relay and the electric phase of the first torque motor Even；
    First current sensor is used for the armature supply for sensing the first torque motor, and passes it to first micro-control Device processed；
    First microcontroller output end respectively with first handle power modulating signal circuit, the first PWM motor drive modules Input, the control end of the first solid-state relay, the output end of the first angular displacement signal modulation circuit, the first encoder it is defeated Go out end, the first current sensor, stick force sensor and monitoring module to be electrically connected, exist for the stick force sensor according to acquisition Turn of stick force output signal, the armature current signal of the first torque motor, the first angular displacement signal modulation circuit in first axle The tach signal of angle signal and the first torque motor exports PWM ripples to the first PWM motor drive modules, control the first torque electricity The operation of machine, while carrying out serial communication by the serial port function and monitoring module of itself institute's band, side lever is transmitted to monitoring module The status information of module；
    Second micro-control unit is compiled comprising the second rotating potentiometer, second gear decelerator, the second torque motor, second Code device, the second microcontroller, the 2nd PWM motor drive modules, the second solid-state relay, the second angular displacement signal modulation circuit, Second handle power modulating signal circuit, gear reduction box, quadrant and the second current sensor；
    The input of second rotating potentiometer is connected with one end of the second axle, and output end is modulated with the second angular displacement signal Circuit input end is connected；
    The other end of second axle and the input gear of gear reduction box are connected, and output gear and the right angle of gear reduction box are changed Connected to the output shaft of device；
    The quadrant is fixed on the housing by ring flange, and the delivery outlet of input and second gear decelerator connects Connect；
    The second gear decelerator is fixed on the housing by ring flange, input hole and the second torque motor output shaft One end is connected；
    The code-disc of the second encoder is connected with the other end of the second torque motor output shaft, for measuring the second torque motor The rotating speed of output shaft, and pass it to second microcontroller；
    The input of the second handle power modulating signal circuit is electrically connected with stick force sensor circuit；
    The 2nd PWM motor drive modules output end passes through the second solid-state relay and the electric phase of the second torque motor Even；
    Second current sensor is used for the armature supply for sensing the second torque motor, and passes it to second micro-control Device processed；
    Second microcontroller output end respectively with second handle power modulating signal circuit, the 2nd PWM motor drive modules Input, the control end of the second solid-state relay, the output end of the second angular displacement signal modulation circuit, second encoder it is defeated Go out end, the second current sensor, stick force sensor and monitoring module to be electrically connected, exist for the stick force sensor according to acquisition Turn of stick force output signal, the armature current signal of the second torque motor, the second angular displacement signal modulation circuit on second axle The tach signal of angle signal and the second torque motor exports PWM ripples to the 2nd PWM motor drive modules, control the second torque electricity The operation of machine, while carrying out serial communication by the serial port function and monitoring module of itself institute's band, side lever is transmitted to monitoring module The status information of module；
    Characterized in that, for first axle, control stick is realized in automatic time in accordance with the following methods：
    Step is A.1), the dutycycle k for the PWM ripples that the first microcontroller of setting is exported1、k2、k3、k4So that k3＜ k4＜ k1＜ k2, the inquiry of the first microcontroller obtains the angular signal of the first angular displacement signal modulation circuit, and judges whether the corner is more than Equal to 10 °；
    Step is A.2), if the corner is more than or equal to 10 °, the first microcontroller output duty cycle is k2PWM ripples, and jump to step Suddenly A.1)；
    Step is A.3), if the corner is less than 10 °, the first microcontroller output duty cycle is k1PWM ripples；
    Step is A.4), the inquiry of the first microcontroller obtains the angular signal of the first angular displacement signal modulation circuit, and judges this turn Whether angle is more than or equal to 5 °；
    Step is A.5), if the corner is more than or equal to 5 °, the first microcontroller output duty cycle is k4PWM ripples, and jump to step Suddenly A.4)；
    Step is A.6), if the corner is less than 5 °, the first microcontroller output duty cycle is k3PWM ripples；
    Step is A.7), the inquiry of the first microcontroller obtains the angular signal of the first angular displacement signal modulation circuit, and judges this turn Whether angle is more than the threshold of sensitivity of the first rotating potentiometer；
    Step is A.8), if the corner is more than or equal to the threshold of sensitivity of the first rotating potentiometer, the first microcontroller is according to pre- If dutycycle step-length increase output PWM ripples dutycycle, and jump to step A.7)；
    Step is A.9), if the corner is less than the threshold of sensitivity of angular displacement sensor, the first microcontroller output duty cycle is 0 PWM ripples.
  2. Method during 2. the side lever of aircraft master end according to claim 1 lever system is returned automatically, it is characterised in that for the Two axles, control stick realizes automatic comprising the following steps that in returning：
    Step is B.1), the dutycycle k for the PWM ripples that the second microcontroller of setting is exported1、k2、k3、k4So that k3＜ k4＜ k1＜ k2, the inquiry of the second microcontroller obtains the angular signal of the second angular displacement signal modulation circuit, and judges whether the corner is more than Equal to 10 °；
    Step is B.2), if the corner is more than or equal to 10 °, the second microcontroller output duty cycle is k2PWM ripples, repeat step B.1)；
    Step is B.3), if the corner is less than 10 °, the second microcontroller output duty cycle is k1PWM ripples；
    Step is B.4), the inquiry of the second microcontroller obtains the angular signal of the second angular displacement signal modulation circuit, and judges this turn Whether angle is more than or equal to 5 °；
    Step is B.5), if the corner is more than or equal to 5 °, the second microcontroller output duty cycle is k4PWM ripples, repeat step B.4)；
    Step is B.6), if the corner is less than 5 °, the second microcontroller output duty cycle is k3PWM ripples；
    Step is B.7), the inquiry of the second microcontroller obtains the angular signal of the second angular displacement signal modulation circuit, and judges this turn Whether angle is more than the threshold of sensitivity of the second rotating potentiometer；
    Step is B.8), if the corner be more than or equal to the second rotating potentiometer the threshold of sensitivity, the second microcontroller according to Default dutycycle step-length increases the dutycycle of output PWM ripples, and repeat step is B.7)；
    Step is B.9), if the corner is less than the threshold of sensitivity of angular displacement sensor, the second microcontroller output duty cycle is 0 PWM ripples.
  3. Method during 3. the side lever of aircraft master end according to claim 1 lever system is returned automatically, it is characterised in that first axle On control stick grip power calculation it is as follows：
    Step is C.1), the first microprocessor control output duty cycle is equal to the PWM ripples of default minimum duty cycle threshold value；
    Step is C.2), the armature current signal of the first torque motor is obtained by the first current sensor, is passed while obtaining stick force Stick force size of the sensor in first axle, and record dutycycle, the first torque that current first microprocessor control exports PWM ripples Stick force size of the armature current signal and stick force sensor of motor in first axle；
    Step is C.3), the first microcontroller increases the dutycycle for exporting PWM ripples according to default dutycycle step-length；
    Step is C.4), repeat step is C.2) to step C.3), until the first microcontroller export PWM ripples dutycycle be more than etc. In default most high duty cycle threshold value；
    Step is C.5), repeat step is C.1) to step C.4) at least 50 times；
    Step is C.6), to the stick force signal of the armature current signal data and stick force sensor of the first torque motor in first axle Data carry out first-order linear fitting, and the functional relation after being fitted is：
    F1=s1·I1-s2
    Wherein, F1Represent the control stick grip power in first axle, I1Represent the armature current value of the first torque motor, s1And s2Represent F1With I1Between analytic expression parameter.
  4. Method during 4. the side lever of aircraft master end according to claim 1 lever system is returned automatically, it is characterised in that the second axle On control stick grip power calculation it is as follows：
    Step is D.1), the second microprocessor control output duty cycle is equal to the PWM ripples of default minimum duty cycle threshold value；
    Step is D.2), the armature current signal of the second torque motor is obtained by the second current sensor, is passed while obtaining stick force Stick force size of the sensor on the second axle, and record dutycycle, the second torque that current second microprocessor control exports PWM ripples Stick force size of the armature current signal and stick force sensor of motor on the second axle；
    Step is D.3), the second microcontroller increases the dutycycle for exporting PWM ripples according to default dutycycle step-length；
    Step is D.4), repeat step is D.2) to step D.3), until the second microcontroller export PWM ripples dutycycle be more than etc. In default most high duty cycle threshold value；
    Step is D.5), repeat step is D.1) to step D.4) at least 50 times；
    Step is D.6), to the stick force signal of the armature current signal data and stick force sensor of the second torque motor on the second axle Data carry out first-order linear fitting, and the functional relation after being fitted is：
    F2=s3·I2-s4
    Wherein, F2Represent the control stick grip power on the second axle, I2Represent the armature current value of the second torque motor, s3And s4Represent F2With I2Between analytic expression parameter.
  5. Method during 5. the side lever of aircraft master end according to claim 1 lever system is returned automatically, it is characterised in that described the First, the second microcontroller uses STM32 chips.
  6. Method during 6. the side lever of aircraft master end according to claim 1 lever system is returned automatically, it is characterised in that described the First, the second rotating potentiometer uses electric angle for 90 degree of precision rotation Middle Eocene device.
  7. Method during 7. the side lever of aircraft master end according to claim 1 lever system is returned automatically, it is characterised in that described the First, second encoder uses the incremental encoder of high line number.
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CN107097934B (en) * 2017-03-30 2019-04-05 南京航空航天大学 A kind of switching method of the main Passive Mode of aircraft side lever system
CN108706094B (en) * 2018-05-22 2021-03-30 南京航空航天大学 Rod force anti-shaking method for airplane active side rod system near neutral position
CN108674634B (en) * 2018-05-22 2021-03-30 南京航空航天大学 Friction compensation method suitable for position control of airplane active side lever system
CN108891578B (en) * 2018-05-22 2021-06-15 南京航空航天大学 Trimming control method of airplane active side lever system
CN108639313B (en) * 2018-05-22 2021-07-13 南京航空航天大学 High-precision rod force control method of airplane driving side rod system
CN108873919B (en) * 2018-06-08 2021-07-06 上海交通大学 Civil robot in-loop system, active side rod servo tracking control system and method
CN112306074B (en) * 2020-10-16 2022-07-12 中国商用飞机有限责任公司 Override disconnection apparatus and override disconnection method for autopilot
CN113012516B (en) * 2021-03-11 2022-12-20 东南大学 Three-freedom-degree force feedback handle comprising two vertically-staggered shafts
CN113697090B (en) * 2021-08-08 2023-11-28 中国航空工业集团公司沈阳飞机设计研究所 Digital adjusting method and device for aircraft operating mechanism

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