CN106855705B - A kind of angle of attack monitoring means of voting of Flying by wire system - Google Patents
A kind of angle of attack monitoring means of voting of Flying by wire system Download PDFInfo
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- CN106855705B CN106855705B CN201510894158.2A CN201510894158A CN106855705B CN 106855705 B CN106855705 B CN 106855705B CN 201510894158 A CN201510894158 A CN 201510894158A CN 106855705 B CN106855705 B CN 106855705B
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- angle
- attack
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- vote
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
Abstract
The invention belongs to the redundancy management technologies of Flying by wire system, and in particular to a kind of mechanical two remaining, the monitoring voting structure of electrical four remainings angle of attack sensor output and its means of voting.The method is monitored and decides by vote to the electrical four remainings signal of the left and right angle of attack respectively first, obtains the electrical vote value of the angle of attack respectively, then puts to the vote to the two electrical vote value of the angle of attack in left and right again, finally obtains mechanical angle of attack vote value.Angle of attack redundant configurations are reasonable, monitoring means of voting is reliable, so that system closed-loop control is reliable and stable, while meeting reliability and security requirement that Flying by wire system exports angle of attack sensor.
Description
Technical field
The invention belongs to the redundancy management technologies of Flying by wire system, and in particular to a kind of mechanical two remaining, electrical four
The monitoring voting structure and its means of voting of remaining angle of attack sensor output.
Background technique
Conventional Flying by wire system angle of attack sensor is configured with two schemes: electrical four remaining, mechanical single channel or electricity
The configuration of two remaining machinery triplex redundance of gas.
The shortcomings that former scheme is: fault-tolerant ability is poor, and electrical Generic fault causes the angle of attack to fail, Flying by wire system
Task cannot be completed, causes system reliability low；The shortcomings that latter scheme is: an electrical path failure leads to side machine
The failure of the tool angle of attack, while sensor is at high cost, mechanical interface is complicated, and angle of attack correction algorithm is complicated.Therefore, conventional fax
The configuration of control system angle of attack sensor is not able to satisfy system reliability demand.
Summary of the invention
Present invention solves the technical problem that are as follows: the angle of attack monitoring means of voting for proposing a kind of Flying by wire system, so that being
Closed-loop control of uniting is reliable and stable, while meeting reliability and security requirement that Flying by wire system exports angle of attack sensor.
The technical solution of the present invention is as follows: a kind of angle of attack of Flying by wire system monitors means of voting, and it is characterized in that: it is described
Method is monitored and decides by vote to the electrical four remainings signal of the left and right angle of attack respectively first, obtains the electrical vote value of the angle of attack respectively,
Then put to the vote again to the two electrical vote value of the angle of attack in left and right, finally obtain mechanical angle of attack vote value.
As a kind of improvement of the technical program, two sides angle of attack sensor is electrically normal, and the left and right angle of attack is electrically decided by vote
When being worth effective, mechanical angle of attack vote value is the mean value of the two.
As a kind of improvement of the technical program, two sides angle of attack sensor is electrically normal, but the electrical table of the left and right angle of attack
When being certainly worth invalid, the angle of attack heating self-test signal of two sides is accessed, judges whether the signal is normal, angle of attack voting machine during transient state
Output keeps former voting algorithm output, if the complete good or left and right total failure of angle of attack heating self-detection result or so, the angle of attack is decided by vote at this time
Device output takes failure safe value；If it is side failure that the angle of attack, which heats self-detection result, the output of angle of attack voting machine takes normal side
The electrical vote value of the angle of attack.
As a kind of improvement of the technical program, when side angle of attack sensor electrical failure, if the machinery of the other side is met
Angle heating self-detection result be it is normal, the voting of the mechanical angle of attack, which exports, takes the side angle of attack electrically to decide by vote output；If the machine of the other side
It is failure that the tool angle of attack, which heats self-detection result, then the side angle of attack sensor is kept to export during transient state, mechanical when judgement is obtained a result
The voting output of the angle of attack takes failure safe value.
As a kind of improvement of the technical program, two sides angle of attack sensor electrically fails, at this time the voting of the mechanical angle of attack
Output takes failure safe value.
The invention has the benefit that angle of attack redundant configurations are reasonable, monitoring means of voting is reliable, so that system closed-loop control
It is reliable and stable, while meeting reliability and security requirement that Flying by wire system exports angle of attack sensor.
Specific embodiment
The technical program is described in further detail below.
Angle of attack sensor is configured to mechanical two remainings, includes electrical four remaining in each machinery remaining.Angle of attack signal
Monitoring and voting description see below:
1, the electrical four remainings signal of the left and right angle of attack is monitored and is decided by vote respectively, the mode for monitoring and deciding by vote is same
As four remaining analog input signals.When four failures electrically occurs in angle of attack sensor, sentences the side angle of attack electrical failure, declare
Angle of attack electric fault.
2, two remaining machinery angle of attack sensors monitoring voting algorithm is described as follows:
2.1, when front airplane wheel of airplane carrying or system are in solution tailspin state, the mechanical angle of attack is only decided by vote, without comparing
Monitoring, otherwise two remaining machinery angle of attack sensors are compared monitoring, and possible outcome is as follows:
2.2, when two sides angle of attack sensor is electrically normal: the left angle of attack is compared with the electrical vote value of the right angle of attack, than
When compared with monitored results in thresholding, both two signals are normal, and mechanical angle of attack vote value takes mean value output is sentenced.Otherwise, two are accessed
The angle of attack of side heats self-test signal, if the complete good or left and right total failure of angle of attack heating self-detection result or so, keeps former during transient state
Voting algorithm output, time delay arrive, then sentence two sides machinery angle of attack total failure, and the output of angle of attack voting machine takes failure safe value；Otherwise phase
Believe angle of attack self-detection result, former voting algorithm output is kept during transient state, time delay arrives, then it is mechanical to sentence the abnormal side of heating self-test
Angle of attack failure, and take heating self-test normally the unilateral angle of attack be the mechanical angle of attack voting output；
2.3, when side angle of attack sensor electrical failure, sentence the side machinery angle of attack failure；According to the remaining side machinery angle of attack
Self-detection result is heated, if remaining side machinery angle of attack heating is normal, the voting output of the mechanical angle of attack takes the electrical table of the side angle of attack
It certainly exports, the side angle of attack sensor otherwise, during transient state is kept to export, time delay arrives, then sets the side machinery angle of attack failure, machinery is met
The voting output at angle takes failure safe value；
2.4, when the angle of attack sensor of two sides electrically fails, sentence two sides machinery angle of attack total failure, at this time the mechanical angle of attack
Voting output take failure safe value；
3, what the electrical remaining signal of angle of attack sensor was sensitive is the measurement angle of attack, to make it the available letter of system control law
Number, it is necessary to the true angle of attack that vote value amendment is converted to aircraft realizes the angle of attack feedback control of aircraft.
One embodiment of the present of invention is monitored voting to the angle of attack of aircraft Flying by wire system, using this hair
Bright method system closed-loop control is reliable and stable, while meeting reliability and safety that Flying by wire system exports angle of attack sensor
Property require.
Claims (4)
1. a kind of angle of attack of Flying by wire system monitors means of voting, it is characterized in that: the method is met to left and right respectively first
The electrical four remainings signal at angle is monitored and decides by vote, and obtains the electrical vote value of the angle of attack respectively, then to two angle of attack electricity in left and right
Gas vote value is put to the vote again, finally obtains mechanical angle of attack vote value, two sides angle of attack sensor is electrically normal, but left and right
When the electrical vote value of the angle of attack is invalid, the angle of attack heating self-test signal of two sides is accessed, judges whether the signal is normal, during transient state
The output of angle of attack voting machine keeps former voting algorithm output, if the complete good or left and right total failure of angle of attack heating self-detection result or so, this
When the angle of attack voting machine output take failure safe value；If it is side failure that the angle of attack, which heats self-detection result, the output of angle of attack voting machine is taken
The electrical vote value of the angle of attack of normal side.
2. a kind of angle of attack of Flying by wire system according to claim 1 monitors means of voting, it is characterized in that: the two sides angle of attack
Sensor is electrically normal, and when the angle of attack electrical vote value in left and right is effective, the mean value that both mechanical angle of attack vote value is.
3. a kind of angle of attack of Flying by wire system according to claim 1 monitors means of voting, it is characterized in that: when side is met
Angle transducer electrical failure, if the mechanical angle of attack heating self-detection result of the other side be it is normal, the voting of the mechanical angle of attack is exported and is taken
The side angle of attack electrically decides by vote output；If the mechanical angle of attack heating self-detection result of the other side is failure, keeping during transient state should
The output of side angle of attack sensor, when judgement is obtained a result, the voting output of the mechanical angle of attack takes failure safe value.
4. a kind of angle of attack of Flying by wire system according to claim 1 monitors means of voting, it is characterized in that: the two sides angle of attack
Sensor electrically fails, and the voting output of the mechanical angle of attack takes failure safe value at this time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510894158.2A CN106855705B (en) | 2015-12-08 | 2015-12-08 | A kind of angle of attack monitoring means of voting of Flying by wire system |
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| CN201510894158.2A CN106855705B (en) | 2015-12-08 | 2015-12-08 | A kind of angle of attack monitoring means of voting of Flying by wire system |
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| CN106855705A CN106855705A (en) | 2017-06-16 |
| CN106855705B true CN106855705B (en) | 2019-06-11 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108413984A (en) * | 2018-02-02 | 2018-08-17 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of triplex redundance the airbone gyro signal redundancy management method |
| CN110844119B (en) * | 2018-11-30 | 2023-03-24 | 中国航空工业集团公司沈阳飞机设计研究所 | Aircraft angle of attack voting method |
| CN111352433B (en) * | 2018-12-20 | 2021-04-06 | 中国科学院沈阳自动化研究所 | Fault diagnosis method for horizontal attitude angle of unmanned aerial vehicle |
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| CN103399546A (en) * | 2013-07-26 | 2013-11-20 | 杭州和利时自动化有限公司 | Method and system for controlling triple redundancy |
| KR20140061805A (en) * | 2012-11-14 | 2014-05-22 | 한국항공우주산업 주식회사 | Fly-by-wire flight control system having an integrated ofp function using a flight type identity signal and method for controlling the same |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20140061805A (en) * | 2012-11-14 | 2014-05-22 | 한국항공우주산업 주식회사 | Fly-by-wire flight control system having an integrated ofp function using a flight type identity signal and method for controlling the same |
| CN103399546A (en) * | 2013-07-26 | 2013-11-20 | 杭州和利时自动化有限公司 | Method and system for controlling triple redundancy |
Non-Patent Citations (1)
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| 四余度数字电传控制系统输入信息余度管理策略及其应用;徐艳玲;《测控技术》;20081130;第27卷(第11期);第11页第2节，第12页第3.1、3.2.2、3.2.4节 |
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